docker-compose.yml

# OHM live mapping container (ROS 2 Humble + OHM CUDA).
# Host networking + GPU passthrough so the node can discover the ZED topics
# published by docker-stereo on the same machine and use CUDA for ray tracing.
services:
  ohm-ros2:
    build:
      context: .
      dockerfile: Dockerfile
      args:
        ROS_DISTRO: humble
        OHM_REF: master
        BUILD_JOBS: "16"
    image: ohm-ros2:humble
    container_name: ohm-ros2
    hostname: ohm-ros2
    extra_hosts:
      - "ohm-ros2:127.0.0.1"
    stdin_open: true
    tty: true
    # Host networking so ZED topics published in docker-stereo are visible here
    # via DDS (matches the docker-stereo setup).
    network_mode: host
    ipc: host
    pid: host
    environment:
      - DISPLAY=${DISPLAY:-}
      - QT_X11_NO_MITSHM=1
      - TERM=xterm-256color
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
      - ROS_LOCALHOST_ONLY=${ROS_LOCALHOST_ONLY:-0}
      - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_fastrtps_cpp}
      - FASTDDS_DEFAULT_PROFILES_FILE=${FASTDDS_DEFAULT_PROFILES_FILE:-}
      - CYCLONEDDS_URI=${CYCLONEDDS_URI:-}
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics
      # Force GLX to use the NVIDIA dGPU instead of the Intel iGPU —
      # Arrow Lake's iris PCI ID is newer than the container's Mesa.
      - __NV_PRIME_RENDER_OFFLOAD=1
      - __GLX_VENDOR_LIBRARY_NAME=nvidia
    volumes:
      # Ament workspace with ohm_ros2 — bind-mounted so you can edit the
      # node source from the host and rebuild with `colcon build` inside.
      - ./user_ws:/root/user_ws
      # Shared bag / output directory — saved .ohm files land here.
      - ../../bags:/data
      # DDS profiles, same layout as docker-stereo.
      - ../docker-stereo/dds_profiles:/dds_profiles:ro
      - /tmp/.X11-unix:/tmp/.X11-unix
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
    working_dir: /root/user_ws
    command: /bin/bash -l