# version: "3.7"
version: "2.3"
services:
  m-explore-ros2-humble:
    runtime: nvidia
    build:
      context: ../
      dockerfile: .devcontainer/Dockerfile
    working_dir: /workspace/ros_ws
    user: dev

    network_mode: host
    ports:
      - "80:80"
    expose:
      - 80

    init: true
    privileged: true

    environment:
      - DISPLAY=$DISPLAY
      - QT_X11_NO_MITSHM=1
      - UDEV=1
      - NVIDIA_DRIVER_CAPABILITIES=compute,utility,display
    volumes:
      # Update this to wherever you want VS Code to mount the folder of your project
      - ..:/workspace/ros_ws/src/m-explore-ros2
      # Forwards the local Docker socket to the container.
      - /var/run/docker.sock:/var/run/docker.sock
      # Enable GUI environments
      - /tmp/.X11-unix:/tmp/.X11-unix:rw

    devices:
      - /dev/bus/usb:/dev/bus/usb
      # NVIDIA drivers to use OpenGL, etc...
      - /dev/nvidia0:/dev/nvidia0
      - /dev/nvidiactl:/dev/nvidiactl
      - /dev/nvidia-uvm:/dev/nvidia-uvm
      - /dev/input:/dev/input
      - /dev/snd:/dev/snd

    # Uncomment the next four lines if you will use a ptrace-based debuggers like C++, Go, and Rust.
    cap_add:
      - SYS_PTRACE
    security_opt:
      - seccomp:unconfined

    # Overrides default command so things don't shut down after the process ends.
    stdin_open: true
    tty: true

    command: "/bin/bash"