docker-compose.yml

# Copyright (C) 2022, Raffaello Bonghi <raffaello@rnext.it>
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version: "3.9"
services:
  perception:
    image: nanosaur/perception:${PERCEPTION_DOCKER_TAG:-foxy-x86}
    network_mode: host
    privileged: true
    environment:
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
      - NANOSAUR_COVER_TYPE=${NANOSAUR_COVER_TYPE}
      - RMW_IMPLEMENTATION=${NANOSAUR_RMW:-rmw_cyclonedds_cpp}
    volumes:
      # if you want change the nanosaur configuration
      # Read https://github.com/rnanosaur/nanosaur/wiki/configuration
      - "/opt/nanosaur/param:/opt/ros_ws/install/nanosaur_perception/share/nanosaur_perception/param" # Extra configuration folder