docker-compose.yml

version: "2.4"

services:
  build_ros:
    build:
      context: .
    image: lgsvl/lanefollowing:latest
    container_name: lanefollowing_build
    volumes:
      - .:/lanefollowing
    network_mode: host
    init: true
    privileged: true
    command: /lanefollowing/scripts/build.sh

  collect:
    build:
      context: .
    image: lgsvl/lanefollowing:latest
    container_name: lanefollowing_collect
    volumes:
      - .:/lanefollowing
    environment:
      - CUDA_CACHE_PATH=/lanefollowing/docker/.nv
    runtime: nvidia
    network_mode: host
    init: true
    privileged: true
    command: /lanefollowing/scripts/collect.sh

  preprocess:
    build:
      context: .
    image: lgsvl/lanefollowing:latest
    container_name: lanefollowing_preprocess
    volumes:
      - .:/lanefollowing
    environment:
      - CUDA_CACHE_PATH=/lanefollowing/docker/.nv
    runtime: nvidia
    network_mode: host
    init: true
    privileged: true
    command: ["python", "-u", "/lanefollowing/ros2_ws/src/lane_following/train/preprocess.py"]

  train:
    build:
      context: .
    image: lgsvl/lanefollowing:latest
    container_name: lanefollowing_train
    volumes:
      - .:/lanefollowing
    environment:
      - CUDA_CACHE_PATH=/lanefollowing/docker/.nv
    runtime: nvidia
    network_mode: host
    init: true
    privileged: true
    command: ["python", "-u", "/lanefollowing/ros2_ws/src/lane_following/train/train.py"]

  drive:
    build:
      context: .
    image: lgsvl/lanefollowing:latest
    container_name: lanefollowing_drive
    volumes:
      - .:/lanefollowing
    environment:
      - CUDA_CACHE_PATH=/lanefollowing/docker/.nv
    runtime: nvidia
    network_mode: host
    init: true
    privileged: true
    command: /lanefollowing/scripts/drive.sh

  drive_visual:
    build:
      context: .
    image: lgsvl/lanefollowing:latest
    container_name: lanefollowing_drive_visual
    volumes:
      - ${XAUTHORITY}:/tmp/.Xauthority
      - /tmp/.X11-unix:/tmp/.X11-unix
      - .:/lanefollowing
    environment:
      - DISPLAY
      - XAUTHORITY=/tmp/.Xauthority
      - CUDA_CACHE_PATH=/lanefollowing/docker/.nv
    runtime: nvidia
    network_mode: host
    init: true
    privileged: true
    command: /lanefollowing/scripts/drive_visual.sh

  drive_cpu:
    build:
      context: .
    image: lgsvl/lanefollowing:latest
    container_name: lanefollowing_drive_cpu
    volumes:
      - ${XAUTHORITY}:/tmp/.Xauthority
      - /tmp/.X11-unix:/tmp/.X11-unix
      - .:/lanefollowing
    environment:
      - DISPLAY
      - XAUTHORITY=/tmp/.Xauthority
      - QT_X11_NO_MITSHM=1
      - LIBOVERLAY_SCROLLBAR=0
      - GTK2_RC_FILES=/usr/share/themes/Adwaita/gtk-2.0/gtkrc
      - GTK_THEME=Adwaita
      - CUDA_VISIBLE_DEVICES=-1
    network_mode: host
    init: true
    command: /lanefollowing/scripts/drive.sh

  drive_visual_cpu:
    build:
      context: .
    image: lgsvl/lanefollowing:latest
    container_name: lanefollowing_drive_visual_cpu
    volumes:
      - ${XAUTHORITY}:/tmp/.Xauthority
      - /tmp/.X11-unix:/tmp/.X11-unix
      - .:/lanefollowing
    environment:
      - DISPLAY
      - XAUTHORITY=/tmp/.Xauthority
      - QT_X11_NO_MITSHM=1
      - LIBOVERLAY_SCROLLBAR=0
      - GTK2_RC_FILES=/usr/share/themes/Adwaita/gtk-2.0/gtkrc
      - GTK_THEME=Adwaita
      - CUDA_VISIBLE_DEVICES=-1
      - TF_NEED_CUDA=0
    network_mode: host
    init: true
    command: /lanefollowing/scripts/drive_visual.sh

  jupyter:
    build:
      context: .
    image: lgsvl/lanefollowing:latest
    container_name: lanefollowing_jupyter
    volumes:
      - .:/lanefollowing
    environment:
      - QT_X11_NO_MITSHM=1
      - LIBOVERLAY_SCROLLBAR=0
      - GTK2_RC_FILES=/usr/share/themes/Adwaita/gtk-2.0/gtkrc
      - GTK_THEME=Adwaita
      - CUDA_CACHE_PATH=/lanefollowing/docker/.nv
    runtime: nvidia
    network_mode: host
    init: true
    privileged: true
    tty: true
    stdin_open: true
    command: ["/run_jupyter.sh", "--allow-root", "--ip=localhost"]