docker-compose.yml

version: '3'

services:
  gz_sim:
    # gazebo installation for the robot
    image: brean/gz_sim:harmonic-jazzy
    build:
      context: ./
      dockerfile: ./Dockerfile
      args:
        ROS_DISTRO: jazzy
        GZ_VERSION: harmonic
    runtime: nvidia
    environment: 
      - PYTHONUNBUFFERED=1 # important to show error messages if a ros service crashes!
      - DISPLAY # for UI
      - QT_X11_NO_MITSHM=1 #fix some QT bugs
      - NVIDIA_VISIBLE_DEVICES=all # for docker-nvidia2
      - NVIDIA_DRIVER_CAPABILITIES=all # for docker-nvidia2
      - XDG_RUNTIME_DIR 
      - __NV_PRIME_RENDER_OFFLOAD=1
      - __GLX_VENDOR_LIBRARY_NAME=nvidia
      - XAUTHORITY=$XAUTHORITY
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw  # for UI
      - /run/user:/run/user:ro  # for UI
    privileged: true  # for UI
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: 1
              capabilities: [gpu]