Docker compose config for X11 / GUI

compose.yaml

services:
  mola-core:
    #restart: always
    build:
      context: ./
      dockerfile: ./docker/Dockerfile
      args:
        - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
        - CYCLONEDDS_URI=file:///root/ros2_ws/cylconedds_config.xml
    network_mode: host
    stdin_open: true
    tty: true  
    runtime: nvidia
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - XAUTHORITY=${XAUTH}
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - ROS_DISTRO=jazzy
      - ROS_DOMAIN_ID=5
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - CYCLONEDDS_URI=file:///root/ros2_ws/cylconedds_config.xml
    container_name: mola-core
    privileged: false
    cap_add:
      - NET_ADMIN
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./mola_lidar_odometry:/root/ros2_ws/src/mola_lidar_odometry
    command: bash 
    deploy:
      resources:
        reservations:
          devices:
            - driver: 'nvidia'
              count: all
              capabilities: [gpu]