ros2_docker/docker-compose.yml at main · masakifujiwara1/ros2_docker · GitHub

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version: "3.9"

services:
  cpu:
    container_name: my-humble-cpu
    image: masakifujiwara1/ros2:my-humble
    build:
      context: .
      dockerfile: Dockerfile
    network_mode: host
    ipc: host
    privileged: true
    environment:
      - DISPLAY=${DISPLAY}
      - XAUTHORITY=${XAUTH:-}
      - QT_X11_NO_MITSHM=1
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./docker_share:/home/host_files
      - /dev:/dev
      - ${XAUTH:-/tmp/.docker.xauth}:${XAUTH:-/tmp/.docker.xauth}
      - /home/${USER}/.ssh:/home/ubuntu/.ssh
      - /home/${USER}/.gitconfig:/home/ubuntu/.gitconfig
    stdin_open: true
    tty: true

  gpu:
    container_name: my-humble-gpu
    image: masakifujiwara1/ros2:my-humble
    build:
      context: .
      dockerfile: Dockerfile
    network_mode: host
    ipc: host
    privileged: true
    environment:
      - DISPLAY=${DISPLAY}
      - XAUTHORITY=${XAUTH:-}
      - QT_X11_NO_MITSHM=1
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./docker_share:/home/host_files
      - /dev:/dev
      - ${XAUTH:-/tmp/.docker.xauth}:${XAUTH:-/tmp/.docker.xauth}
      - /home/${USER}/.ssh:/home/ubuntu/.ssh
      - /home/${USER}/.gitconfig:/home/ubuntu/.gitconfig
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
    stdin_open: true
    tty: true