/home/omar/march/.docker_local/docker-compose.
yaml
version: "3.9"
# This docker-compose file is to start up ros2 with gui support.
# For more information on how:
# • to use it: checkout
https://docs.projectmarch.nl/doc/getting_started/setting_up_docker.html
# • this file is made: checkout
https://docs.docker.com/compose/compose-file/compose-file-v3/
# • the gui is setup: http://wiki.ros.org/docker/Tutorials/GUI
# date: 02-12-2021
# author: George Vegelien
# This is the default service for giving the containers gui privileges.
# It is added to the other services with pointers by calling '<< : *gui-standard'.
Keep in mind that if
# the pointer is added to any service that already specifies an environment, then
this environment is overwritten.
x-gui:
&gui-standard
tty: true # Enables terminal in & out
stdin_open: true
user: "${M_UID}:${M_GID}" # These two values are set by alias 'set_uid_gid' and
their values are usually both 1000
environment:
- USER=${USER}
- DISPLAY=${DISPLAY}
volumes:
# This makes the container mount your home directory.
- /home/$USER:/home/$USER:rw
# The volumes mounted here below are added to enable the same user/local
account in the container.
- /etc/group:/etc/group:ro
- /etc/passwd:/etc/passwd:ro
- /etc/shadow:/etc/shadow:ro
- /etc/sudoers.d:/etc/sudoers.d:ro
# This makes sure that the docker container can use your gui.
- /tmp/.X11-unix:/tmp/.X11-unix:rw
# (see https://docs.projectmarch.nl/doc/getting_started/setting_up_docker.html
for more information)
deploy: # To cap cpu at 90% usage.
resources:
limits:
cpus: '${MARCH_DOCKER_CPU_CAP}'
services:
ros2-service:
<< : *gui-standard
container_name: ros2
image: ros2
environment:
- USER=${USER}
- DISPLAY=${DISPLAY}
- ROS_DOCKER_TYPE="ros2"
- ROS_DOCKER_START_TYPE=${ROS_DOCKER_START_TYPE}
- ROS_ARGS
- ROS2_ARGS
working_dir: /home/${USER}/march/ros2
ipc: host
command: ["bash", "${HOME}/march/.docker_local/start_scripts/$
{ROS_DOCKER_START_TYPE:-bash}/ros2.bash"]
