33 lines
1.1 KiB
YAML
33 lines
1.1 KiB
YAML
# Dev container — interactive ROS desktop environment.
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# Launch with: docker compose -f docker-compose.dev.yml run --rm dev
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#
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# Requires X11 forwarding to be allowed on the host:
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# xhost +local:docker
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services:
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dev:
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image: osrf/ros:kilted-desktop-full
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network_mode: host
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ipc: host
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stdin_open: true
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tty: true
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environment:
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- DISPLAY
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- QT_X11_NO_MITSHM=1
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- ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
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- FASTDDS_BUILTIN_TRANSPORTS=LARGE_DATA
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# Restrict DDS traffic to a single network interface (same profile as teleop).
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# Note: the XML profile sets useBuiltinTransports=false, which overrides
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# FASTDDS_BUILTIN_TRANSPORTS above. Remove the two lines below if you need
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# large-data transport (e.g. for local camera streaming without interface binding).
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- FASTDDS_DEFAULT_PROFILES_FILE=/fastdds_wifi.xml
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- FASTDDS_INTERFACE=${FASTDDS_INTERFACE:-wlan0}
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volumes:
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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- ./teleop/src/fastdds_wifi.xml:/fastdds_wifi.xml:ro
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cap_add:
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- SYS_PTRACE
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devices:
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- /dev/dri:/dev/dri
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privileged: true
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