manipulator_multi_controllers/compose.yaml at main · mlisi1/manipulator_multi_controllers · GitHub

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services:
  manipulator_multi_controllers:
    build:
      context: .
      dockerfile: Dockerfile
    image: manipulator_multi_controllers
    stdin_open: true
    tty: true
    network_mode: host
    ipc: host
    runtime: nvidia
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - /dev/nvidia0:/dev/nvidia0
      - /dev/nvidiactl:/dev/nvidiactl
      - /dev/nvidia-modeset:/dev/nvidia-modeset
      - ./controller_error_msgs:/home/ros/src/controller_error_msgs
      - ./manipulator_controller:/home/ros/src/manipulator_controller
      - ./robots_description:/home/ros/src/robots_description
    environment:
      - ROS_DOMAIN_ID
      - DISPLAY
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all,graphics,display,video,utility,compute
      - __NV_PRIME_RENDER_OFFLOAD=1
      - __GLX_VENDOR_LIBRARY_NAME=nvidia