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docker-compose.yml
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docker-compose.yml
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version: '2.3'
name: carla_bridge
services:
carla_bridge:
privileged: true
stdin_open: true
tty: true
runtime: nvidia
image: carla_bridge
container_name: carla_bridge_${USER}
volumes:
- type: bind
source: /home/share/carla
target: /carla
# /launch is where we store parameter files for launching carla and the bridge
- type: bind
source: ${PWD}
target: /carla_interface
- type: bind
source: ${HOME}/.Xauthority
target: /root/.Xauthority
- type: bind
source: /tmp/.X11-unix
target: /tmp/.X11-unix
# need to enable shared memory for ros to communicate between docker containers
# see: https://answers.ros.org/question/370595/ros2-foxy-nodes-cant-communicate-through-docker-container-border/
- type: bind
source: /dev/shm
target: /dev/shm
environment:
- DISPLAY=${DISPLAY}
- ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
- NVIDIA_VISIBLE_DEVICES=all
# Specify the ROS Middleware to be consistent across containers:
# see: https://discourse.ros.org/t/ros-cross-distribution-communication/27335
- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
build:
context: .
dockerfile: Dockerfile
network_mode: "host"