docker-compose-gpu.yml

services:
  main:
    build: .
    volumes:
      - ./rb_ws:/rb_ws
      - "${RLSENSE_PORT:-/dev/null}:/dev/bus/usb"
      - /tmp/.X11-unix:/tmp/.X11-unix
    devices:
      - "${TEENSY_PORT:-/dev/null}:/dev/ttyUSB0"
      - "${WEBCAM_PORT:-/dev/null}:/dev/ttyUSB1"
      - "${GPS_PORT:-/dev/null}:/dev/ttyACM0"
      - "${FEATHER_PORT:-/dev/null}:/dev/ttyACM1"
    stdin_open: true # docker run -i
    tty: true        # docker run -t
    environment:
      - DISPLAY=host.docker.internal:0
    hostname: main
    ports:
       - "0.0.0.0:8765:8765"      # foxglove bridge
       - "0.0.0.0:8760:8760"      # Asset server for loading stuff into foxglove
    platform: "linux/amd64"
    device_cgroup_rules:
       - "c *:* rmw"
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: 'all'
              capabilities: [gpu]
  tileserver:
    image: maptiler/tileserver-gl
    volumes:
      - "./maps:/data"
    stdin_open: true # docker run -i
    tty: true        # docker run -t
    command: ["-p", "80", "-c", "/data/conf.json"]
    ports:
      - "8080:80"