SIMLAN/docker-compose.yaml at main · ebadi/SIMLAN · GitHub

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services:
  factory_simulation: &research-base
    container_name: factory_simulation
    shm_size: '1gb'
    build:
      context: .
      dockerfile: .devcontainer/Dockerfile
    volumes:
      - /etc/localtime:/etc/localtime:ro
      # - ${XAUTHORITY}:/tmp/.Xauthority
      - /tmp/.docker.xauth:/tmp/.docker.xauth:rw
      - /tmp/.X11-unix:/tmp/.X11-unix
      - ./:/home/ros/src
    privileged: true
    tty: true
    environment:
      DISPLAY: ${DISPLAY}
      OS: ${OS}
      XAUTHORITY: /tmp/.docker.xauth
      ROS_DOMAIN_ID: 39
      SDL_VIDEODRIVER: x11
    devices:
      - /dev/tty*:/dev/tty*
      - /dev:/dev
    device_cgroup_rules:
      - 'c *:* rmw'
    network_mode: host
    command: tail -f /dev/null
    restart: always
    runtime: nvidia

  factory_simulation_nvidia:
   <<: *research-base
   container_name: factory_simulation_nvidia
   runtime: nvidia
   deploy:
     resources:
       reservations:
         devices:
           - driver: nvidia
             count: "all"
             capabilities: [compute,utility,graphics,display]