version: "3.8"
services:
  manipulator:
    build:
      context: ../../
      dockerfile: ros2/docker/Dockerfile
    container_name: manipulator_node
    network_mode: host
    environment:
      - ROS_DOMAIN_ID=0
    command: bash -c "source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 run robotic_complex manipulator_node"

  gripper:
    build:
      context: ../../
      dockerfile: ros2/docker/Dockerfile
    container_name: gripper_node
    network_mode: host
    environment:
      - ROS_DOMAIN_ID=0
    command: bash -c "source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 run robotic_complex gripper_node"