docker-compose.yml

@@ -1,5 +1,3 @@
-version: "3.8"
-
 services:
   gui-tools:
     env_file:
@@ -9,44 +7,40 @@ services:
 
     environment:
       # Display settings
-      - DISPLAY=${DISPLAY}
+      DISPLAY: "${DISPLAY}"
-      - WAYLAND_DISPLAY=${WAYLAND_DISPLAY}
+      WAYLAND_DISPLAY: "${WAYLAND_DISPLAY}"
-      # - QT_QPA_PLATFORM=${QT_QPA_PLATFORM:-xcb}  # Default to X11
+      # Uncomment below if using X11
-      # If running with Wayland
+      # QT_QPA_PLATFORM: "${QT_QPA_PLATFORM:-xcb}"
-      - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
+      XDG_RUNTIME_DIR: "${XDG_RUNTIME_DIR}"
-      - ROS_MASTER_URI=http://ros-master:11311
+      ROS_MASTER_URI: "http://ros-master:11311"
-      # - NVIDIA_DRIVER_CAPABILITIES=compute,video,utility
+
-      # - NVIDIA_VISIBLE_DEVICES=all
     volumes:
       # X11 socket
       - /tmp/.X11-unix:/tmp/.X11-unix
       - ${XAUTHORITY:-~/.Xauthority}:/root/.Xauthority
       # Wayland socket
       #- ${XDG_RUNTIME_DIR}/wayland-0:${XDG_RUNTIME_DIR}/wayland-0
-      # Allow access to the host's GPU
+      # Access to GPU devices
       - /dev/dri:/dev/dri
-      #Auto reload on code changes
+      # Code and configuration
       - ./guiTools/spiri_sdk_guitools/:/app/spiri_sdk_guitools/
-      # Enable launching the SDK from the SDK
-      # - ./:/app/sdk
       - ./robots:/robots
       - /var/run/docker.sock:/var/run/docker.sock
+
     devices:
-      # Provide access to GPU devices
+      # Provide access to GPU devices (supports non-NVIDIA GPUs)
       - /dev/dri:/dev/dri
+
     network_mode: host
     ports:
       - 8923:8923
     ipc: host
-    #user: "${UID}:${GID}"
+    privileged: true # Required for GPU access
-    privileged: true # Allow privileged access if necessary (e.g., for GPU access)
-    # restart: unless-stopped
-    # command: /bin/bash -c "source /opt/ros/foxy/setup.bash && rvis2"  # Replace with the actual command to run Gazebo Ignition
-    deploy:
-      resources:
-        reservations:
-          devices:
-            - driver: cdi
-              device_ids:
-                - nvidia.com/gpu=all
 
+    # deploy:
+    #   resources:
+    #     reservations:
+    #       devices:
+    #         - driver: cdi  # Optional for advanced resource scheduling
+    #           device_ids:
+    #             - "all"  # Use "all" for all available GPUs