ros1_devcontainer_docker_compose/compose_jetson.yaml at main · verlab/ros1_devcontainer_docker_compose · GitHub

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services:
  ros1:
    container_name: ros1_noetic_devel
    build:
      context: .
      dockerfile: docker/Dockerfile.arm64
    hostname: ros_docker
    ipc: host
    pid: host
    privileged: true
    network_mode: host
    environment:
      - DISPLAY=${DISPLAY:-:0}
      - NVIDIA_DRIVER_CAPABILITIES=all
      - TZ=${TZ:-UTC}
      - ROS_LOG_DIR=/var/log/val_logger/noetic_devel
      - ROS_MASTER_URI=http://localhost:11311/
      - DEBIAN_FRONTEND=noninteractive
    volumes:
      - ${localWorkspaceFolder:-./}local_mount/:/home/ubuntu/ros_ws
      - /etc/localtime:/etc/localtime:ro
      - /etc/timezone:/etc/timezone:ro
      - /tmp/.X11-unix:/tmp/.X11-unix
      - /var/log/val_logger:/var/log/val_logger
    cap_add:
      - NET_ADMIN
      - SYS_MODULE
    runtime: nvidia
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              capabilities: [gpu]
              count: 1