kamera/docker-compose.yml at main · Kitware/kamera · GitHub

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---
## container configuration for ROS & Kamera
## USE THIS FOR BUILDING not running!
## X11 note: To enable window display from inside the container, you must first
## provide permissions with xhost, usually `xhost +local:root` (not the safest)
## You also have to volume mount `/tmp/.X11-unix`, blank out $DISPLAY, and
## disable X11 shared memory `QT_X11_NO_MITSHM=1`
##
## Deployment profiles:
##   follower  -- headless sensor node: core + VIAME + postproc
##   leader    -- operator workstation: GUI + VIAME + postproc
##   all       -- everything
##
## Individual layer profiles:
##   core      -- Noetic base images only (no VIAME, no GUI)
##   viame     -- VIAME detector images only
##   gui       -- Noetic GUI images only
##   pf        -- postproc / postflight only

services:
## ======================= Noetic core chain ========================

  # Lightweight Python service; independent of ROS distro.
  kamerad:
    build:
      context: ./src/core/kamerad
    image: "kitware/kamera:kamerad"
    profiles:
      - core
      - follower
      - leader
      - all

  # CUDA + ROS Noetic base with utility packages. No KAMERA source.
  core-ros:
    build:
      context: .
      dockerfile: docker/base/core-ros.dockerfile
    image: "kamera/base/core-ros:${TAG_KAMERA_DEPS:-latest}"
    profiles:
      - core
      - follower
      - all
      - gui
      - leader

  # System dependencies (drivers, C++ libs, ROS packages). No source copy.
  core-deps:
    build:
      context: .
      dockerfile: docker/base/core-deps.dockerfile
    image: "kamera/base/core-deps:${TAG_KAMERA_DEPS:-latest}"
    profiles:
      - core
      - follower
      - all
      - gui
      - leader

  # KAMERA source + catkin build on top of core-deps.
  core:
    build:
      context: .
      dockerfile: docker/core.dockerfile
    image: "kitware/kamera:core"
    tty: true
    network_mode: host
    volumes:
      - "/tmp/.X11-unix:/tmp/.X11-unix"
      - "${PWD}/src:/root/kamera/src"
    profiles:
      - core
      - follower
      - leader
      - all

  postproc:
    build:
      context: .
      dockerfile: ./docker/kamerapy.dockerfile
      args:
        BRANCH: $BRANCH
    image: "kitware/kamera:postproc"
    network_mode: host
    tty: true
    profiles:
      - core
      - follower
      - leader
      - all
      - pf

## ========================== VIAME detector chain =============================

  viame-base:
    build:
      context: .
      dockerfile: docker/base/detector-viame-deps.dockerfile
      network: host
      args:
        VIAME_BRANCH: "${VIAME_BRANCH:-latest}"
    image: "kamera/base/viame:${VIAME_BRANCH:-latest}"
    profiles:
      - viame
      - follower
      - leader
      - all

  viame:
    build:
      context: .
      dockerfile: docker/detector.dockerfile
      network: host
      args:
        VIAME_BRANCH: "${VIAME_BRANCH:-latest}"
    image: "kitware/kamera:viame"
    tty: true
    network_mode: host
    command: ["bash"]
    profiles:
      - viame
      - follower
      - leader
      - all

## ========================== GUI chain ========================================

  # GUI deps layered on the Noetic core-deps image.
  gui-deps:
    build:
      context: .
      dockerfile: docker/base/gui-deps.dockerfile
    image: "kamera/base/gui-deps:${TAG_KAMERA_GUI_DEPS:-latest}"
    profiles:
      - gui
      - leader
      - all

  gui:
    container_name: gui
    build:
      context: .
      dockerfile: docker/gui.dockerfile
      args:
        GUI_DEPS_IMAGE: "kamera/base/gui-deps:${TAG_KAMERA_GUI_DEPS:-latest}"
    image: "kitware/kamera:gui"
    profiles:
      - gui
      - leader
      - all

## ====================================================================
...