docker-for-husky-robot/docker-compose.yaml at main · raillab/docker-for-husky-robot · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
version: "3"
services:
  velodyne:
    build: .
    image: velodyne
    command: /bin/bash
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - /dev:/dev
      - /dev/bus/usb:/dev/bus/usb
      - /home/ireton/Projects/Masters/ros_ws:/root/ros_ws
      # - /media/ireton/SR20/:/root/ros_ws/data
      - $HOME/.Xauthority:/root/.Xauthority:ro
    stdin_open: true
    tty: true
    environment:
      - DISPLAY=${DISPLAY}
      - ROS_MASTER_URI=http://cpr-a200-0971:11311
      - ROS_HOSTNAME=localhost
      - ROS_IP=127.0.0.1
    network_mode: host
    privileged: true
    ulimits:
      nofile:
        soft: "1024"
        hard: "524288"
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: 1
              capabilities: [ gpu ]