docker-compose.yaml

version: "3.3"

# Instructions
# https://github.com/utra-robosoccer/soccerbot/wiki/Docker

x-gpu: &gpu
  deploy:
    resources:
      reservations:
        devices:
          - driver: nvidia
            count: all
            capabilities: [gpu, compute, utility, graphics]

x-rob498: &rob498 #  <<: *gpu
  image: utrarobosoccer/rob498
  privileged: true
  user: "1000"
  build:
    context: .
    target: builder
    args:
      - BUILDKIT_INLINE_CACHE=1
      - USER=${USER}
    cache_from:
      - utrarobosoccer/rob498
  cap_add:
    - SYS_PTRACE
    - SYS_NICE
  pid: "host"
  security_opt:
    - seccomp:unconfined
  stdin_open: true
  tty: true
  # Command that runs when docker-compose up is executed
  command:
    /bin/bash -c "source ~/catkin_ws/devel/setup.bash  && roslaunch drone drone.launch || sleep infinity"
  volumes:
    - .:/home/$USER/catkin_ws/src/ROB498
    - .:/home/drone/catkin_ws/src/ROB498
    - /tmp/.X11-unix:/tmp/.X11-unix:rw
    - /dev/dri:/dev/dri:rw
    - /dev/snd:/dev/snd:rw
    - /var/run/docker.sock:/var/run/docker.sock

services:
  drone:
    <<: *rob498
    network_mode: host
    command:
     /bin/bash -c "source ~/catkin_ws/devel/setup.bash  && roslaunch drone drone.launch || sleep infinity"
    # Environmental variables passed into docker
    environment:
      PYTHONUNBUFFERED: 1
      DISPLAY: unix$DISPLAY
      XDG_RUNTIME_DIR: $XDG_RUNTIME_DIR
      SIM: "true"
      DOCKER_RUN: "true"