docker-compose.yml

version: "2.3"
services: 
  master:
    container_name: master
    image: ros:kinetic-ros-core
    command: roscore
    environment:
      - ROS_MASTER_URI=http://localhost:11311
    tty: true

  pytorch-ros:
    container_name: pytorch-ros-node
    depends_on:
      - master
    build: .
    runtime: nvidia
    image: aisl/pytorch-enet:20.03-py3
    command: roslaunch pytorch_ros pytorch_enet_ros.launch image:=/kinect2/qhd/image_color_rect
    environment:
      - ROS_MASTER_URI=http://master:11311
    volumes:
      - ./catkin_ws/:/root/catkin_ws/
      - /media/data/dataset/matsuzaki:/tmp/dataset
    tty: true
    shm_size: 1G

  catkin-build:
    container_name: catkin-build
    build: .
    runtime: nvidia
    image: aisl/pytorch-enet:20.03-py3
    command: bash -c "source /opt/ros/melodic/setup.bash && cd /root/catkin_ws && catkin build -DCMAKE_BUILD_TYPE=Debug"
    environment:
      - CMAKE_PREFIX_PATH=/opt/ros/melodic:${CMAKE_PREFIX_PATH}
    volumes:
      - ./catkin_ws/:/root/catkin_ws/
        #  - /media/data/dataset/matsuzaki:/tmp/dataset
    tty: true
    shm_size: 1G