maly_woz/compose.yaml at master · Klub-Almukantarat/maly_woz · GitHub

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services:
  base: # dummy service for building base image
    image: maly_woz/base:jazzy
    build:
      dockerfile: docker/base/Dockerfile
      context: .
    deploy:
      replicas: 0

  software:
    image: maly_woz/software:jazzy
    build:
      dockerfile: docker/software/Dockerfile
      context: .
    depends_on:
      - base
    container_name: software
    network_mode: host
    ipc: host
    shm_size: 512m
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - XAUTHORITY=/tmp/.docker.xauth
    volumes:
      # X11 for GUI
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      # Packages mount
      - ./src/maly_woz_bringup:/workspace/src/maly_woz_bringup:rw
      - ./src/maly_woz_description:/workspace/src/maly_woz_description:rw
      # Colcon build/install/log volumes
      - software_colcon_build:/workspace/build
      - software_colcon_install:/workspace/install
      - software_colcon_log:/workspace/log
    stdin_open: true
    tty: true

  hardware:
    image: maly_woz/hardware:jazzy
    build:
      dockerfile: docker/hardware/Dockerfile
      context: .
    depends_on:
      - base
    container_name: hardware
    network_mode: host
    volumes:
      # Devices
      - /dev:/dev:rw
      # Packages mount
      - ./src/maly_woz_description:/workspace/src/maly_woz_description:rw
      # Colcon build/install/log volumes
      - hardware_colcon_build:/workspace/build
      - hardware_colcon_install:/workspace/install
      - hardware_colcon_log:/workspace/log
    stdin_open: true
    tty: true

  simulation-nvidia:
    image: maly_woz/sim:jazzy
    build:
      dockerfile: docker/sim/Dockerfile
      context: .
    container_name: simulation
    network_mode: host
    ipc: host
    shm_size: 512m
    runtime: nvidia
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - XAUTHORITY=/tmp/.docker.xauth
    volumes:
      # X11 for GUI
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      # Packages mount
      - ./src/maly_woz_description:/workspace/src/maly_woz_description:rw
      - ./src/maly_woz_gz:/workspace/src/maly_woz_gz:rw
      # Colcon build/install/log volumes
      - simulation_colcon_build:/workspace/build
      - simulation_colcon_install:/workspace/install
      - simulation_colcon_log:/workspace/log
    stdin_open: true
    tty: true

  simulation-intel-amd:
    image: maly_woz/sim:jazzy
    build:
      dockerfile: docker/sim/Dockerfile
      context: .
    container_name: simulation
    network_mode: host
    ipc: host
    shm_size: 512m
    devices:
      - /dev/dri:/dev/dri
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - XAUTHORITY=/tmp/.docker.xauth
    volumes:
      # X11 for GUI
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      # Devices
      - /dev/dri:/dev/dri
      # Packages mount
      - ./src/maly_woz_description:/workspace/src/maly_woz_description:rw
      - ./src/maly_woz_gz:/workspace/src/maly_woz_gz:rw
      # Colcon build/install/log volumes
      - simulation_colcon_build:/workspace/build
      - simulation_colcon_install:/workspace/install
      - simulation_colcon_log:/workspace/log
    stdin_open: true
    tty: true

volumes:
  software_colcon_build:
  software_colcon_install:
  software_colcon_log:
  hardware_colcon_build:
  hardware_colcon_install:
  hardware_colcon_log:
  simulation_colcon_build:
  simulation_colcon_install:
  simulation_colcon_log: