docker-compose.yml

services:
  zed:
    build:
      context: .
      dockerfile: Dockerfile
    image: zed-custom:latest
    container_name: ${container_name}
    hostname: ${hostname}
    # Make the container's hostname resolve locally so DDS doesn't advertise
    # an unroutable address to peers on the LAN.
    extra_hosts:
      - "${hostname}:127.0.0.1"
    privileged: true      # needed for USB camera access (ZED is USB or GMSL)
    stdin_open: true      # -i
    tty: true             # -t
    network_mode: host    # DDS discovery on the host LAN (matches the other services)
    ipc: host             # shared-memory DDS transport — useful for heavy ZED image topics
    pid: host             # so `ros2 node list` sees host nodes and vice versa
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
      - ROS_LOCALHOST_ONLY=${ROS_LOCALHOST_ONLY}
      - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION}
      - FASTDDS_DEFAULT_PROFILES_FILE=${FASTDDS_DEFAULT_PROFILES_FILE}
      - CYCLONEDDS_URI=${CYCLONEDDS_URI}
      - RMW_ZENOH_CONFIG_FILE=${RMW_ZENOH_CONFIG_FILE}
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      # 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:
      - /tmp/.X11-unix:/tmp/.X11-unix
      - /dev:/dev                              # ZED USB + other devices
      # DDS profiles — same layout as the other services in this repo.
      - ./dds_profiles:/dds_profiles:ro
      # Your own ROS 2 packages — mounted as a SEPARATE workspace so the
      # pre-built ZED wrapper workspace at /root/ros2_ws stays intact.
      - ./user_ws:/root/user_ws
      # Persist the per-serial calibration .conf downloaded from Stereolabs
      # and the GPU-optimized Neural depth models, so they survive container
      # recreation / rebuilds and don't re-download/re-optimize every time.
      - zed_settings:/usr/local/zed/settings
      - zed_resources:/usr/local/zed/resources
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
    command: /bin/bash -l

volumes:
  zed_settings:
  zed_resources: