services:
  ros2:
    image: hub.anxietyprime.de/ros2/jazzy:latest
    container_name: ros2
    runtime: nvidia  # Enable GPU support
    network_mode: host
    environment:
      - DISPLAY=${DISPLAY}
      - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - LIBGL_ALWAYS_INDIRECT=1
      - __GLX_VENDOR_LIBRARY_NAME=nvidia
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
      - ${XDG_RUNTIME_DIR}:${XDG_RUNTIME_DIR}
      - /home/timo/ros2_ws:/ros2_ws
    devices:
      - /dev/dri
      - "/dev/nvidia0:/dev/nvidia0"
      - "/dev/nvidiactl:/dev/nvidiactl"
      - "/dev/nvidia-modeset:/dev/nvidia-modeset"
      - "/dev/nvidia-uvm:/dev/nvidia-uvm"
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
    entrypoint: "/etc/docker-compose-entrypoint"
    restart: always