atk-sandbox/atk.yml at develop · WisconsinAutonomous/atk-sandbox · GitHub

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project: atk-sandbox
default_containers:
  - dev
hardware_specific_attributes:
  - mac_address: 10:a5:1d:e9:53:cc
    all:
      security_opt:
      - seccomp:unconfined
custom_cli_arguments:
  devices:
    argparse:
      action: 'store_true'
    all:
      privileged: true
      environment:
        UDEV: 1
  x11:
    argparse:
      action: 'store_true'
    all:
      volumes:
        - "/tmp/.X11-unix:/tmp/.X11-unix"
      environment:
        DISPLAY: $DISPLAY
  cyclone:
    argparse:
      action: 'store_true'
    all:
      environment:
        CYCLONEDDS_URI: "file:///home/@{project}/@{project}/misc/cyclonedds.xml"
  seccomp:
    argparse:
      action: 'store_true'
    all:
      security_opt:
      - seccomp:unconfined
external:
  db:
    files:
      - name: "pytorch-aarch64"
        id: "1XEvtAMeOAJQx9kQoRhVNdZt07L4y1d-D"
        output: "@{project_root}/containers/agx/scripts/pytorch/torch-1.9.0-python3.8-aarch64"
      - name: "yolov5-weights"
        id: "1oPs2Pa9llQl9Ee85ufeFCapvxaDD7woo"
        output: "@{project_root}/workspace/src/perception/vision_detector/data/best"
      - name: "tensorrt-aarch64"
        id: "1QHvnrUrASsdVueiQeu6tRwZit5ANEskA"
        output: "@{project_root{/containres/agx/scripts/tensorrt/tensorrt-8.2.3.0-cp38-none-linux_aarch64.whl"
services:
  dev: &dev_service
    image: "atk/@{project}:dev"
    hostname: "@{project}-dev"
    command: ""
    network_mode: "host"
    container_name: "@{project}-dev"
    entrypoint: ""
    privileged: true
    build: &dev_build
      context: "./"
      dockerfile: "./containers/dev/dev.dockerfile"
      network: "host"
      args: &dev_build_args
        PROJECT: "@{project}"
        USER_UID: "@{uid}"
        USER_GID: "@{gid}"
        APT_DEPENDENCIES: "bash zsh vim git git-lfs python3-pip python3-tk libusb-1.0.0-dev tmux libopencv-dev equivs qtbase5-dev qtchooser qt5-qmake qtbase5-dev-tools conntrack tcpdump net-tools "
        PIP_REQUIREMENTS: "matplotlib python-can psutil black twisted numpy>=1.19 hdbscan tornado black cvxpy tqdm seaborn canlib scipy control"
        MOSEKLM_LICENSE_FILE: "/home/@{project}/@{project}/containers/dev/mosek.lic"
        USER_GROUPS: "video dialout flirimaging"
        ROS_DISTRO: humble
    environment: &dev_env_args
      DISPLAY: $DISPLAY
      NVIDIA_VISIBLE_DEVICES: "all"
      NVIDIA_DRIVER_CAPABILITIES: "all"
      MOSEKLM_LICENSE_FILE: "/home/@{project}/@{project}/containers/dev/mosek.lic"
      ROS_WORKSPACE_SRC: "/home/@{project}/@{project}/workspace/src/"
    volumes:
      - "@{project_root}:/home/@{container_username}/@{project}"
      - "./misc:/home/@{project}/Documents"
      - "/tmp/.X11-unix:/tmp/.X11-unix"
    tty: true
    working_dir: "/home/@{container_username}/@{project}/workspace"
  matlab:
    image: "wiscauto/@{project}:matlab"
    hostname: "sandbox-matlab"
    container_name: "sandbox-matlab"
    entrypoint: "/bin/run.sh"
    build:
      context: ./containers/matlab/
      dockerfile: ./matlab.dockerfile
      network: "host"
      args:
        USER_UID: "@{uid}"
        USER_GID: "@{gid}"
        MPM_PRODUCTS: "Automated_Driving_Toolbox Simulink Vehicle_Dynamics_Blockset ROS_Toolbox Sensor_Fusion_and_Tracking_Toolbox Image_Processing_Toolbox Computer_Vision_Toolbox Control_System_Toolbox System_Identification_Toolbox MATLAB_Coder Simulink_Coder Embedded_Coder"
        APT_DEPENDENCIES: "cmake ccache zlib1g-dev build-essential xfce4-power-manager"
        CONDA_CHANNELS: "anaconda"
        CONDA_DEPENDENCIES: "python=3.9 pip numpy"
        PIP_DEPENDENCIES: ""
        MATLAB_RELEASE: r2022a
        MATLAB_RELEASE_DIR: R2022a
        USERHOME: "/home/matlab"
        VNC_PASSWORD: "matlab"
    ports:
      - "6080:6080"
    volumes:
      - ./containers/matlab/home:/home/matlab
      - ./sim/WAMatlab:/home/matlab/Documents/MATLAB/waMatlab
      - ./workspace/src/common/interfaces/wauto_control_msgs:/home/matlab/Documents/MATLAB/waMatlab/custom_ros2_msgs/wauto_control_msgs
    environment:
      HOME: /home/matlab
      MLM_LICENSE_FILE: /home/matlab/network.lic
    shm_size: '512M'
    command: "-vnc"