feat!: Enable GPU support by default

BREAKING CHANGE: This change would require installing nvidia-docker to use the compose file
j3soon · Nov 4, 2024 · 030f593 · 030f593
1 parent a0d3d9e
commit 030f593
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Showing 10 changed files with 82 additions and 82 deletions.
diff --git a/aloha_ws/docker/compose.yaml b/aloha_ws/docker/compose.yaml
@@ -44,7 +44,7 @@ services:
       - RCUTILS_COLORIZED_OUTPUT=1
       - ROS2_WS=/home/ros2-essentials/aloha_ws
       # TODO: Add more environment variables here.
-    # TODO: Uncomment the lines below to enable GPU support.
+    # Enable GPU support.
     # Reference: https://docs.docker.com/compose/gpu-support/
     deploy:
       resources:

diff --git a/cartographer_ws/docker/compose.yaml b/cartographer_ws/docker/compose.yaml
@@ -44,15 +44,15 @@ services:
       - RCUTILS_COLORIZED_OUTPUT=1
       - ROS2_WS=/home/ros2-essentials/cartographer_ws
       # TODO: Add more environment variables here.
-    # TODO: Uncomment the lines below to enable GPU support.
-    # # Reference: https://docs.docker.com/compose/gpu-support/
-    # deploy:
-    #   resources:
-    #     reservations:
-    #       devices:
-    #         - driver: nvidia
-    #           count: all
-    #           capabilities: [ gpu ]
+    # Enable GPU support.
+    # Reference: https://docs.docker.com/compose/gpu-support/
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [ gpu ]
     volumes:
       # Mount local timezone into container.
       # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container

diff --git a/gazebo_world_ws/docker/compose.yaml b/gazebo_world_ws/docker/compose.yaml
@@ -44,15 +44,15 @@ services:
       - RCUTILS_COLORIZED_OUTPUT=1
       - ROS2_WS=/home/ros2-essentials/gazebo_world_ws
       # TODO: Add more environment variables here.
-    # TODO: Uncomment the lines below to enable GPU support.
-    # # Reference: https://docs.docker.com/compose/gpu-support/
-    # deploy:
-    #   resources:
-    #     reservations:
-    #       devices:
-    #         - driver: nvidia
-    #           count: all
-    #           capabilities: [ gpu ]
+    # Enable GPU support.
+    # Reference: https://docs.docker.com/compose/gpu-support/
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [ gpu ]
     volumes:
       # Mount local timezone into container.
       # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container

diff --git a/husky_ws/docker/compose.yaml b/husky_ws/docker/compose.yaml
@@ -44,15 +44,15 @@ services:
       - RCUTILS_COLORIZED_OUTPUT=1
       - ROS2_WS=/home/ros2-essentials/husky_ws
       # TODO: Add more environment variables here.
-    # TODO: Uncomment the lines below to enable GPU support.
-    # # Reference: https://docs.docker.com/compose/gpu-support/
-    # deploy:
-    #   resources:
-    #     reservations:
-    #       devices:
-    #         - driver: nvidia
-    #           count: all
-    #           capabilities: [ gpu ]
+    # Enable GPU support.
+    # Reference: https://docs.docker.com/compose/gpu-support/
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [ gpu ]
     volumes:
       # Mount local timezone into container.
       # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container

diff --git a/kobuki_ws/docker/compose.yaml b/kobuki_ws/docker/compose.yaml
@@ -44,15 +44,15 @@ services:
       - RCUTILS_COLORIZED_OUTPUT=1
       - ROS2_WS=/home/ros2-essentials/kobuki_ws
       # TODO: Add more environment variables here.
-    # TODO: Uncomment the lines below to enable GPU support.
-    # # Reference: https://docs.docker.com/compose/gpu-support/
-    # deploy:
-    #   resources:
-    #     reservations:
-    #       devices:
-    #         - driver: nvidia
-    #           count: all
-    #           capabilities: [ gpu ]
+    # Enable GPU support.
+    # Reference: https://docs.docker.com/compose/gpu-support/
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [ gpu ]
     volumes:
       # Mount local timezone into container.
       # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container

