docker-compose.yaml

# Docker Compose file for the C3pzero Robot
#
# Usage:
#
# To build the images:
#   docker compose build cpu
#   or
#   docker compose build gpu
#
# To start up a specific service by name [cpu or gpu]:
#   docker compose up <name>
#
# To open an interactive shell to a running container:
# (You can tab complete to get the container name)
#   docker exec -it c3pzero bash

services:
  cpu:
    image: c3pzero:latest
    container_name: c3pzero
    build:
      context: .
      dockerfile: .docker/Dockerfile
    # Interactive shell
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    network_mode: host
    ipc: host
    privileged: true
    command: /bin/bash
    device_cgroup_rules:
      - "c 81:* rmw"
      - "c 189:* rmw"
    environment:
      # Default the ROS_DOMAIN_ID to zero if not set on the host
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
      # Allows graphical programs in the container
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
    volumes:
      # Mount the colcon workspace containing the source code
      - ../../:/root/c3pzero_ws/:rw
      # Allow access to host hardware e.g. joystick & sensors
      - /dev:/dev
      # Allows graphical programs in the container
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
  gpu:
    extends: cpu
    container_name: c3pzero
    command: /bin/bash
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: 1
              capabilities: [gpu]
    environment:
      QT_X11_NO_MITSHM: 1
      NVIDIA_VISIBLE_DEVICES: all
      NVIDIA_DRIVER_CAPABILITIES: all