Docker Compose¶

This repository includes some docker compose configurations for running the Gazebo simulation environments inside a container with GUI support

Installation¶

To use these Docker Compose files, you'll need to have Docker and Docker Compose installed on your system.

Install Docker: Follow the official installation guide for your platform: https://docs.docker.com/get-docker/
Install Docker Compose (if not included with Docker): https://docs.docker.com/compose/install/

To verify your installation, run:

docker --version
docker-compose --version

Before starting the containers, make sure to allow Docker to access the X server on your host machine by running

xhost +local:docker

The run the docker-compose script for your version

docker-compose -f {{version}}-docker-compose.yml up

=== "harmonic"

```bash
docker-compose -f harmonic-docker-compose.yml up
```

=== "ionic"

```bash
docker-compose -f ionic-docker-compose.yml up
```

Both Docker Compose files use host networking (network_mode: host) to simplify GUI display setup.
GUI support is enabled by sharing the X11 socket and setting appropriate environment variables (DISPLAY, XAUTHORITY).
Software rendering is enforced (LIBGL_ALWAYS_SOFTWARE=1) for compatibility.
The containers will launch gz sim as the default command.