docker-compose.yaml

version: "2.3"

services:
  rosmaster:
    # In charge of Roscore, all services should use http://rosmaster:11311 as the ROS_MASTER_URI

    container_name: rosmaster
    image: ros:noetic
    command: roscore
    tty: true
    ports:
      - "11311:11311"

  social_gym_image:
    container_name: social_gym_image
    build:
      context: ./
      dockerfile: docker/social_gym_image.Dockerfile
    depends_on:
      - rosmaster

  ut_multirobot_sim:
    build:
      context: ./
      dockerfile: docker/ut_multirobot_sim.Dockerfile
    tty: true
    cap_add:
      - SYS_PTRACE  # For debugging purposes
    environment:
      ROS_MASTER_URI: http://rosmaster:11311
    volumes:
      - src:/home/rosdev/social_gym:rw
    ports:
      - "2222:22"
    depends_on:
      - social_gym_image
      - rosmaster

  social_gym:
    build:
      context: ./
      dockerfile: docker/social_gym.Dockerfile
    mem_limit: 6G
    runtime: nvidia
    tty: true
    cap_add:
      - SYS_PTRACE  # For debugging purposes
    environment:
      DISPLAY: ${DISPLAY}
      QT_X11_NO_MITSHM: 1
      XAUTHORITY: /tmp/.docker.xauth
      ROS_MASTER_URI: http://rosmaster:113111
    volumes:
      - src:/home/rosdev/social_gym:rw
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - /tmp/.X11-unix:/tmp/.X11-unix:ro
#      - /tmp/.docker.xauth:/tmp/.docker.xauth
    ports:
      - "2223:22"
    depends_on:
      - social_gym_image
      - rosmaster

    # Using the host system's IPC namespace fixes UI glitches in rviz.
    #
    # https://stackoverflow.com/a/68490352
    ipc: host


  simulation:
    container_name: simulator
    build:
      context: ./
      dockerfile: docker/simulator.Dockerfile
    runtime: nvidia
    tty: true
    environment:
      DISPLAY: ${DISPLAY}
      QT_X11_NO_MITSHM: 1
      XAUTHORITY: /tmp/.docker.xauth
      ROS_MASTER_URI: http://rosmaster:11311
    volumes:
      - src:/home/rosdev/social_gym:rw
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
            # X session
      - /tmp/.X11-unix:/tmp/.X11-unix:ro
#      - /tmp/.docker.xauth:/tmp/.docker.xauth
    ports:
      - "11345:11345"
    depends_on:
      - rosmaster

volumes:
  src:
    driver: local
    driver_opts:
       o: bind
       type: none
       device: ./