compose.yaml

name: ros2-aloha-ws
services:
  volume-instantiation:
    # Ref: https://github.com/moby/moby/issues/47842#issuecomment-2249050939
    # Note: We use individual `chown` commands instead of `chown -R` for performance.
    # This chown is only required for empty volumes. If the volume happens to be non-empty,
    # `chown -R` would be very time-consuming as it recursively changes ownership of all
    # existing files and subdirectories.
    image: ubuntu:22.04
    container_name: ros2-aloha-ws-volume-instantiation
    command: bash -c "
        echo 'Creating directories and setting ownership for UID ${USER_UID:-1000}...' &&
        mkdir -p /isaac-sim/.cache &&
        mkdir -p /isaac-sim/.nv/ComputeCache &&
        mkdir -p /isaac-sim/.nvidia-omniverse/{logs,config} &&
        mkdir -p /isaac-sim/.local/share/ov/{data,pkg} &&
        chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim &&
        chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.cache &&
        chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nv{,/ComputeCache} &&
        chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.nvidia-omniverse{,/logs,/config} &&
        chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/.local{,/share,/share/ov,/share/ov/data,/share/ov/pkg}
      "
    volumes:
      - isaac-sim-cache:/isaac-sim
  aloha-ws:
    depends_on:
      - volume-instantiation
    build:
      context: .
      dockerfile: Dockerfile
      # TODO: Specify the target platform to build the image, otherwise it will build for the host platform.
      # Reference: https://docs.docker.com/compose/compose-file/build/#platforms
      # platforms:
      #   - "linux/arm64"
      args:
        # TODO: Set the USER_UID
        USER_UID: "${USER_UID:-1000}"
        # TODO: Set CUDA Toolkit version or set to "" if not using CUDA Toolkit
        # CUDA_TOOLKIT_VERSION: ""
        # TODO: Set Isaac Sim version or set to "" if not using Isaac Sim
        # ISAAC_SIM_VERSION: "5.1.0"
        # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab
        # ISAAC_LAB_VERSION: "2.3.2"
        # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS
        # ISAAC_ROS: ""
        # TODO: Set to "YES" if using Cartographer or set to "" if not using Cartographer
        # CARTOGRAPHER: ""
        # TODO: Set to "YES" if using RTAB-Map or set to "" if not using RTAB-Map
        # RTABMAP: ""
        # TODO: Set to "YES" if using RealSense or set to "" if not using RealSense
        # REALSENSE: ""
        # TODO: Set to "YES" if using NVIDIA OpenUSD tools or set to "" if not using NVIDIA OpenUSD tools
        # NV_OPENUSD: ""
        # TODO: Set to "YES" if using Newton Tools or set to "" if not using Newton Tools
        # NEWTON_TOOLS: ""
        # TODO: Set to "YES" if using Claude Code CLI or set to "" if not using Claude Code CLI
        # CLAUDE_CODE: ""
        # TODO: Set to "YES" if using Codex CLI or set to "" if not using Codex CLI
        # CODEX: ""
      cache_from:
        - j3soon/ros2-aloha-ws:buildcache-amd64
        - j3soon/ros2-aloha-ws:buildcache-arm64
    image: j3soon/ros2-aloha-ws
    container_name: ros2-aloha-ws
    stdin_open: true
    tty: true
    # TODO: Comment the line below if the workspace don't need to communicate through `/dev/*` devices.
    privileged: true
    command: /bin/bash
    network_mode: host
    working_dir: /home/ros2-essentials/aloha_ws
    environment:
      # Set X11 server environment variable for existing display.
      - DISPLAY=$DISPLAY
      # References:
      # - https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html
      # - https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html
      # - https://docs.ros.org/en/humble/Tutorials/Demos/Logging-and-logger-configuration.html#console-output-colorizing
      - ROS_LOCALHOST_ONLY=0
        # Localhost only is disabled by default to allow communication with external devices.
      - ROS_DOMAIN_ID=0
        # Domain ID is set to 0 to allow communication through ros1_bridge.
      - RCUTILS_COLORIZED_OUTPUT=1
      # TODO: Set the ROS middleware (RMW). Currently supported RMW implementations:
      # - rmw_fastrtps_cpp (FastDDS) (default)
      # - rmw_cyclonedds_cpp (CycloneDDS)
      # Ref:
      # - https://github.com/ros2/rmw_fastrtps/blob/d98cacec980df18810af232b75db80b5ce7da845/README.md
      # - https://github.com/ros2/rmw_cyclonedds/blob/406277084be4352fa48357047ed56be69e4942e5/README.md
      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
      # Set the ROS workspace path.
      - ROS2_WS=/home/ros2-essentials/aloha_ws
      # TODO: Add more environment variables here.
    # Enable GPU support.
    # Reference: https://docs.docker.com/compose/gpu-support/
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [ gpu ]
    # Enable NVIDIA runtime (for older docker setup).
    # Reference: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/sample-workload.html
    # runtime: nvidia
    volumes:
      # Mount local timezone into container.
      # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container
      - /etc/timezone:/etc/timezone:ro
      - /etc/localtime:/etc/localtime:ro
      # Mount X11 server
      - /tmp/.X11-unix:/tmp/.X11-unix
        # X11-unix is mounted to allow GUI applications to display on host.
      - $HOME/.Xauthority:/home/user/.Xauthority
        # Xauthority is mounted to allow X11 forwarding for remote display.
      # Mount Direct Rendering Infrastructure (DRI) for hardware acceleration support such as OpenGL.
      - /dev/dri:/dev/dri
      # Mount sound card to prevent Gazebo warning.
      - /dev/snd:/dev/snd
      # Mount shared memory for ROS2 communication.
      - /dev/shm:/dev/shm
      # TODO: Uncomment the line below and comment out the three entries above to enable USB support.
      # - /dev:/dev
      # Mount Gazebo models directory to reuse models downloaded during first launch.
      # Reference: https://answers.ros.org/question/365658
      # Note that this volume is shared among all workspaces.
      - gazebo-cache:/home/user/.gazebo
      # Note that this volume is shared among all workspaces.
      - isaac-ros-assets:/home/user/workspaces/isaac_ros-dev/isaac_ros_assets
      # Mount CycloneDDS configuration file.
      - ./cyclonedds.xml:/home/user/cyclonedds.xml
      # Mount Isaac Sim cache directories.
      # Reference: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_container.html#container-deployment
      # Note that this volume is shared among all workspaces.
      - type: volume
        source: isaac-sim-cache
        target: /home/user/.cache
        volume:
          subpath: .cache
      - type: volume
        source: isaac-sim-cache
        target: /home/user/.nv/ComputeCache
        volume:
          subpath: .nv/ComputeCache
      - type: volume
        source: isaac-sim-cache
        target: /home/user/.nvidia-omniverse/logs
        volume:
          subpath: .nvidia-omniverse/logs
      - type: volume
        source: isaac-sim-cache
        target: /home/user/.nvidia-omniverse/config
        volume:
          subpath: .nvidia-omniverse/config
      - type: volume
        source: isaac-sim-cache
        target: /home/user/.local/share/ov/data
        volume:
          subpath: .local/share/ov/data
      - type: volume
        source: isaac-sim-cache
        target: /home/user/.local/share/ov/pkg
        volume:
          subpath: .local/share/ov/pkg
      # TODO: Add more volume mounts here.
      # Mount root workspace to allow easy access to all workspaces.
      - ../..:/home/ros2-essentials
      # Mount credentials (for Claude Code CLI, Codex CLI, and etc.)
      - ${HOME}/docker/.claude:/home/user/.claude
      - ${HOME}/docker/.claude.json:/home/user/.claude.json
      - ${HOME}/docker/.codex:/home/user/.codex
    # Add device cgroup rules to allow access to specific devices (like realsense).
    # Reference: https://github.com/2b-t/docker-for-robotics/blob/main/doc/WorkingWithHardware.md
    # Note that this is required only when using privileged: false.
    # device_cgroup_rules:
    #   - 'c 81:* rmw'
    #   - 'c 189:* rmw'
volumes:
  gazebo-cache:
    name: ros2-gazebo-cache
    external: true
  isaac-sim-cache:
    name: ros2-isaac-sim-cache
    external: true
  isaac-ros-assets:
    name: ros2-isaac-ros-assets
    external: true