ECE346/docker-compose.yml at SP2026 · SafeRoboticsLab/ECE346 · GitHub

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###############################################################################
# docker-compose.yml – SAFE_ROS2 development container (ROS 2 Foxy)
#
# Usage:
#   docker compose build
#   docker compose up          # start the container
#   docker compose exec ros bash   # open a shell inside the running container
#
# GUI (rviz2 / rqt):
#   Run `xhost +local:docker` on the host before starting the container.
###############################################################################

services:
  ros:
    build:
      context: .
      dockerfile: Dockerfile
    container_name: safe_ros2_foxy
    stdin_open: true
    tty: true

    # --- Networking ---
    network_mode: host

    # --- Bluetooth / joystick pairing from inside the container ---
    privileged: true

    # --- GUI / X11 forwarding ---
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - ROS_DOMAIN_ID=0
      - ROS_WS=/ros2_ws
    volumes:
      # X11 socket for GUI apps
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      # Mount the src directory into the workspace
      - ./src:/ros2_ws/src:rw
      # CycloneDDS setup script
      - ./setup_cyclone.sh:/ros2_ws/setup_cyclone.sh:ro
      # Host dbus for bluetoothctl (PS4 controller pairing)
      - /var/run/dbus:/var/run/dbus:rw
      # Persist colcon build artifacts between runs
      - ros2_build:/ros2_ws/build
      - ros2_install:/ros2_ws/install
      - ros2_log:/ros2_ws/log

    # --- GPU + joystick passthrough ---
    devices:
      - /dev/dri:/dev/dri
      - /dev/input:/dev/input

volumes:
  ros2_build:
  ros2_install:
  ros2_log: