docker-compose.yml

# you can utilize yaml features to avoid repeating yourself and centralizing configurations
x-rviz-config-mount: &rviz-config-mount ./config.rviz:/config.rviz

# ==============================================================================

services:

  # starts a CARLA simulator instance named 'carla-simulator' with a GUI window 
  carla-simulator:
    extends:
      file: ../components.yml
      service: carla-simulator  
      
  carla-client:
    extends:
      file: ../components.yml
      service: carla-client
    depends_on:
      carla-simulator:
        condition: service_healthy
    command: sleep infinity

  # starts the carla-ros-bridge
  carla-ros-bridge:
    extends:
      file: ../components.yml
      service: carla-ros-bridge
    depends_on:
      carla-simulator:
        condition: service_healthy
    # ...and then execute them. Note the -ic flag for an interactive bash!
    # Without an interactive bash, many important env vars wouldn't be working or even set
    command: bash -ic 'ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py host:=carla-simulator'
    # .. note that the host name is explictly set to the name of the carla-simulator Docker service!

  # starts rviz with a GUI window named 'ros-monitoring'
  ros-monitoring:
    extends:
      file: ../components.yml
      service: ros-monitoring
    depends_on:
      carla-simulator:
        condition: service_healthy
    volumes:
      # you can mount custom rviz configs...
      - *rviz-config-mount
    # ...and then use them when starting up rviz with the -d flag
    command: bash -ic 'rviz2 -d /config.rviz --ros-args -p use_sim_time:=true &> /dev/null'