# Example command: # # DOCKER_IMAGE=humble-source docker-compose run gpu services: cpu: image: moveit/moveit2:$DOCKER_IMAGE privileged: true network_mode: host command: /bin/bash volumes: - moveit2-data:/root - /tmp/.X11-unix:/tmp/.X11-unix - $XAUTHORITY:/root/.Xauthority environment: QT_X11_NO_MITSHM: 1 DISPLAY: $DISPLAY gpu: image: moveit/moveit2:$DOCKER_IMAGE privileged: true network_mode: host command: /bin/bash deploy: resources: reservations: devices: - driver: nvidia count: 1 capabilities: [gpu] volumes: - moveit2-data:/root - /tmp/.X11-unix:/tmp/.X11-unix - $XAUTHORITY:/root/.Xauthority environment: QT_X11_NO_MITSHM: 1 DISPLAY: $DISPLAY NVIDIA_VISIBLE_DEVICES: all NVIDIA_DRIVER_CAPABILITIES: all volumes: moveit2-data: