ros_tutorials/docker-compose.yaml at main · ugrt/ros_tutorials · GitHub

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version: '3'

services:

  gazebo_docker_container:
    build:
      context: .
      dockerfile: dockerfile
    network_mode: host
    user: ${UID}:${GID}
    environment:
      # Enviroment Varibles to get the display to work
      - "DISPLAY"
      - "QT_X11_NO_MITSHM=1"
      - "XAUTHORITY=/tmp/.docker.xauth"
      - ROS_DOMAIN_ID=1
    volumes:
      # Volumes for getting the display to work
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - /etc/group:/etc/group:ro
      - /etc/passwd:/etc/passwd:ro
      - /etc/shadow:/etc/shadow:ro
      - /etc/sudoers:/etc/sudoers:ro
      - /etc/sudoers.d:/etc/sudoers.d:ro
      - /home/${USER}:/home/${USER}:rw
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: 1
              capabilities: [gpu]
    command: ros2 launch turtlebot4_ignition_bringup ignition.launch.py slam:=sync nav2:=true rviz:=true