mirror of
https://github.com/SHC-ASTRA/rover-ros2.git
synced 2026-02-11 09:20:40 +00:00
38 lines
1.1 KiB
YAML
38 lines
1.1 KiB
YAML
services:
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cpu:
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image: moveit/moveit2:${DOCKER_IMAGE}
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container_name: moveit2_container
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privileged: true
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network_mode: host
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command: ["bash", "-c", "colcon build --symlink-install && source /ros2_ws/install/setup.bash && exec bash"]
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volumes:
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- ./:/ros2_ws
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- /tmp/.X11-unix:/tmp/.X11-unix
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- $XAUTHORITY:/root/.Xauthority
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working_dir: /ros2_ws
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environment:
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QT_X11_NO_MITSHM: 1
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DISPLAY: $DISPLAY
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gpu:
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image: moveit/moveit2:${DOCKER_IMAGE}
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container_name: moveit2_container
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privileged: true
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network_mode: host
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command: ["bash", "-c", "colcon build --symlink-install && source /ros2_ws/install/setup.bash && exec bash"]
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deploy:
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resources:
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reservations:
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devices:
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- driver: nvidia
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count: 1
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capabilities: [gpu]
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volumes:
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- ./:/ros2_ws
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- /tmp/.X11-unix:/tmp/.X11-unix
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- $XAUTHORITY:/root/.Xauthority
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working_dir: /ros2_ws
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environment:
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QT_X11_NO_MITSHM: 1
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DISPLAY: $DISPLAY
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NVIDIA_VISIBLE_DEVICES: all
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NVIDIA_DRIVER_CAPABILITIES: all |