docker-autoware-runner/docker-compose.yml at main · Robomous/docker-autoware-runner · GitHub

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version: '3.8'

services:
  foxglove_bridge:
    build:
      context: ./docker/foxglove_bridge/
      dockerfile: Dockerfile
    image: foxglove-bridge:latest
    container_name: foxglove_bridge
    command: ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
    network_mode: host
    stdin_open: true
    tty: true

  autoware:
    image: ghcr.io/autowarefoundation/autoware:latest-runtime-cuda
    container_name: autoware
    command: bash
    runtime: nvidia
    privileged: true
    environment:
      - DISPLAY=:1
      - XAUTHORITY=/run/user/1000/gdm/Xauthority
      - XDG_RUNTIME_DIR=/run/user/1000
      - NVIDIA_DRIVER_CAPABILITIES=all
    volumes:
      - /tmp/.X11-unix/:/tmp/.X11-unix
      - /etc/localtime:/etc/localtime:ro
      - ${LOCAL_AUTOWARE_DATA}:/autoware_data:ro
      - ${LOCAL_AUTOWARE_MAPS}p:/autoware_map:ro
    network_mode: host
    stdin_open: true
    tty: true
    depends_on:
      foxglove_bridge:
        condition: service_started