docker-compose.yml

# docker-compose.yml
# 
# NOTE - Only necessary for machines without an Nvidia GPU
# This Docker Compose configuration sets up a Drake ROS integration environment
# along with a noVNC server for remote access to the graphical interface of any
# visualization tools used in the project.
#
# Author: Adeeb Abbas

version: '3.8'
services:
  drake_ros:
    container_name: ${DRAKE_ROS_CONTAINER_NAME}
    # Use the drake-ros image for the simulation environment
    # This image contains the necessary dependencies and configurations for running Drake ROS integration projects
    image: drake-ros
    build: ./
    volumes: 
      # Mount the current working directory (drake-ros repository) inside the container
      # This allows for seamless synchronization between the host and container filesystems, ensuring that changes made in the host are reflected within the container
      - .:/drake_ros_ws/src/drake_ros
    environment:
      # Configure the display environment variable for noVNC compatibility
      # This ensures that graphical applications within the container can be accessed remotely via the noVNC server
      - DISPLAY=novnc:0.0
    networks:
      - x11
    stdin_open: true
    tty: true
  novnc:
    container_name: novnc_container
    image: theasp/novnc:latest
    environment:
      # Set the desired display resolution for the noVNC server
      - DISPLAY_WIDTH=1728
      - DISPLAY_HEIGHT=972
    ports:
      # Expose the noVNC server on port 8080 of the host system
      - "8080:8080"
    networks:
      - x11
    restart: on-failure
networks:
  x11: