cddp_mpc/docker-compose.yml at master · astomodynamics/cddp_mpc · GitHub

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services:
  cddp-mpc-dev:
    build:
      context: .
      dockerfile: docker/Dockerfile
      target: dev
      args:
        CUDA_VERSION: "12.3.2"
        UBUNTU_VERSION: "22.04"
        ROS_DISTRO: "humble"
        USER_UID: ${USER_UID:-1000}
        USER_GID: ${USER_GID:-1000}
    image: cddp-mpc:dev
    container_name: cddp-mpc-dev
    hostname: cddp-mpc

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

    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-42}
      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
      - ROS_HOME=/tmp/ros
      - ROS_LOG_DIR=/tmp/ros/log
      - LIBGL_ALWAYS_SOFTWARE=0
      - GZ_PARTITION=${GZ_PARTITION:-cddp_mpc}
      - XDG_RUNTIME_DIR=/tmp/runtime-developer

    volumes:
      - .:/home/developer/ws/src/cddp_mpc
      - ./docker/entrypoint.sh:/entrypoint.sh:ro
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - cddp-mpc-bash-history:/home/developer/.bash_history
      - cddp-mpc-ros-logs:/home/developer/.ros
      - cddp-mpc-px4-logs:/tmp/px4_logs

    network_mode: host
    stdin_open: true
    tty: true
    working_dir: /home/developer/ws/src/cddp_mpc
    entrypoint: ["/bin/bash", "/entrypoint.sh"]
    command: ["sleep", "infinity"]

  cddp-mpc-sim:
    build:
      context: .
      dockerfile: docker/Dockerfile
      target: prod
      args:
        CUDA_VERSION: "12.3.2"
        UBUNTU_VERSION: "22.04"
        ROS_DISTRO: "humble"
    image: cddp-mpc:prod
    container_name: cddp-mpc-sim

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

    environment:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-42}
      - ROS_HOME=/tmp/ros
      - ROS_LOG_DIR=/tmp/ros/log
      - GZ_PARTITION=${GZ_PARTITION:-cddp_mpc}
      - XDG_RUNTIME_DIR=/tmp/runtime-appuser

    network_mode: host
    stdin_open: true
    tty: true
    working_dir: /app/ros_ws/src/cddp_mpc
    entrypoint: ["/bin/bash", "/entrypoint.sh"]
    volumes:
      - .:/app/ros_ws/src/cddp_mpc:ro
      - ./docker/entrypoint.sh:/entrypoint.sh:ro
      - cddp-mpc-px4-logs:/tmp/px4_logs

volumes:
  cddp-mpc-bash-history:
  cddp-mpc-ros-logs:
  cddp-mpc-px4-logs: