docker-compose.yaml

version: "3.9"
services:

  sim2real_server:
    image: rmus2022/server:v1.4.0
    command: /server_launch.sh
    network_mode: host
    user: sim2real
    deploy:
      resources:
        reservations:
          devices:
            - capabilities: [ gpu ]
    environment:
      - DISPLAY
      - SERVER_PATCH
      - QT_X11_NO_MITSHM=1
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
      - ./server_launch.sh:/server_launch.sh:ro
      - ./server_patches:/server_patches:ro

  sim2real_client:
    build:
      context: .
      target: prod
    image: njtech-rmus2022-client
    network_mode: host
    environment:
      - DISPLAY
    deploy:
      resources:
        limits:
          cpus: '4.48'
          memory: 8192M
        reservations:
          devices:
            - capabilities: [ gpu ]
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix

  sim2real_robot:
    build:
      context: .
      target: prod
    command: ["roslaunch", "ep_driver", "bringup.launch"]
    image: njtech-rmus2022-client
    network_mode: host
    privileged: true
    environment:
      - DISPLAY
    deploy:
      resources:
        reservations:
          devices:
            - capabilities: [ gpu ]
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
      - /dev:/dev