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docker-compose-ros2-humble-dev.yaml
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docker-compose-ros2-humble-dev.yaml
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version: "3.7"
x-env-file-common-variables: &env_file
config/ros2/${HOSTNAME}.env
services:
ros2-dev:
container_name: ros2-dev
image: ros2-dev:nvidia-humble
network_mode: host
ipc: host # TODO: Investigate issue
build:
context: .
dockerfile: Dockerfile.nvidia-ros2-humble
network: host
environment:
- "DISPLAY"
- "NVIDIA_VISIBLE_DEVICES=all"
- "NVIDIA_DRIVER_CAPABILITIES=all"
# - "ROS_DOMAIN_ID=25" # Optional: to choose ROS domain
# - "ROS_LOCALHOST_ONLY=0" # Optional: set to 1 if you want to present network communication
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/ros2:/root/.ros/
- $HOME/ros2_ws:/root/ros2_ws
- $HOME/ros2-docker-workspace:/root/docker_ws # This repository