docker-compose.yml

version: "3.4"

services:
  dev:
    build:
        context: ./
        dockerfile: ./Dockerfile
        args:
          ROS_DISTRO: ${ROS_DISTRO}
    image: rif/ros:${ROS_DISTRO}
    container_name: ros_${ROS_DISTRO}
    network_mode: "host"           # access to host's network
    stdin_open: true               # docker run -i
    tty: true                      # docker run -t
    privileged: true               # Needed for /dev volume
    environment:
      - DISPLAY=${DISPLAY}             # Pass the display for GUI
      - QT_X11_NO_MITSHM=1             # Needed by QT programs
      - XAUTHORITY=/tmp/.docker.xauth
      - USER_ID=${USER_ID}
      - GROUP_ID=${GROUP_ID}
      - TERM=xterm-256color            # Enable terminal colors
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw # Connect X11
      - .docker.xauth:/tmp/.docker.xauth # Provide the generated xauth file
      - /dev:/dev  # Needed for sensors
      # Source code volume mounts
      # /home/<host-user>/ros1/workspace/src:/home/ros/workspace/src
      # - ${HOME}/ros1/workspace_2/src:/home/ros/workspace/src


  dev-nvidia:
    image: rif/ros:${ROS_DISTRO}
    container_name: ros_${ROS_DISTRO}_nvidia
    network_mode: "host"           # access to host's network
    stdin_open: true               # docker run -i
    tty: true                      # docker run -t
    privileged: true               # Needed for /dev volume
    runtime: nvidia
    environment:
      - DISPLAY=${DISPLAY}             # Pass the display for GUI
      - QT_X11_NO_MITSHM=1             # Needed by QT programs
      - XAUTHORITY=/tmp/.docker.xauth
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - USER_ID=${USER_ID}
      - GROUP_ID=${GROUP_ID}
      - TERM=xterm-256color            # Enable terminal colors
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw # Connect X11
      - .docker.xauth:/tmp/.docker.xauth # Provide the generated xauth file
      - /dev:/dev  # Needed for sensors
      # Source code volume mounts
      # /home/<host-user>/ros1/workspace/src:/home/ros/workspace/src
      # - ${HOME}/ros1/workspace_2/src:/home/ros/workspace/src