zero/compose.yaml at main · zqbxdev/zero · GitHub

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# English: Docker Compose runtime for the image published by GitHub Actions.
# 中文：用于运行 GitHub Actions 发布镜像的 Docker Compose 配置。

services:
  zero:
    # English: Use the Docker Hub image built from the repository Dockerfile; full-latest is the default for physical-machine simulation.
    # 中文：使用基于本仓库 Dockerfile 构建并推送到 Docker Hub 的镜像；默认 full-latest 用于实体机仿真。
    # English: Override ZERO_IMAGE_TAG for production or remote coding, for example:
    #          ZERO_IMAGE_TAG=base-latest docker compose up -d
    #          ZERO_IMAGE_TAG=dev-latest docker compose up -d
    # 中文：可覆盖 ZERO_IMAGE_TAG 用于生产或远程编码，例如：
    #       ZERO_IMAGE_TAG=base-latest docker compose up -d
    #       ZERO_IMAGE_TAG=dev-latest docker compose up -d
    image: zqbxdev/zero:${ZERO_IMAGE_TAG:-full-latest}

    # English: Keep an interactive shell available for ROS2/Gazebo development.
    # 中文：保留交互式 shell，便于 ROS2/Gazebo 开发调试。
    container_name: zero
    stdin_open: true
    tty: true
    command: /bin/bash

    # English: Host networking helps ROS2 discovery and Gazebo communication on Linux.
    # 中文：host 网络有助于 Linux 下 ROS2 发现机制和 Gazebo 通信。
    network_mode: host

    environment:
      # English: Forward display variables for GUI tools such as Gazebo/RViz.
      # 中文：转发显示相关变量，用于 Gazebo/RViz 等 GUI 工具。
      DISPLAY: ${DISPLAY:-:0}
      QT_X11_NO_MITSHM: "1"
      XDG_RUNTIME_DIR: /tmp/runtime-root

      # English: Default ROS middleware implementation. Change if needed.
      # 中文：默认 ROS 中间件实现，可按需修改。
      RMW_IMPLEMENTATION: rmw_cyclonedds_cpp

    volumes:
      # English: Mount local workspace into the container workspace directory.
      # 中文：将本地工作区挂载到容器的 workspace 目录。
      - .:/workspace

      # English: Allow X11 GUI applications to connect to the host display.
      # 中文：允许 X11 GUI 应用连接宿主机显示服务。
      - /tmp/.X11-unix:/tmp/.X11-unix:rw

    # English: Useful for GUI/simulation workloads that need shared memory.
    # 中文：适用于需要共享内存的 GUI/仿真工作负载。
    ipc: host

    # English: Grant access to common host devices for simulation/GUI acceleration.
    # 中文：授予常见宿主机设备访问权限，便于仿真和 GUI 加速。
    devices:
      - /dev/dri:/dev/dri