ros2_docker_template/docker-compose.yaml

version: "3.9"

services: # in docker compose, service are definitions of your docker containers

  hello-world: # for this example I am using a very simple docker build for reference: hello-world (builds very fast)
    image: ghcr.io/bjoernellens1/ros2_docker_template/hello-world # hello-world image. No prefix means it defaults the image registry to dockerhub
    build:
      context: .
      dockerfile: docker/hello-world.Dockerfile # the Dockerfile speciefies the steps taken in the build process.
      tags:
        - ghcr.io/bjoernellens1/ros2_docker_template/hello-world
      target: hello-world # here you can explicitly specify the build target in the Dockerfile if you want only a specific build step for this service.

  my_example: # this already represents a more complex ros2 build process.
    image: ghcr.io/bjoernellens1/ros2_docker_template/my_example # hello-world image. No prefix means it defaults the image registry to dockerhub
    build:
      context: .
      dockerfile: docker/my_example.Dockerfile # the Dockerfile speciefies the steps taken in the build process.
      tags:
        - ghcr.io/bjoernellens1/ros2_docker_template/my_example
    environment:
      # Allows graphical programs in the container.
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - NVIDIA_DRIVER_CAPABILITIES=all # For Nvidia hardware acceleration (CUDA, ...). This might additionally need some extra tools installed (Nvidia Container Toolkit?)
    volumes:
      # Allows graphical programs in the container.
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
    network_mode: host # host networking makes life easier