diff --git a/orbslam3_ws/docker/compose.yaml b/orbslam3_ws/docker/compose.yaml
@@ -44,15 +44,15 @@ services:
       - RCUTILS_COLORIZED_OUTPUT=1
       - ROS2_WS=/home/ros2-essentials/orbslam3_ws
       # TODO: Add more environment variables here.
-    # TODO: Uncomment the lines below to enable GPU support.
-    # # Reference: https://docs.docker.com/compose/gpu-support/
-    # deploy:
-    #   resources:
-    #     reservations:
-    #       devices:
-    #         - driver: nvidia
-    #           count: all
-    #           capabilities: [ gpu ]
+    # Enable GPU support.
+    # Reference: https://docs.docker.com/compose/gpu-support/
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [ gpu ]
     volumes:
       # Mount local timezone into container.
       # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container

diff --git a/rtabmap_ws/docker/compose.yaml b/rtabmap_ws/docker/compose.yaml
@@ -44,15 +44,15 @@ services:
       - RCUTILS_COLORIZED_OUTPUT=1
       - ROS2_WS=/home/ros2-essentials/rtabmap_ws
       # TODO: Add more environment variables here.
-    # TODO: Uncomment the lines below to enable GPU support.
-    # # Reference: https://docs.docker.com/compose/gpu-support/
-    # deploy:
-    #   resources:
-    #     reservations:
-    #       devices:
-    #         - driver: nvidia
-    #           count: all
-    #           capabilities: [ gpu ]
+    # Enable GPU support.
+    # Reference: https://docs.docker.com/compose/gpu-support/
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [ gpu ]
     volumes:
       # Mount local timezone into container.
       # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container

diff --git a/template_ws/docker/compose.yaml b/template_ws/docker/compose.yaml
@@ -44,15 +44,15 @@ services:
       - RCUTILS_COLORIZED_OUTPUT=1
       - ROS2_WS=/home/ros2-essentials/template_ws
       # TODO: Add more environment variables here.
-    # TODO: Uncomment the lines below to enable GPU support.
-    # # Reference: https://docs.docker.com/compose/gpu-support/
-    # deploy:
-    #   resources:
-    #     reservations:
-    #       devices:
-    #         - driver: nvidia
-    #           count: all
-    #           capabilities: [ gpu ]
+    # Enable GPU support.
+    # Reference: https://docs.docker.com/compose/gpu-support/
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [ gpu ]
     volumes:
       # Mount local timezone into container.
       # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container

diff --git a/tests/diff_base/docker/compose.yaml b/tests/diff_base/docker/compose.yaml
@@ -45,15 +45,15 @@ services:
       - ROS2_WS=/home/ros2-essentials/{PLACEHOLDER}_ws
       # TODO: Add more environment variables here.
 {PLACEHOLDER_MULTILINE}
-    # TODO: Uncomment the lines below to enable GPU support.
-    {PLACEHOLDER_#}# Reference: https://docs.docker.com/compose/gpu-support/
-    {PLACEHOLDER_#}deploy:
-    {PLACEHOLDER_#}  resources:
-    {PLACEHOLDER_#}    reservations:
-    {PLACEHOLDER_#}      devices:
-    {PLACEHOLDER_#}        - driver: nvidia
-    {PLACEHOLDER_#}          count: all
-    {PLACEHOLDER_#}          capabilities: [ gpu ]
+    # Enable GPU support.
+    # Reference: https://docs.docker.com/compose/gpu-support/
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [ gpu ]
     volumes:
       # Mount local timezone into container.
       # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container

diff --git a/vlp_ws/docker/compose.yaml b/vlp_ws/docker/compose.yaml
@@ -44,15 +44,15 @@ services:
       - RCUTILS_COLORIZED_OUTPUT=1
       - ROS2_WS=/home/ros2-essentials/vlp_ws
       # TODO: Add more environment variables here.
-    # TODO: Uncomment the lines below to enable GPU support.
-    # # Reference: https://docs.docker.com/compose/gpu-support/
-    # deploy:
-    #   resources:
-    #     reservations:
-    #       devices:
-    #         - driver: nvidia
-    #           count: all
-    #           capabilities: [ gpu ]
+    # Enable GPU support.
+    # Reference: https://docs.docker.com/compose/gpu-support/
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [ gpu ]
     volumes:
       # Mount local timezone into container.
       # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container