docker-compose.yml

version: '3.8'

services:
  # Carla Server
  carla_server:
    build:
      context: .
      dockerfile: ./docker/carla_server/Dockerfile
    image: carla-server:0.9.14
    container_name: carla_server
    command: ["bash", "./CarlaUE4.sh", "-vulkan", "-nosound", "-RenderOffScreen", "-fps=30"]
    runtime: nvidia
    privileged: true
    environment:
      - DISPLAY=${DISPLAY}
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - QT_X11_NO_MITSHM=1 # Fix a bug with QT
      - SDL_VIDEODRIVER=x11
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
    networks:
      - shared_network

  # foxglove to visualize live data 
  foxglove_bridge:
    build:
      context: .
      dockerfile: ./docker/foxglove_bridge/Dockerfile

    image: foxglove-bridge:latest
    container_name: foxglove_bridge
    command: ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
    ports: 
      - 8765:8765
    networks:
      - shared_network
    depends_on:
      carla_server:
        condition: service_started

  # Carla ROS bridge container
  custom_carla_bridge:
    build:
      context: .
      dockerfile: ./docker/custom_carla_bridge/Dockerfile
    image: custom-carla-bridge:latest
    container_name: custom-carla-bridge
    command: /bin/sh -c "sleep 12 && ros2 launch custom_carla_bridge bridge.launch.py host:=carla_server town:=Town07"
    networks:
      - shared_network
    depends_on:
      carla_server:
        condition: service_started
      foxglove_bridge:
        condition: service_started

networks:
  shared_network:
    name: tfm_ros_net
    driver: bridge