services:
  ultrasonic_sensor:
    build:
      context: .
      dockerfile: Dockerfile
    container_name: ultrasonic_sensor_node
    devices:
      - /dev/ttyUSB0:/dev/ttyUSB0
    # Alternative: use privileged mode if device passthrough doesn't work
    # privileged: true
    environment:
      - ROS_DOMAIN_ID=0
    # Override parameters if needed
    # command: >
    #   ros2 run ultrasonic_sensor ultrasonic_node
    #   --ros-args
    #   -p serial_port:=/dev/ttyUSB0
    #   -p baudrate:=38400
    restart: unless-stopped
    # For debugging, enable interactive mode
    # stdin_open: true
    # tty: true