larc-vsss-2026/docker-compose.yaml at main · RoBorregos/larc-vsss-2026 · GitHub

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services:
  vsss_vision:
    image: roborregos/vsss:vision
    container_name: vsss-vision
    stdin_open: true
    tty: true
    privileged: true
    network_mode: host

    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]

    environment:
      - DISPLAY=${DISPLAY}
      - TERM=xterm-256color
      - QT_X11_NO_MITSHM=1
      - QT_DEBUG_PLUGINS=1
      - NVIDIA_DRIVER_CAPABILITIES=all
      - VSSS_SIM_CALIBRATION_PATH=/ros2_ws/vsss/vsss_ws/src/vision/vision/sim_calibration.json
      - VSSS_CALIBRATION_PATH=/ros2_ws/vsss/vsss_ws/src/vision/vision/vsss_calibration.json
      - VSSS_SAVE_PATH=/ros2_ws/vsss/vsss_ws/src/vision/media/log/
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
      - $HOME/.Xauthority:/root/.Xauthority:rw
      - /dev:/dev
      - .:/ros2_ws/vsss
    devices:
      - /dev/video0:/dev/video0
      - /dev/bus/usb:/dev/bus/usb
      - /dev/dri:/dev/dri

    command: /bin/bash