Snapbot/docker-compose.yaml at master · Plan-Real/Snapbot · GitHub

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version: "3.9"
services:
  gpu:
    build:
      context: .
      dockerfile: docker/Dockerfile
      target: gpu
      args:
        - REPO=${REPO}
        - ROS_DISTRO=${ROS_DISTRO}
    image: ${REPO}-base:${ROS_DISTRO}
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: 1
              capabilities: [gpu]
  # Base image containing dependencies.
  base:
    extends: gpu
    build:
      context: .
      dockerfile: docker/Dockerfile
      args:
        - REPO=${REPO}
        - ROS_DISTRO=${ROS_DISTRO}
      target: base

    ports:
      - 5000:5000
    image: ${REPO}-base:${ROS_DISTRO}
    # Interactive shell
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    network_mode: host
    ipc: host
    # Needed to display graphical applications
    privileged: True
    environment:
      # Allows graphical programs in the container.
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      # # Needed to access the GPU
      # - NVIDIA_DRIVER_CAPABILITIES=all
      # Needed to run ROS 2 nodes
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
      - TERM=xterm-256color
    volumes:
      # Allows graphical programs in the container.
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
      # Mount devices and configuration files
      - /dev:/dev
      - /etc/udev:/etc/udev:ro
      # Mount ssh keys and git config
      - ~/.ssh:${HOME}/.ssh:ro
      - ~/.gitconfig:${HOME}/.gitconfig:ro
      # Mount group and passwd files for user permissions
      - /etc/group:/etc/group:ro
      - /etc/passwd:/etc/passwd:ro
      - /etc/shadow:/etc/shadow:ro
  # Overlay image containing the example source code.
  overlay:
    extends: base
    image: ${REPO}-overlay:${ROS_DISTRO}
    build:
      context: .
      dockerfile: docker/Dockerfile
      target: overlay
      args:
        - SIM_REPO=${SIM_REPO}
        - SIM_REPO_ENV=${SIM_REPO_ENV}
  # Developer container
  dev:
    extends: overlay
    image: ${REPO}-dev:${ROS_DISTRO}
    build:
      context: .
      dockerfile: docker/Dockerfile
      target: dev
      args:
        - UID=${UID:-1000}
        - GID=${UID:-1000}
        - USERNAME=${USERNAME:-devuser}
    volumes:
      # Mount the source codec
      - ./${REPO}:/overlay_ws/src/${REPO}:rw
      # Mount colcon build artifacts for faster rebuilds
      - ./.colcon/build/:/overlay_ws/build/:rw
      - ./.colcon/install/:/overlay_ws/install/:rw
      - ./.colcon/log/:/overlay_ws/log/:rw
      # Mount docker directory for faster edits to Dockerfile
      - ./docker:/overlay_ws/docker:rw
      # Mount .devcontainer directory for faster edits to devcontainer.json
      - ./.devcontainer:/overlay_ws/.devcontainer:rw
      # Mount .vscode directory for faster edits
      - ./.vscode:/overlay_ws/.vscode:rw
    user: ${USERNAME:-devuser}
    container_name: ${USER}-${REPO}-dev
    command: bash -c "bash"