services:
  nvidia:
    extends:
      service: dev
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
  dev:
    network_mode: host
    build:
      context: .
      dockerfile: ./Dockerfile
    stdin_open: true
    tty: true
    entrypoint:
      - bash
      - entrypoint.sh
    command: byobu
    working_dir: /home/ros-user/uuv/ros2
    devices:
      - "/dev/dri:/dev/dri"
    volumes:
      - type: bind
        source: ${HOME}/uuv
        target: /home/ros-user/uuv
      - type: bind
        source: /tmp/.X11-unix
        target: /tmp/.X11-unix
      - type: bind
        source: /var/run/dbus
        target: /var/run/dbus
      - type: bind
        source: /var/run/avahi-daemon/socket
        target: /var/run/avahi-daemon/socket

    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - SHELL=/usr/bin/zsh
      - ROS_WORKSPACE=/home/ros-user/uuv/ros2