docker-compose.yml

version: "3.3"
services:
  spear:
    build:
      context: .
      dockerfile: Dockerfile
    image: spear
    container_name: spear-container
    tty: true
    stdin_open: true
    environment:
      DISPLAY: $DISPLAY
      # ROS_IP: 192.168.1.13
      # ROS_MASTER_URI: http://192.168.1.61:11311
      ROS_IP: 127.0.0.1
      QT_X11_NO_MITSHM: 1
      DOCKER_HOST_REPO_LOCATION: .
      RUNNING_IN_DOCKER: "true"
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
      - $XAUTHORITY:/root/.Xauthority
      - .:/software
      - .docker-opt-ros-mount:/tmp/docker-opt-ros-mount
      - .docker-root-ros-include-mount:/tmp/docker-root-ros-include-mount
    privileged: true
    network_mode: host

    # The below is needed so that we can configure network interfaces
    # (e.g. can0, vcan0) from inside the container.
    # Note that this results in interfaces being modified on the host machine.
    cap_add:
      - NET_ADMIN