docker-compose.yaml

services:
  app:
    container_name: ${CONTAINER_NAME:-ros2-docker-template}
    image: ${CONTAINER_NAME:-ros2-docker-template}:humble
    # platform: linux/arm64  # Uncomment for ARM64 (e.g., Raspberry Pi)
    # platform: linux/amd64  # Uncomment for x86_64
    build:
      context: .
      dockerfile: docker/Dockerfile
      args:
        BASE_IMAGE: osrf/ros:humble-desktop-full # x86_64 only
        # BASE_IMAGE: dustynv/ros:humble-ros-base-l4t-r36.3.0  # NVIDIA Jetson (ARM64)
        # BASE_IMAGE: ros:humble  # Multi-architecture (ARM64/x86_64)
        ROS_DISTRO: humble
        USERNAME: ${USERNAME:-macs}
        UID: ${UID:-1000}
        GID: ${UID:-1000}
        VIDEO_GID: 44
        DIALOUT_GID: 20
    stdin_open: true
    tty: true
    network_mode: host
    ipc: host
    privileged: true
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - XAUTHORITY=/tmp/.docker.xauth
      - XDG_RUNTIME_DIR=/tmp/runtime-${USERNAME:-macs}
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
      - CYCLONEDDS_URI=${CYCLONEDDS_URI:-file:///config/cyclonedds.xml}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - /tmp/.docker.xauth:/tmp/.docker.xauth:rw
      - ./docker/entrypoint.sh:/entrypoint.sh:ro
      - ./src:/workspaces/shared_ws/src:rw
      - ./data:/data:rw
      - ./config:/config:rw
      # REMOVE /dev/dri - that's for Intel
      - /dev:/dev
      - /tmp/runtime-${USERNAME:-macs}:/tmp/runtime-${USERNAME:-macs}:rw
    device_cgroup_rules:
      - 'c *:* rmw'
    working_dir: /workspaces/shared_ws
    user: ${UID:-1000}:${UID:-1000}
    command: [ "/bin/bash" ]