docker-compose-ros-noetic-dev.yaml

version: "3.7"

x-env-file-common-variables: &env_file
    config/ros1/${HOSTNAME}.env

services:

  rosmaster:
    image: ros:noetic-ros-core
    container_name: rosmaster
    restart: unless-stopped
    network_mode: host
    ipc: host 
    user: "${USERSETUP:-0:0}"
    environment:
      - "HOME=/root"
      - "ROS_LOG_DIR=/root/.ros"
    env_file: *env_file
    command: stdbuf -o L roscore
    # command: tail -f /dev/null
    volumes:
      - $HOME/logs:/root/.ros/

  ros-dev:
    container_name: ros1-dev
    image: ros-dev:nvidia-noetic
    network_mode: host
    ipc: host 
    build:
      context: .
      dockerfile: Dockerfile.nvidia-ros-noetic
      network: host
    depends_on:
      - rosmaster
    environment:
      - "DISPLAY"
      - "NVIDIA_VISIBLE_DEVICES=all"
      - "NVIDIA_DRIVER_CAPABILITIES=all"
    env_file: *env_file
    privileged: true
    restart: unless-stopped
    # command: bash -c "sleep 3; source "
    command: tail -f /dev/null
    volumes:
      - type: bind
        source: /dev
        target: /dev
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - $HOME/.Xauthority:/root/.Xauthority:rw
      - /var/run/dbus:/var/run/dbus
      - $HOME/.ssh:/root/.ssh
      - $HOME/logs/docker/ros:/root/.ros/
      - $HOME/ros1_ws:/root/ros1_ws
      - $HOME/ros-docker-workspace:/root/ros-docker-workspace