From f7616f51dfd5abb5661fabc8270c3308f3aa6d8b Mon Sep 17 00:00:00 2001
From: Seb Tiburzio <sebtiburzio@gmail.com>
Date: Wed, 14 Feb 2024 16:49:59 +0100
Subject: [PATCH] Remove duplicated run config

---
 build.sh           |  4 ++--
 docker-compose.yml | 16 ++++++++++++++++
 run.sh             | 14 +++++---------
 3 files changed, 23 insertions(+), 11 deletions(-)
 create mode 100644 docker-compose.yml

diff --git a/build.sh b/build.sh
index c0b518d..e386633 100755
--- a/build.sh
+++ b/build.sh
@@ -1,5 +1,5 @@
 #!/bin/bash
 
-REPOSITORY_NAME="$(basename "$(dirname -- "$( readlink -f -- "$0"; )")")"
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
 
-docker build --progress=plain -t ghcr.io/helix-robotics-ag/${REPOSITORY_NAME}:iron .
\ No newline at end of file
+docker compose -f $SCRIPT_DIR/docker-compose.yml build 
\ No newline at end of file
diff --git a/docker-compose.yml b/docker-compose.yml
new file mode 100644
index 0000000..9deba3a
--- /dev/null
+++ b/docker-compose.yml
@@ -0,0 +1,16 @@
+version: '3'
+
+services:
+  ros-foxglove-bridge:
+    image: ghcr.io/helix-robotics-ag/ros-foxglove-bridge:iron
+    build:
+      context: .
+      dockerfile: Dockerfile
+    restart: always
+    network_mode: "host"
+    ipc: host
+    pid: host
+    environment:
+      - UID=${HOST_UID}
+      - ROS_DOMAIN_ID
+    command: su - ros --whitelist-environment=ROS_DOMAIN_ID /run.sh
diff --git a/run.sh b/run.sh
index ae065cf..89ffd12 100755
--- a/run.sh
+++ b/run.sh
@@ -1,12 +1,8 @@
 #!/bin/bash
 
-REPOSITORY_NAME="$(basename "$(dirname -- "$( readlink -f -- "$0"; )")")"
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
 
-docker run -it --rm \
---network=host \
---ipc=host \
---pid=host \
---env UID=${MY_UID} \
---env ROS_DOMAIN_ID \
---privileged \
-ghcr.io/helix-robotics-ag/${REPOSITORY_NAME}:iron
+export HOST_UID=$(id -u)
+
+docker compose -f $SCRIPT_DIR/docker-compose.yml run \
+ros-foxglove-bridge bash
\ No newline at end of file