compose.rviz.yaml

# Quick Start
# $ xhost local:root
# $ docker compose -f compose.rviz.yaml up

x-net-config:
  &net-config
  network_mode: host
  ipc: host
  env_file: net.env

x-gpu-config:
  &gpu-config
  runtime: nvidia
  environment:
    - DISPLAY=${DISPLAY:?err}
    - NVIDIA_VISIBLE_DEVICES=all
    - NVIDIA_DRIVER_CAPABILITIES=all

x-cpu-config:
  &cpu-config
  environment:
    - DISPLAY=${DISPLAY:?err}
    - LIBGL_ALWAYS_SOFTWARE=1

services:
  # if you have NVDIA GPU and NVIDIA Container Toolkit, you can replace
  # "cpu-config" with "gpu-config"
  rviz:
    image: husarion/rviz2:humble
    container_name: rviz
    <<: [ *net-config, *gpu-config ]
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./config/rosbot.rviz:/root/.rviz2/default.rviz

  joy2twist:
    image: husarion/joy2twist:galactic
    <<: [ *net-config ]
    devices:
      - /dev/input
    volumes:
      - ./config/joy2twist.yaml:/joy2twist.yaml
    command: >
      ros2 launch joy2twist gamepad_controller.launch.py
        joy2twist_params_file:=/joy2twist.yaml