docker-compose.yml

services:

  checkout-ros-bridge:
    container_name: checkout-ros-bridge
    image: alpine/git:latest
    user: ${UID}:${GID}
    volumes:
      - ./:/git
    command: >
      submodule foreach git checkout ${CARLA_VERSION}

  carla:
    container_name: carla
    image: carlasim/carla:${CARLA_VERSION}
    command: /bin/bash ./CarlaUE4.sh -carla-server -opengl -nosound -RenderOffScreen
    ports:
      - 2000:2000/tcp
      - 2001:2001/tcp
    privileged: true
    deploy:
      resources:
        reservations:
          devices:
          - driver: nvidia
            device_ids: ['0']
            capabilities: [gpu]
    environment:
      DISPLAY: ${DISPLAY}
    # volumes:
    #   - /tmp/.X11-unix:/tmp/.X11-unix:rw

  carla-ros-bridge:
    container_name: carla-ros-bridge
    image: carla-ros-bridge:${CARLA_VERSION}-${ROS_DISTRO}
    build: 
      context: ./ros-bridge
      dockerfile: docker/Dockerfile
      args:
        CARLA_VERSION: ${CARLA_VERSION}
        ROS_DISTRO: ${ROS_DISTRO}
    depends_on:
      - "carla"
    command: >
      /bin/bash -c 'source ./devel/setup.bash && \
                    source ../carla/setup.bash && \
                    while sleep 7; do roslaunch carla_ros_bridge carla_ros_bridge.launch; echo -e "\nReconnecting...\n"; done'
    network_mode: host