docker-compose.yml

services:
  service:
    image: ${ROS2_WS_NAME}_image
    container_name: ${ROS2_WS_NAME}_container
    build:
      context: .
      dockerfile: ./docker/ros2_workspaces/Dockerfile
      args:
        ROS2_DISTRO: ${ROS2_DISTRO}
        USER_NAME: ${USER_NAME}
        ROS2_WS_NAME: ${ROS2_WS_NAME}
        PROJECT_NAME: ${PROJECT_NAME}
    stdin_open: true
    tty: true
    restart: no
    network_mode: host
    environment:
      - DISPLAY=${DISPLAY}
      - ROS_DOMAIN_ID=${ROS2_DOMAIN_ID}
      - ROS2_DISTRO=${ROS2_DISTRO}
      - USER_NAME=${USER_NAME}
      - ROS2_WS_NAME=${ROS2_WS_NAME}
      - ROS2_WS_PATH=/home/${USER_NAME}/${PROJECT_NAME}/${ROS2_WS_NAME}
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    volumes:
      - /tmp/.X11-unix/:/tmp/.X11-unix/
      - ./workspaces/${ROS2_WS_NAME}:/home/${USER_NAME}/${PROJECT_NAME}/${ROS2_WS_NAME}
      - ./.vscode:/home/${USER_NAME}/${PROJECT_NAME}/.vscode
    working_dir: /home/${USER_NAME}/${PROJECT_NAME}/${ROS2_WS_NAME}
    devices:
      - /dev/dri:/dev/dri
    stop_grace_period: 2s