docker-compose.yaml

# Docker Compose file for TurtleBot3 Behavior Examples
#
# Usage:
#
# To build the images:
#   docker compose build
#
# To start up a specific service by name:
#   docker compose up <service_name>
#
# To open an interactive shell to a running container:
#   docker exec -it <container_name> bash

services:
  # Base image containing dependencies.
  base:
    image: ros_base
    build:
      context: .
      dockerfile: Dockerfile
      args:
        ROS_DISTRO: humble
      target: base
    # 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
      - NVIDIA_DRIVER_CAPABILITIES=all
    volumes:
      # Allows graphical programs in the container.
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority

  # Developer container
  dev:
    extends: base
    image: dev
    build:
      context: .
      dockerfile: Dockerfile
      target: dev
      args:
        - UID=${UID:-1000}
        - GID=${UID:-1000}
        - USERNAME=${USERNAME:-devuser}
    # volumes:
    #   # Can mount the source code like:
    #   - ./tb3_autonomy:/overlay_ws/src/tb3_autonomy: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
    user: ${USERNAME:-devuser}
    command: sleep infinity