ESP-Daemon/docker-compose.yaml at main · DIT-ROBOTICS/ESP-Daemon · GitHub

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services:
  esp-daemon:
    build:
      context: .
      dockerfile: Dockerfile
      target: final
      args:
        ROS_DISTRO: ${ROS_DISTRO}
        USERNAME: ros
    image: scx/esp-daemon:${ROS_DISTRO}
    container_name: esp-daemon
    stdin_open: true
    tty: true
    privileged: true
    network_mode: "host"
    restart: unless-stopped

    working_dir: /home/ros

    environment:
      - TERM=xterm-256color
      - DISPLAY=${DISPLAY}
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

    volumes:
      - ./entrypoint.sh:/entrypoint.sh
      # Mount app resources into container.
      - ./esp_daemon_ws/:/home/ros/esp_daemon/   # ros2 workspace

      # Mount local timezone into container.
      - /etc/timezone:/etc/timezone:ro
      - /etc/localtime:/etc/localtime:ro
      # Mount X11 server
      - /tmp/.X11-unix:/tmp/.X11-unix

      # Direct Rendering Infrastructure
      - /dev:/dev

    stop_grace_period: 1s

    entrypoint: ["/bin/bash", "-c", "/entrypoint.sh"]
    command: ["/bin/bash"]