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docker-compose.yaml
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137 lines (134 loc) · 4.69 KB
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version: "3.0"
services:
ros2_pc:
image: mm_system/humble:${CONTAINER_NAME:-humble}
user: ${USER_NAME:-user}
network_mode: "host"
environment:
- DISPLAY=$DISPLAY
- PULSE_SERVER=${XDG_RUNTIME_DIR}/pulse/native
- ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-45}
# - ROS_LOCAL_HOST_ONLY=1
privileged: true
volumes:
- .:/home/user/colcon_ws
- ${ROS_BAGS:-/dev/tmp}:/home/user/colcon_ws/bags/:ro
- /tmp/.X11-unix:/tmp/.X11-unix
- /run/user/1000/gdm/Xauthority:/home/user/.Xauthority
- /run/user/1000/at-spi:/run/user/1000/at-spi
- /etc/timezone:/etc/timezone:ro
- /etc/localtime:/etc/localtime:ro
- /dev:/dev
- ${XDG_RUNTIME_DIR}/pulse/native:${XDG_RUNTIME_DIR}/pulse/native
# for isaac sim ros2 bridge
- /scripts/fastdds.xml:/.ros/fastdds.xml
# for running with wsl on windows only
# - /mnt/wslg/:/mnt/wslg/
group_add:
- dialout
devices:
- /dev/ttyACM0:/dev/ttyACM0
- /dev/snd:/dev/snd
deploy:
resources:
reservations:
devices:
- driver: nvidia
count: 1
capabilities: [gpu]
logging:
options:
max-size: "1m"
max-file: "3"
ros2_sim:
image: mm_system/humble:${CONTAINER_NAME:-humble}
user: ${USER_NAME:-user}
network_mode: "host"
environment:
- DISPLAY=$DISPLAY
- PULSE_SERVER=$PULSE_SERVER
- ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-45}
privileged: true
volumes:
- .:/home/user/colcon_ws
- ${ROS_BAGS:-/dev/tmp}:/home/user/colcon_ws/bags/:ro
- /tmp/.X11-unix:/tmp/.X11-unix
- /run/user/1000/gdm/Xauthority:/home/user/.Xauthority
- /run/user/1000/at-spi:/run/user/1000/at-spi
- /etc/timezone:/etc/timezone:ro
- /etc/localtime:/etc/localtime:ro
- /dev:/dev
# for isaac sim ros2 bridge
- /scripts/fastdds.xml:/.ros/fastdds.xml
# for running with wsl on windows only
# - /mnt/wslg/:/mnt/wslg/
group_add:
- dialout
devices:
- /dev/ttyACM0:/dev/ttyACM0
deploy:
resources:
reservations:
devices:
- driver: nvidia
count: 1
capabilities: [gpu]
logging:
options:
max-size: "1m"
max-file: "3"
ros2_jetson:
image: mm_system/humble:${CONTAINER_NAME:-humble}
user: ${USER_NAME:-user}
network_mode: "host"
environment:
- DISPLAY=$DISPLAY
- ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-45}
- XAUTHORITY=/tmp/.docker.xauth
runtime: nvidia
privileged: true
volumes:
- .:/home/user/colcon_ws
- ${ROS_DATA:-/dev/tmp}:/home/user/colcon_ws/bags/:ro
- /tmp/.X11-unix:/tmp/.X11-unix
- /run/user/1000/gdm/Xauthority:/home/user/.Xauthority
- /run/user/1000/at-spi:/run/user/1000/at-spi
- /etc/timezone:/etc/timezone:ro
- /etc/localtime:/etc/localtime:ro
# - /tmp/argus_socket:/tmp/argus_socket
# - /etc/enctune.conf:/etc/enctune.conf
# - /etc/nv_tegra_release:/etc/nv_tegra_release
# - /tmp/nv_jetson_model:/tmp/nv_jetson_model
# - /var/run/dbus:/var/run/dbus
# - /var/run/avahi-daemon/socket:/var/run/avahi-daemon/socket
# - /var/run/docker.sock:/var/run/docker.sock
# - /tmp/.docker.xauth:/tmp/.docker.xauth
- /run/jtop.sock:/run/jtop.sock
- /dev/bus/usb:/dev/bus/usb #necessary for joystick to work
- /dev/input:/dev/input
- /dev/snd:/dev/snd
- /dev/ttyUSB0:/dev/ttyUSB0
# - /dev:/dev
group_add:
- dialout
devices:
- /dev/ttyACM0:/dev/ttyACM0 # pan_tilt motors
- /dev/ttyUSB0:/dev/ttyUSB0
logging:
options:
max-size: "10m"
deploy:
resources:
reservations:
devices:
- driver: nvidia
count: 1
capabilities: [gpu]
# --runtime nvidia -it --rm --network host --shm-size=8g --volume /tmp/argus_socket:/tmp/argus_socket
# --volume /etc/enctune.conf:/etc/enctune.conf --volume /etc/nv_tegra_release:/etc/nv_tegra_release
# --volume /tmp/nv_jetson_model:/tmp/nv_jetson_model --volume /var/run/dbus:/var/run/dbus
# --volume /var/run/avahi-daemon/socket:/var/run/avahi-daemon/socket --volume /var/run/docker.sock:/var/run/docker.sock
# --volume /home/shenlong/projects/jetson-containers/data:/data --device /dev/snd --device /dev/bus/usb -e DISPLAY=:0
# -v /tmp/.X11-unix/:/tmp/.X11-unix -v /tmp/.docker.xauth:/tmp/.docker.xauth -e XAUTHORITY=/tmp/.docker.xauth
# --device /dev/i2c-0 --device /dev/i2c-1 --device /dev/i2c-2 --device /dev/i2c-4 --device /dev/i2c-5 --device /dev/i2c-7
# --device /dev/i2c-9 -v /run/jtop.sock:/run/jtop.sock --privileged dustynv/ros:humble-desktop-l4t-r36.2.0