From 4d84b5f8cc56dbd9e434cdf5095d1e3f5b2e0492 Mon Sep 17 00:00:00 2001
From: Aaron <aaron.m.davis@comcast.net>
Date: Wed, 7 Jan 2026 20:01:39 -0600
Subject: [PATCH] added docker compose

---
 docker-compose.yml | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)
 create mode 100644 docker-compose.yml

diff --git a/docker-compose.yml b/docker-compose.yml
new file mode 100644
index 0000000..58d2d01
--- /dev/null
+++ b/docker-compose.yml
@@ -0,0 +1,18 @@
+
+services:
+  ros2:
+    image: osrf/ros:jazzy-desktop-full
+    container_name: ros2_jazzy_gui
+    network_mode: host
+    environment:
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+      - XAUTHORITY=/tmp/.docker.xauth
+      - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ./ros_ws:/ros_ws
+    stdin_open: true
+    tty: true
+    privileged: true