clr_ws/docker-compose.yml at jazzy-devel · NASA-JSC-Robotics/clr_ws · GitHub

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services:
  dev:
    env_file: .env
    build:
      context: .
      dockerfile: Dockerfile
      target: er4-dev
      tags:
        - er4-dev:${ROS2_DISTRO:-jazzy}
      args:
        - USERNAME=er4-user  # Changing username requires updating workspace mounts below
        - USER_UID=${USER_UID:-1000}
        - USER_GID=${USER_GID:-1000}
        - ROS_DISTRO=${ROS2_DISTRO:-jazzy}
    # Ensures signals are actually passed and reaped in the container for shutdowns
    # https://docs.docker.com/compose/compose-file/compose-file-v3/#init
    init: true
    stdin_open: true
    tty: true
    privileged: true
    network_mode: host
    # Ensures the UR drivers have access to RT priority
    ulimits:
      rtprio: 99
    environment:
      # Pass the ROS_DOMAIN_ID from the host, if available, otherwise we default to 1 to avoid spamming networks
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-1}
      # Enable running graphical applications from inside the container
      - DISPLAY
      - QT_X11_NO_MITSHM=1
      # This service will attempt to mount and use the DDS configuration from the host, if it is defined.
      # Otherwise, it will fall back to localhost only configuration using cyclonedds.
      - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_cyclonedds_cpp}
      - CYCLONEDDS_URI=/cyclonedds.xml
      - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml
      # make the bash history folder link to our local .bash so that we can rtain info between container starts
      - HISTFILE=/home/er4-user/.bash/.bash_history
      # default to colorized output of ros logs
      - RCUTILS_COLORIZED_OUTPUT=1
      - NVIDIA_DRIVER_CAPABILITIES=all
    # If using an nvidia driver uncomment these lines
    # runtime: nvidia
    # deploy:
    #   resources:
    #     reservations:
    #       devices:
    #         - capabilities: [gpu]
    #           count: all
    volumes:
      # If they are present, mount DDS configurations from the host machine into the container.
      # If not, fallback to the default localhost configurations for both fastrtps and cyclonedds.
      - ${CYCLONEDDS_URI:-./config/cyclonedds.xml}:/cyclonedds.xml:ro
      - ${FASTRTPS_DEFAULT_PROFILES_FILE:-./config/fastdds.xml}:/fastdds.xml:ro
      # If you build this locally with the correct user information then this shouldn't be an issue
      # mounting without bindfs
      - ./src:/home/er4-user/ws/src/:rw
      # Bind mount folders into the container for preserving build artifacts
      - ./build:/home/er4-user/ws/build/:rw
      - ./install:/home/er4-user/ws/install/:rw
      - ./log:/home/er4-user/ws/log/:rw
      - ./.ccache:/home/er4-user/.ccache
      - ./.bash:/home/er4-user/.bash
      # For rendering graphical commands inside the container
      - x11_sock:/tmp/.X11-unix
      - /tmp/.X11-unix:/tmp/.X11-unix:ro
      - $HOME/.Xauthority:/home/${HOST_USERNAME:-er4-user}/.Xauthority:rw
    command: sleep infinity

  # The hardware service includes any additional specifications for running on CLR hardware.
  hw:
    extends: dev
    volumes:
      # The controller machine requires access to some devices for hardware comms.
      # Including, but not necessarily limited to the Hand-E gripper and Lift.
      # TODO: Mount specific devices by name conventions, rather than all of /dev
      - /dev:/dev
    command: sleep infinity
    profiles: [ hw ]