docker-compose.yml

name: ackermann_sim

services:
  sim1:
    image: ackermann_gazebo_sim3
    container_name: ackermann_sim1
    stdin_open: true
    tty: true
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - LIBGL_ALWAYS_INDIRECT=0
      - ROS_MASTER_URI=http://172.20.10.5:11311
      - ROS_IP=172.20.10.5 
      - TZ=Asia/Shanghai
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - /var/run/dbus:/var/run/dbus
      - ~/.gazebo/models:/root/.gazebo/models:ro
      - /etc/localtime:/etc/localtime:ro
    network_mode: "host"
    privileged: true
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
    restart: unless-stopped

  sim2:
    extends: sim1
    container_name: ackermann_sim2
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - LIBGL_ALWAYS_INDIRECT=0
      - ROS_MASTER_URI=http://172.20.10.5:11312
      - ROS_IP=172.20.10.5 
      - TZ=Asia/Shanghai
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all

  sim3:
    extends: sim1
    container_name: ackermann_sim3
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - LIBGL_ALWAYS_INDIRECT=0
      - ROS_MASTER_URI=http://172.20.10.5:11313
      - ROS_IP=172.20.10.5 
      - TZ=Asia/Shanghai
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all