services:
  # Driver + navigation (Nav2/SLAM). Default profile — `docker compose up go2`.
  go2:
    build:
      context: ..
      dockerfile: docker/Dockerfile
    image: go2-nav-vla:latest
    environment:
      - ROBOT_IP=${ROBOT_IP:?set ROBOT_IP to your Go2's LAN address}
      - ROBOT_TOKEN=${ROBOT_TOKEN:-}
      - CONN_TYPE=${CONN_TYPE:-webrtc}
      - DISPLAY=${DISPLAY:-}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:ro   # X11 forwarding, e.g. for rviz2
      - ${HOME}/.Xauthority:/root/.Xauthority:rw
    network_mode: host   # required: ROS 2 DDS discovery + Go2 WebRTC live on the LAN
    privileged: true      # required: joystick/input device access
    devices:
      - /dev/input:/dev/input
    restart: unless-stopped
    command: ["ros2", "launch", "go2_navigation", "bringup.launch.py"]

  # Local VLA brain (Qwen2.5-VL) + web console, port 8001. Opt-in:
  #   docker compose --profile vla up vlm
  # Requires the NVIDIA Container Toolkit on the host for GPU access.
  vlm:
    extends: go2
    profiles: ["vla"]
    working_dir: /ros2_ws/src
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
    command: ["./vlm/scripts/run_demo1.sh"]