docker-compose-jetson_mate.yaml

# Copyright (c) 2020, 2023  Carnegie Mellon University, IBM Corporation, and others
#
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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services:
  people-jetson:
    build:
      context: ./docker/people
      dockerfile: Dockerfile.jetson
    environment:
      DISPLAY: ${DISPLAY}
      XAUTHORITY: /tmp/.docker.xauth
      NVIDIA_DRIVER_CAPABILITIES: compute,graphics,utility,video,display
      NVIDIA_VISIBLE_DEVICES: all
      ROS_IP: ${ROS_IP:-127.0.0.1}
      GAZEBO_IP: ${ROS_IP:-127.0.0.1}
      ROS_MASTER_URI: http://${MASTER_IP:-127.0.0.1}:11311
      GAZEBO_MASTER_URI: http://${MASTER_IP:-127.0.0.1}:11345
      CYCLONEDDS_URI: ${CYCLONEDDS_URI}
      CYCLONEDDS_NETWORK_INTERFACE_NAME: ${CYCLONEDDS_NETWORK_INTERFACE_NAME}
      CYCLONEDDS_NETWORK_INTERFACE_AUTODETERMINE: ${CYCLONEDDS_NETWORK_INTERFACE_AUTODETERMINE:-true}
      OMP_NUM_THREADS: 1
    volumes:
      - /dev:/dev
      - /sys/devices:/sys/devices
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - /tmp/.docker.xauth:/tmp/.docker.xauth
      - ./docker/home:/home/developer
      - ./cabot_sites:/home/developer/people_ws/src/cabot_sites
      - ./cabot-common/cabot_common:/home/developer/people_ws/src/cabot_common
      - ./cabot-navigation/mf_localization_msgs:/home/developer/people_ws/src/mf_localization_msgs
      - ./cabot-people/cabot_people:/home/developer/people_ws/src/cabot_people
      - ./cabot-navigation/queue_people_py:/home/developer/people_ws/src/queue_people_py
      - ./cabot-people/track_people_py:/home/developer/people_ws/src/track_people_py
      - ./cabot-people/track_people_msgs:/home/developer/people_ws/src/track_people_msgs
      - ./cabot-people/track_people_cpp:/home/developer/people_ws/src/track_people_cpp
      - ./cabot-navigation/queue_utils_py:/home/developer/people_ws/src/queue_utils_py
      - ./cabot-navigation/queue_msgs:/home/developer/people_ws/src/queue_msgs
      - ./docker/prebuild/humble-custom/people:/home/developer/people_ws/src/people
    privileged: true
    cap_add:
      - SYS_ADMIN
      - NET_ADMIN
    network_mode: host
    tty: true
    stdin_open: true
    command: ["/launch.sh",
              "-T ${CABOT_SITE:-cabot_site_cmu_3d}", # cabot site
              "-r",                                # realsense physicial (-s or -r)
              "-q",                                # queue
              "-C",                                # check required before launch
              "-t",                                # publish tf
              "-v",                                # use opencv
              "-O",                                # no rviz
              ]