vive_controller/docker-compose.yml at main · hucebot/vive_controller · GitHub

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services:

  # ── bimanual: bimanual tracker (left + right) ─────────────────────────────
  bimanual_vive_tracker:
    profiles: [bimanual]
    container_name: ros2_bimanual_vive_tracker
    image: vive-controller-from-bleu-base-jazzy:2026.03am2_tracker_node
    build:
      context: .
      dockerfile: .ci/Dockerfile
      target: app
      args:
        STEAM_USER: ${STEAM_USER}
        STEAM_PASSWORD: ${STEAM_PASSWORD}
    network_mode: host
    ipc: host
    pid: host
    privileged: true
    environment:
      - DISPLAY=${DISPLAY}
      - NVIDIA_DRIVER_CAPABILITIES=all
      - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
      - QT_X11_NO_MITSHM=1
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-1}
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - HAND_OFFSET_LEFT=${HAND_OFFSET_LEFT:-[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]}
      - HAND_OFFSET_RIGHT=${HAND_OFFSET_RIGHT:-[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
      - /dev:/dev
      - /run/udev:/run/udev
      - ./config/steamvr_config/openvrpaths.vrpath:/root/.config/openvr/openvrpaths.vrpath
      - ./config/steamvr_config/default_driver_null:/home/steam/Steam/steamapps/common/SteamVR/drivers/null/resources/settings/default.vrsettings
      - ./config/steamvr_config/default_resources:/home/steam/Steam/steamapps/common/SteamVR/resources/settings/default.vrsettings
      - ./ros2_vive_controller:/ros2_ws/src/ros2_vive_controller/ros2_vive_controller
      - ./launch:/ros2_ws/src/ros2_vive_controller/launch
      - ./config:/ros2_ws/src/ros2_vive_controller/config
      - ./rviz:/ros2_ws/src/ros2_vive_controller/rviz
      - ./assets:/ros2_ws/src/ros2_vive_controller/assets
      - ./setup.py:/ros2_ws/src/ros2_vive_controller/setup.py
      - ./.ci/entrypoint.vive3_0.sh:/entrypoint.sh
    working_dir: /ros2_ws
    entrypoint: ["/entrypoint.sh"]
    command: >
      ros2 run ros2_vive_controller bimanual_tracker_3_0_node --ros-args
      -p serial_left:=${SERIAL_LEFT:-}
      -p serial_right:=${SERIAL_RIGHT:-}
      -p reference_lighthouse_serial:=${REFERENCE_LIGHTHOUSE_SERIAL:-}
      -p hand_offset_left:="${HAND_OFFSET_LEFT:-[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]}"
      -p hand_offset_right:="${HAND_OFFSET_RIGHT:-[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]}"
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]

  # ── simple: single tracker ────────────────────────────────────────────────
  simple_vive_tracker:
    profiles: [simple]
    container_name: ros2_simple_vive_tracker
    image: vive-controller-from-bleu-base-jazzy:2026.03am2_tracker_node
    build:
      context: .
      dockerfile: .ci/Dockerfile
      target: app
      args:
        STEAM_USER: ${STEAM_USER}
        STEAM_PASSWORD: ${STEAM_PASSWORD}
    network_mode: host
    ipc: host
    pid: host
    privileged: true
    environment:
      - DISPLAY=${DISPLAY}
      - NVIDIA_DRIVER_CAPABILITIES=all
      - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
      - QT_X11_NO_MITSHM=1
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-1}
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - HAND_OFFSET=${HAND_OFFSET:-[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
      - /dev:/dev
      - /run/udev:/run/udev
      - ./config/steamvr_config/openvrpaths.vrpath:/root/.config/openvr/openvrpaths.vrpath
      - ./config/steamvr_config/default_driver_null:/home/steam/Steam/steamapps/common/SteamVR/drivers/null/resources/settings/default.vrsettings
      - ./config/steamvr_config/default_resources:/home/steam/Steam/steamapps/common/SteamVR/resources/settings/default.vrsettings
      - ./ros2_vive_controller:/ros2_ws/src/ros2_vive_controller/ros2_vive_controller
      - ./launch:/ros2_ws/src/ros2_vive_controller/launch
      - ./config:/ros2_ws/src/ros2_vive_controller/config
      - ./rviz:/ros2_ws/src/ros2_vive_controller/rviz
      - ./assets:/ros2_ws/src/ros2_vive_controller/assets
      - ./setup.py:/ros2_ws/src/ros2_vive_controller/setup.py
      - ./.ci/entrypoint.vive3_0.sh:/entrypoint.sh
    working_dir: /ros2_ws
    entrypoint: ["/entrypoint.sh"]
    command: >
      ros2 run ros2_vive_controller tracker_3_0_node --ros-args
      -p name:=${TRACKER_NAME:-tracker}
      -p serial:=${SERIAL:-}
      -p reference_lighthouse_serial:=${REFERENCE_LIGHTHOUSE_SERIAL:-}
      -p hand_offset:="${HAND_OFFSET:-[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]}"
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]