compose.yml

version: '3.9'
services:
  ros_srv:
    env_file: .env
    build:
      dockerfile: Dockerfile
      args:
        - USER
        - DKR_UID
        - DKR_GID
        - DKR_ALL_PROXY
        - DKR_HTTP_PROXY
        - DKR_HTTPS_PROXY
    image: local:ros
    ports:
      - 20000-29999:8765
    user: "${USER}"
    hostname: "${DKR_NAME}"
    runtime: nvidia
    networks:
      - ros_bridge
    extra_hosts:
      - "localhost.localdomain:127.0.0.1"
      - "localhost:127.0.0.1"
      - "${DKR_NAME}:127.0.0.1"
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
      - /dev/dri:/dev/dri
    devices:
      - /dev/dri/renderD128:/dev/dri/renderD128
      - /dev/snd:/dev/snd
    environment:
      - DISPLAY=${DKR_DISPLAY}
      - all_proxy=${DKR_ALL_PROXY}
      - http_proxy=${DKR_HTTP_PROXY}
      - https_proxy=${DKR_HTTPS_PROXY}
      - ALL_PROXY=${DKR_ALL_PROXY}
      - HTTP_PROXY=${DKR_HTTP_PROXY}
      - HTTPS_PROXY=${DKR_HTTPS_PROXY}
      - SHELL=bash
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all # for gpu based gui app (rviz gazebo)

networks:
  ros_bridge:
    name: ros_bridge_network
    external: true