services:
  toid:
    image: localhost:5000/toid 
    build: .
    container_name: toid

    privileged: true
    network_mode: host

    volumes:
      - ./:/ros_ws
      - /dev/:/dev/
      - /sys/:/sys/
      - /run/udev/:/run/udev/

    entrypoint: ["sleep","infinity"]

    profiles:
      - base

  toid_forever:
    image: localhost:5000/toid 
    build: .
    container_name: toid

    restart: unless-stopped

    privileged: true
    network_mode: host

    volumes:
      - ./:/ros_ws
      - /dev/:/dev/
      - /sys/:/sys/
      - /run/udev/:/run/udev/

    entrypoint: ["bash", "-c", "source install/setup.bash && ros2 launch toid_navigation main.py use_lidar:=False use_mock:=False"]