services:
  roam_demo:
    build: .
    container_name: roam_demo
    command: bash -c  "source ~/catkin_ws/devel/setup.bash && roslaunch multi_sim_init semantic_init_multi.launch"
    # command: sh
    entrypoint: /ros_entrypoint.sh
    runtime: nvidia
    environment:
      - DISPLAY
      - QT_X11_NO_MITSHM=1
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
    network_mode: host
    privileged: true
    stdin_open: true 
    tty: true
    shm_size: '8gb'
    deploy:
        resources:
            limits:
                cpus: '8.0'

# If you need visualization, make sure to run `xhost +local:docker` first.