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/
/
1services:
2 fast_slam:
3 build:
4 context: .
5 dockerfile: Dockerfile
6 container_name: fast_slam
7 environment:
8 - DISPLAY=${DISPLAY}
9 - QT_X11_NO_MITSHM=1
10 - ROS_DOMAIN_ID=0
11 volumes:
12 - /tmp/.X11-unix:/tmp/.X11-unix:rw
13 - ~/.Xauthority:/root/.Xauthority:ro
14 network_mode: host
15 privileged: true
16 stdin_open: true
17 tty: true
18
19 # Headless build/test service (no GUI)
20 fast_slam_ci:
21 build:
22 context: .
23 dockerfile: Dockerfile
24 container_name: fast_slam_ci
25 command: >
26 bash -c "source /ros2_ws/install/setup.bash &&
27 colcon test --packages-select fast_slam &&
28 colcon test-result --verbose"
29 profiles:
30 - ci
31