docker-compose.yml

version: '3.1'
services:
  autoware_mini:
    stdin_open: true
    command:
      - "bash"
      - "-c"
      - >
        source /opt/catkin_ws/devel/setup.bash &&
        roslaunch autoware_mini start_carla.launch use_scenario_runner:=true
    build:
      context: ${PWD}/autoware_mini
      dockerfile: Dockerfile
      args: 
          - PROCESS_COUNT=${PROCESS_COUNT}
          - DISPLAY=:1
          - QT_X11_NO_MITSHM=1
          - NVIDIA_DRIVER_CAPABILITIES=all
          - XAUTHORITY=/tmp/.docker.xauth
    environment:
      - PYTHONPATH=/opt/CARLA_ROOT/PythonAPI/carla/dist/carla-0.9.13-py3.7-linux-x86_64.egg:/opt/CARLA_ROOT/PythonAPI/carla/agents:/opt/CARLA_ROOT/PythonAPI/carla
      - CARLA_ROOT=/opt/CARLA_ROOT
      - DISPLAY=:1
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
      - ~/.Xauthority:/root/.Xauthority
      - /home/lev/Documents/autoware_mini_docker_compose/autoware_mini/SCENARIO_RUNNER:/opt/SCENARIO_RUNNER
    image: "prathap/autoware_mini:v0.1"
    container_name: autoware_mini 
    network_mode: "host"
  carla_sim:
    stdin_open: true
    command: ["bash","./CarlaUE4.sh", "-RenderOffScreen", "--world-port=2000"]
    privileged: true 
    build:
      context: ${PWD}/carlar0_9_13
      dockerfile: Dockerfile
      args: 
          - PROCESS_COUNT=${PROCESS_COUNT}
          - DISPLAY=$DISPLAY
          - QT_X11_NO_MITSHM=1
          - NVIDIA_DRIVER_CAPABILITIES=all
          - XAUTHORITY=/tmp/.docker.xauth
    ports:
      - "2000-2002:2000-2002"
    volumes:
        - /tmp/.X11-unix:/tmp/.X11-unix
        - ~/.Xauthority:/root/.Xauthority
    image: "prathap/carla_sim:v0.9.13"
    container_name: carla_sim 
    network_mode: "host"
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: 1
              capabilities: [gpu]