docker-compose.yml

# Copyright (c) 2020 TOYOTA MOTOR CORPORATION
# All rights reserved.

# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:

#  * Redistributions of source code must retain the above copyright notice,
#  this list of conditions and the following disclaimer.
#  * Redistributions in binary form must reproduce the above copyright
#  notice, this list of conditions and the following disclaimer in the
#  documentation and/or other materials provided with the distribution.
#  * Neither the name of Toyota Motor Corporation nor the names of its
#  contributors may be used to endorse or promote products derived from
#  this software without specific prior written permission.

# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
version: "2.3"
services:
  xserver:
    image: devrt/xserver
    ipc: host
    security_opt:
      - seccomp:unconfined
    ports:
      - "3000:80"
    healthcheck:
      test: ["CMD-SHELL", "test -e /tmp/.X11-unix/X0"]
      interval: "1s"
      retries: 20
  simulator:
    image: ghcr.io/hsr-project/tmc_wrs_binary:noetic-latest
    ipc: host
    security_opt:
      - seccomp:unconfined
    environment:
      - DISPLAY=:0
    volumes_from:
      - xserver
    depends_on:
      - xserver
  workspace:
    # env_file:
    #   - .env
    image: devrt/ros-devcontainer-vscode:noetic-desktop
    ipc: host
    security_opt:
      - seccomp:unconfined
    ports:
      - "3001:3000"
      - "3002:8888"
    volumes:
      - .:/workspace:cached
      - ~/.gitconfig:/home/developer/.gitconfig
    environment:
      - DISPLAY=:0
      - ROS_MASTER_URI=http://simulator:11311/
    volumes_from:
      - xserver
      - simulator
    depends_on:
      - xserver