Robot + Docker + ROS

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Hello,

Currently I am working on a project which has following specifications:

1. A controllable robot base and sensors
2. Velodyne LIDARS connected via Ethernet.
3. Few ros packages with a custom catkin workspace
4. Nginx webpage based robot controller

Now, for past few days, I am trying to dockerize my system. I have:

1. Created my own docker file from ros melodic base image which installs necessary packages.
2. Nginx setup using bridge network
3. Docker-compose file which opens up ports, mounts volumes and sets up networking mode as host\

Unfortunately, I am still very confused about how to tie everything together. In the tutorials, it is mentioned to create your own network, but I have ros messages coming from host machine (velodyne messages) and bi-directional flow of messages from web based controller. But if I opt for a default docker bridge network, the ros_master_uri is messed up. For easy access, "host" option seems the best, but it does not work well as you cannot use a ros master container. What is the correct way to configure such application?

Thanks, Shreyas

Edit: Added Links, commented on "host" n/w