docker-compose.yaml

version: "3"
services:
  base:
    image: inspection_eoat:base
    build:
      context: .
      dockerfile: docker/Dockerfile
      args:
        ROS_DISTRO: humble
      target: base
    # Interactive shell
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    network_mode: host
    ipc: host
    pid: host
    # Needed to access devices and display graphical applications
    privileged: true
    volumes:
      # Allows graphical programs in the container.
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
      # Allow access to host devices
      - /dev:/dev
      - ./Parts:/root/Inspection/Parts
      - ./Lights:/root/Inspection/Lights
    device_cgroup_rules:
      - 'c *:* rmw'

  # Overlay image containing the example source code.
  overlay:
    extends: base
    image: inspection_eoat:overlay
    build:
      context: .
      dockerfile: docker/Dockerfile
      target: overlay

  # Dev container
  devel:
    extends: base
    image: inspection_eoat:devel
    command: ros2 run inspection_gui gui
    build:
      context: .
      dockerfile: docker/Dockerfile
      target: devel
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - /tmp/.docker.xauth:/tmp/.docker.xauth:rw
      - ./inspection_gui:/overlay_ws/src/inspection_gui

  # Test container
  gui:
    extends: overlay
    command: ros2 run inspection_gui gui
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - /tmp/.docker.xauth:/tmp/.docker.xauth:rw