lio_sam/docker-compose.yaml at ros2 · ipab-rad/lio_sam · GitHub

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version: '3'
services:
  liosam-humble-jammy-container:
    image: liosam-humble-jammy
    container_name: liosam-humble-jammy-container
    privileged: true
    hostname: liosam-humble-jammy-container
    restart: always
    stdin_open: true
    tty: true
    network_mode: "host"
    dns:
      - 1.1.1.1
      - 1.0.0.1
      - 8.8.8.8
    environment:
      - "DISPLAY=$DISPLAY"
      - "NVIDIA_VISIBLE_DEVICES=all"
      - "NVIDIA_DRIVER_CAPABILITIES=all"
      - "FASTRTPS_DEFAULT_PROFILES_FILE=/usr/local/share/middleware_profiles/rtps_udp_profile.xml"
    volumes:
      - "/tmp/.X11-unix:/tmp/.X11-unix"
      - "/etc/localtime:/etc/localtime:ro"
      - "/etc/timezone:/etc/timezone:ro"
      - "/dev/*:/dev/*"
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: 1
              capabilities: [ gpu ]