version: "3.2"

services:
  ros:
    image: ros/custom
    build: 
      context: ./build_ros
      args:
        ROS: galactic           #Desired ROS version
        UID: ${U_ID}
        GID: ${G_ID}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./home:/home/ros
    devices:
      - /dev/dri:/dev/dri
    environment:
      - DISPLAY=$DISPLAY
      - XAUTHORITY=$XAUTHORITY
      - U_ID=${U_ID}
      - G_ID=${G_ID}
    user: ${U_ID}:${G_ID}
    stdin_open: true
    tty: true
    #group_add:
    #  - video
    #  - render