docker-compose-jetson_mate-prod.yaml

# Copyright (c) 2020, 2021  Carnegie Mellon University, IBM Corporation, and others
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services:
  people-jetson-prod:
    image: cabot_people-jetson-prod
    environment:
      DISPLAY: ${DISPLAY}
      XAUTHORITY: /tmp/.docker.xauth
      NVIDIA_DRIVER_CAPABILITIES: compute,graphics,utility,video,display
      NVIDIA_VISIBLE_DEVICES: all
      ROS_IP: ${ROS_IP:-127.0.0.1}
      GAZEBO_IP: ${ROS_IP:-127.0.0.1}
      ROS_MASTER_URI: http://${MASTER_IP:-127.0.0.1}:11311
      GAZEBO_MASTER_URI: http://${MASTER_IP:-127.0.0.1}:11345
      OMP_NUM_THREADS: 1
    volumes:
      - /dev:/dev
      - /sys/devices:/sys/devices
      - ./docker/home/.ros:/home/developer/.ros
# Note : If you install nvidia-container-csv-cuda package on Jetson host, following line is not necessary but needs more disk space.
      - /usr/local/cuda-10.2:/usr/local/cuda-10.2
    privileged: true
#    devices:
#      - /dev/dri
    cap_add:
      - SYS_ADMIN
      - NET_ADMIN
    network_mode: host
    tty: true
    stdin_open: true
    command: ["/launch.sh",
#              "-s",                                # gazebo
              "-T ${CABOT_SITE:-cabot_site_cmu_3d}", # cabot site
              "-r",                                # realsense physicial (-s or -r)
              "-q",                                # queue
              #"-p",                               # people topic is simulation groundtruth
              "-C",                                # check required before launch
              "-t",                                # publish tf
              "-v 3",                              # use opencv
              "-O",                                # no rviz
              ]