version: '3.8'

services:
  sim2real_ros2:
    build:
      context: .
      dockerfile: Dockerfile
    container_name: sim2real_ros2_node
    runtime: nvidia
    network_mode: host
    privileged: true
    stdin_open: true
    tty: true
    environment:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=compute,utility
    cap_add:
      - SYS_NICE
    shm_size: '2gb'
    volumes:
      - /dev:/dev
    restart: unless-stopped