docker-compose.yaml

version: "3"

services:
  UR_MVO:
    build:
      context: $ROOT_DIR
      dockerfile: $ROOT_DIR/docker/Dockerfile
    image: ur_mvo
    network_mode: host
    ipc: host
    environment:
      - QT_X11_NO_MITSHM=1
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR
      - DISPLAY=$DISPLAY
      - VGL_DISPLAY=${RENDER_DISPLAY:-":1"}
    volumes:
      - /tmp/.X11-unix/:/tmp/.X11-unix
      - $ROOT_DIR/output:/workspace/ros2_ws/src/ur_mvo/output
      - $ROOT_DIR/:/workspace/ros2_ws/src/ur_mvo
      - $DATA_DIR/:/data
      - /media/:/media/
    runtime: nvidia
    privileged: true
    command: bash

  visualization:
    build:
      context: $ROOT_DIR
      dockerfile: $ROOT_DIR/docker/visualization.Dockerfile
    image: ur_mvo_visualization
    network_mode: host
    ipc: host
    environment:
      - QT_X11_NO_MITSHM=1
      - XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR
      - DISPLAY=$DISPLAY
      - VGL_DISPLAY=${RENDER_DISPLAY:-":1"}
    volumes:
      - /tmp/.X11-unix/:/tmp/.X11-unix
    privileged: true
    command: bash -c "rviz2 -d /viz_ws/rviz/ur_mvo.rviz"