update docker-compose for hardware integration

docker/docker-compose.yml

@@ -9,9 +9,10 @@ services:
     environment:
       DISPLAY: $DISPLAY
       XAUTHORITY: $XAUTHORITY
-      NVIDIA_DRIVER_CAPABILITIES: all
-      ROS_LOG_DIR: /tmp
-      ROS_LOCALHOST_ONLY: 1
+      # NVIDIA_DRIVER_CAPABILITIES: all
+      ROS_LOG_DIR: /tmp/.ros
+      ROS_LOCALHOST_ONLY: $ROS_LOCALHOST_ONLY
+      ROS_DOMAIN_ID: $ROS_DOMAIN_ID
     container_name: snp_automate_2022
     image: ghcr.io/ros-industrial-consortium/snp_automate_2022:foxy-master
     stdin_open: true
@@ -28,20 +29,38 @@ services:
       - /etc/group:/etc/group:ro
       - /etc/shadow:/etc/shadow:ro
       - /dev:/dev
-    deploy:
-      resources:
-        reservations:
-          devices:
-            - driver: nvidia
-              count: 1
-              capabilities: [gpu]
+    # deploy:
+    #   resources:
+    #     reservations:
+    #       devices:
+    #         - driver: nvidia
+    #           count: 1
+    #           capabilities: [gpu]
+
   # ROS1 bridge
   ros1-bridge:
     environment:
-      ROS_LOG_DIR: /tmp
-      ROS_LOCALHOST_ONLY: 1
+      ROS_LOCALHOST_ONLY: $ROS_LOCALHOST_ONLY
+      ROS_DOMAIN_ID: $ROS_DOMAIN_ID
+      ROS_LOG_DIR: /tmp/.ros
+    volumes:
+      # Mount DDS shared memory location; see https://stackoverflow.com/questions/65900201/troubles-communicating-with-ros2-node-in-docker-container
+      - /dev/shm:/dev/shm
+      - /etc/hosts:/etc/hosts
+      - /etc/passwd:/etc/passwd:ro
+      - /etc/group:/etc/group:ro
+      - /etc/shadow:/etc/shadow:ro
+    stdin_open: true
+    tty: true
     container_name: ros1-bridge
     image: ghcr.io/ros-industrial/ros1_bridge:noetic-foxy
-    tty: true
     privileged: true
-    network_mode: host
+
+    # Run as the same user as the other system
+    # CURRENT_UID=$(id -u):$(id -g)
+    user: ${CURRENT_UID}
+
+    # Share the network with the host PC
+    network_mode: host
+    ipc: host
+    pid: host