services:
  dev:
    build:
      context: .
      dockerfile: docker/Dockerfile
      target: mujoco_ros
      tags:
        - mujoco_ros:${ROS_DISTRO:-jazzy}
      args:
        - ROS_DISTRO=${ROS_DISTRO:-jazzy}
    # Ensures signals are actually passed and reaped in the container for shutdowns
    # https://docs.docker.com/compose/compose-file/compose-file-v3/#init
    init: true
    stdin_open: true
    tty: true
    network_mode: host
    # Allows graphical programs in the container.
    environment:
      - DISPLAY
      - QT_X11_NO_MITSHM=1
      # Pass the ROS_DOMAIN_ID from the host, if available, otherwise we default to 1 to avoid spamming networks
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-1}
      # Shared graphics between a host and a container are difficult. Users with GPUs may need to uncomment the
      # lines below to enable GPU rendering in the container. This connfiguration does not work across all
      # environments, and users may need to tweak their individual setups.
    #   - NVIDIA_DRIVER_CAPABILITIES=all
    # deploy:
    #   resources:
    #     reservations:
    #       devices:
    #         - driver: nvidia
    #           count: 1 # alternatively, use `count: all` for all GPUs
    #           capabilities: [ gpu ]
    volumes:
      # Mount the source code.
      - ./:/opt/mujoco/ws/src/mujoco_ros2_control:rw
      # Allows graphical programs in the container.
      - x11_sock:/tmp/.X11-unix
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
    command: sleep infinity