orin-j/docker-compose.yml at main · drmxm/orin-j · GitHub

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services:
  perception:
    image: mmx-perception:latest
    build:
      context: ./perception         # <— use service folder as context
      dockerfile: Dockerfile
    network_mode: host
    ipc: host
    privileged: true
    devices:
      - /dev/video0:/dev/video0
    volumes:
      - ./config:/work/config:ro
    environment:
      ROS_DOMAIN_ID: 0
      UVC_DEVICE: /dev/video0
      RGB_WIDTH: "1920"
      RGB_HEIGHT: "1080"
      RGB_FPS: "30.0"
      RGB_PIXEL_FORMAT: mjpeg2rgb
      RGB_FRAME_ID: uvc_rgb
      RGB_CAMERA_NAME: arducam_rgb
      RGB_IMAGE_TOPIC: /sensors/rgb/image_raw
      RGB_INFO_TOPIC: /sensors/rgb/camera_info
      RGB_INFO_URL: file:///work/config/rgb_1920x1080.yaml
    command: ["/start.sh"]

  infra:
    image: mmx-infra:latest
    build:
      context: ./infra              # <— use service folder as context
      dockerfile: Dockerfile
    network_mode: host
    ipc: host
    depends_on:
      - perception
    environment:
      ROS_DOMAIN_ID: 0
      FOXGLOVE_PORT: "8765"
    command: ["/start.sh"]