More cleanup and user friendlieness tweaks

copier.yml

@@ -24,7 +24,18 @@ LANGUAGES:
 
 RUN_COMMAND: rosrun {{ PACKAGE_NAME }} {{ "main.py" if 'Python' in LANGUAGES else "main" if "CPP" in LANGUAGES else "yourcommandGoes here" }}
 
+ENABLE_NVIDIA_GPU:
+  default: False
+  type: bool
+  help: |
+    ENABLE_NVIDIA_GPU
+    Enabling nvidia gpus make deployment much more complicated. 
+    Ensure you have the nvidia container toolkit installed and 
+     working properly.
+
 HEALTHCHECK:
-  defualt: --start-period=60s --start-interval=1s CMD /ros_entrypoint.sh rostopic list
+  defualt: HEALTHCHECK --start-period=60s --start-interval=1s CMD /ros_entrypoint.sh rostopic list
   type: str
-  help: It's important to have a good health check. This health check just sees if we can talk to the ROS master
+  help: |
+    Set a health check. 
+    This stub health check just sees if we can talk to the ROS master

src/Dockerfile.jinja

@@ -14,7 +14,9 @@ WORKDIR /root/catkin_ws/src
 COPY ./ {{PACKAGE_NAME}}
 
 RUN apt-get clean
-HEALTHCHECK {{HEALTHCHECK}}
+
+#Don't forget to set a healthcheck for your container!
+{{HEALTHCHECK}}
 
 # Command to run your application
 CMD {{RUN_COMMAND}} --wait --screen

src/docker-compose.yml.jinja

@@ -19,6 +19,15 @@ services:
       nofile:
         soft: 1024
         hard: 524288
+{% if ENABLE_NVIDIA_GPU %}
+    deploy:
+      resources:
+        reservations:
+          devices:
+           - driver: cdi
+             device_ids:
+                - nvidia.com/gpu=all
+{% endif %}
 
 networks:
   sdk: