docker compose update
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@@ -1,82 +1,182 @@
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# =============================================================================
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# =============================================================================
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# RDC Simulation - Docker Compose (GPU-enabled)
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# RDC Simulation - Docker Compose (GPU-enabled, Wayland, Multi-Service)
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# =============================================================================
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# =============================================================================
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# Runs the simulation with GPU acceleration and X11 display forwarding.
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# Runs the complete simulation stack with 3 services:
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# 1. gazebo - Gazebo Harmonic simulation
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# 2. sitl - ArduPilot SITL (ArduCopter)
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# 3. controller - Python flight controller
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#
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#
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# Usage:
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# Usage:
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# # Build the container
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# # Start all services
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# docker compose build
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# docker compose up
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#
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#
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# # Run interactive shell
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# # Or start individually
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# docker compose run --rm simulation
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# docker compose up gazebo
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# docker compose up sitl
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# docker compose up controller
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#
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#
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# # Run specific command
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# # Interactive shell
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# docker compose run --rm simulation ./scripts/run_ardupilot_sim.sh runway
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# docker compose run --rm simulation bash
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#
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# # Stop everything
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# docker compose down
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# =============================================================================
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# =============================================================================
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# Common configuration anchor
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x-common: &common
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image: rdc-simulation:latest
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build:
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context: .
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dockerfile: Dockerfile
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# GPU support (NVIDIA)
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deploy:
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resources:
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reservations:
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devices:
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- driver: nvidia
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count: all
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capabilities: [ gpu ]
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# Environment variables for Wayland + GPU
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environment:
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# Wayland display
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&common-env
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- WAYLAND_DISPLAY=${WAYLAND_DISPLAY:-wayland-0}
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- XDG_RUNTIME_DIR=/run/user/1000
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# Fallback X11 (XWayland)
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- DISPLAY=${DISPLAY:-:0}
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# GPU
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=all
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# Qt platform - prefer Wayland, fallback to XCB
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- QT_QPA_PLATFORM=wayland;xcb
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- QT_WAYLAND_DISABLE_WINDOWDECORATION=1
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- QT_X11_NO_MITSHM=1
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# OpenGL
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- __GLX_VENDOR_LIBRARY_NAME=nvidia
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- GDK_BACKEND=wayland,x11
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# Gazebo paths
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- GZ_SIM_SYSTEM_PLUGIN_PATH=/home/pilot/ardupilot_gazebo/build
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- GZ_SIM_RESOURCE_PATH=/home/pilot/ardupilot_gazebo/models:/home/pilot/ardupilot_gazebo/worlds:/home/pilot/RDC_Simulation/gazebo/models
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# Mount Wayland and X11 sockets
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volumes:
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# Wayland socket
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- ${XDG_RUNTIME_DIR:-/run/user/1000}/${WAYLAND_DISPLAY:-wayland-0}:/run/user/1000/wayland-0:rw
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# X11 socket (for XWayland fallback)
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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# GPU device
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- /dev/dri:/dev/dri:rw
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# Network mode for SITL communication (all services share host network)
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network_mode: host
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# Run as user with access to Wayland socket
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user: "1000:1000"
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stdin_open: true
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tty: true
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working_dir: /home/pilot/RDC_Simulation
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services:
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services:
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# =========================================================================
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# Interactive Shell (for manual control)
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# =========================================================================
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simulation:
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simulation:
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build:
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<<: *common
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context: .
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dockerfile: Dockerfile
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image: rdc-simulation:latest
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container_name: rdc-sim
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container_name: rdc-sim
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entrypoint: [ "/home/pilot/docker-entrypoint.sh" ]
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command: [ "bash" ]
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# GPU support (NVIDIA)
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# =========================================================================
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deploy:
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# Service 1: Gazebo Simulation
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resources:
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# =========================================================================
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reservations:
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gazebo:
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devices:
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<<: *common
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- driver: nvidia
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container_name: rdc-gazebo
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count: all
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entrypoint: [ "/bin/bash", "-c" ]
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capabilities: [gpu]
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command:
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- |
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source /opt/ros/jazzy/setup.bash
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source ~/.bashrc
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echo "Starting Gazebo Harmonic..."
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echo "Waiting 5 seconds for initialization..."
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sleep 5
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cd /home/pilot/RDC_Simulation
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./scripts/run_ardupilot_sim.sh runway
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# Display forwarding for Gazebo GUI
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# =========================================================================
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environment:
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# Service 2: ArduPilot SITL
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- DISPLAY=${DISPLAY:-:0}
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# =========================================================================
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- NVIDIA_VISIBLE_DEVICES=all
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sitl:
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- NVIDIA_DRIVER_CAPABILITIES=all
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<<: *common
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- QT_X11_NO_MITSHM=1
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container_name: rdc-sitl
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depends_on:
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gazebo:
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condition: service_started
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entrypoint: [ "/bin/bash", "-c" ]
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command:
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- |
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source /opt/ros/jazzy/setup.bash
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source ~/.bashrc
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echo "Waiting 15 seconds for Gazebo to start..."
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sleep 15
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echo "Starting ArduPilot SITL..."
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cd /home/pilot/ardupilot
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sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --no-mavproxy
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# Mount X11 socket for display
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# =========================================================================
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volumes:
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# Service 3: Flight Controller
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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# =========================================================================
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- ~/.Xauthority:/home/pilot/.Xauthority:ro
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controller:
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<<: *common
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container_name: rdc-controller
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depends_on:
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sitl:
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condition: service_started
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entrypoint: [ "/bin/bash", "-c" ]
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command:
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- |
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source /opt/ros/jazzy/setup.bash
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source ~/.bashrc
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source /home/pilot/RDC_Simulation/venv/bin/activate
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echo "Waiting 30 seconds for SITL to initialize..."
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sleep 30
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echo "Starting flight controller..."
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cd /home/pilot/RDC_Simulation
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python scripts/run_ardupilot.py --pattern square
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# Network mode for SITL communication
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# =========================================================================
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network_mode: host
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# Headless Mode (CI/Server - no display)
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# =========================================================================
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# Keep stdin open for interactive use
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stdin_open: true
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tty: true
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# Run as current user (optional - for file permission compatibility)
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# user: "${UID:-1000}:${GID:-1000}"
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working_dir: /home/pilot/RDC_Simulation
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# Alternative: Run headless (no display, for CI/testing)
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simulation-headless:
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simulation-headless:
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build:
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<<: *common
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context: .
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dockerfile: Dockerfile
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image: rdc-simulation:latest
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container_name: rdc-sim-headless
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container_name: rdc-sim-headless
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user: "1000:1000"
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deploy:
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resources:
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reservations:
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devices:
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- driver: nvidia
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count: all
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capabilities: [gpu]
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environment:
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environment:
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=compute,utility
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- NVIDIA_DRIVER_CAPABILITIES=compute,utility
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- HEADLESS=1
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- HEADLESS=1
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- LIBGL_ALWAYS_SOFTWARE=1
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- GZ_SIM_SYSTEM_PLUGIN_PATH=/home/pilot/ardupilot_gazebo/build
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- GZ_SIM_RESOURCE_PATH=/home/pilot/ardupilot_gazebo/models:/home/pilot/ardupilot_gazebo/worlds:/home/pilot/RDC_Simulation/gazebo/models
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volumes: [] # No display mounts needed
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entrypoint: [ "/home/pilot/docker-entrypoint.sh" ]
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command: [ "bash" ]
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network_mode: host
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# =========================================================================
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stdin_open: true
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# All-in-One (runs everything in one container)
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tty: true
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# =========================================================================
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working_dir: /home/pilot/RDC_Simulation
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all-in-one:
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<<: *common
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container_name: rdc-all
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entrypoint: [ "/bin/bash", "-c" ]
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command:
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- |
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source /opt/ros/jazzy/setup.bash
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source ~/.bashrc
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source /home/pilot/RDC_Simulation/venv/bin/activate
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cd /home/pilot/RDC_Simulation
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echo "Starting all-in-one simulation..."
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./scripts/run_ardupilot_controller.sh
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