services:
  cpu:
    image: moveit/moveit2:${DOCKER_IMAGE}
    container_name: moveit2_container
    privileged: true
    network_mode: host
    command: ["bash", "-c", "colcon build --symlink-install && source /ros2_ws/install/setup.bash && exec bash"]
    volumes:
      - ./:/ros2_ws
      - /tmp/.X11-unix:/tmp/.X11-unix
      - $XAUTHORITY:/root/.Xauthority
    working_dir: /ros2_ws
    environment:
      QT_X11_NO_MITSHM: 1
      DISPLAY: $DISPLAY
  gpu:
    image: moveit/moveit2:${DOCKER_IMAGE}
    container_name: moveit2_container
    privileged: true
    network_mode: host
    command: ["bash", "-c", "colcon build --symlink-install && source /ros2_ws/install/setup.bash && exec bash"]
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: 1
              capabilities: [gpu]
    volumes:
      - ./:/ros2_ws
      - /tmp/.X11-unix:/tmp/.X11-unix
      - $XAUTHORITY:/root/.Xauthority
    working_dir: /ros2_ws
    environment:
      QT_X11_NO_MITSHM: 1
      DISPLAY: $DISPLAY
      NVIDIA_VISIBLE_DEVICES: all
      NVIDIA_DRIVER_CAPABILITIES: all