docker-compose.yaml

services:
###########################frankalockunlock#############################
  frankalockunlock:
    build:
      context: .
      dockerfile: ./franka_lock_unlock/Dockerfile.frankalockunlock
    environment:
      FRANKA_PASSWORD: ${FRANKA_PASSWORD}
      FRANKA_IP: ${FRANKA_IP}
      FRANKA_USERNAME: ${FRANKA_USERNAME}
      ROBOT_UUID: ${ROBOT_UUID}
    stop_grace_period: 1m
    deploy:
      resources:
        limits:
          cpus: '2' # Limit to half a CPU
          memory: 100M  # Limit to 256 megabytes
        reservations:
          cpus: '1'  # Reserve a quarter of a CPU
          memory: 50M  # Reserve 128 megabytes
    container_name: frankalockunlock # Sets a custom name for the container
    stdin_open: true # Keeps the container's standard input open (similar to 'docker run -i')
    tty: true # Allocates a pseudo-TTY (like 'docker run -t'), useful for interactive shells
    network_mode: host
    # network_mode: pandavlan # Uses the host's network stack, not creating a separate network namespace
    privileged: true
    #command: /bin/bash # Overrides the default command to start an interactive bash shell

###########################ros#########################################
  ros:
    build:
      context: .  # Sets the build context to the catkin_ws directory
      dockerfile: ./catkin_ws/src/panda_autodynamics/Dockerfile.ros # Specifies the Dockerfile to use for building the image
    stop_grace_period: 30s
    deploy:
      resources:
        limits:
          cpus: '12' # Limit to half a CPU
          memory: 8G  # Limit to 256 megabytes
        reservations:
          cpus: '8'  # Reserve a quarter of a CPU
          memory: 6G  # Reserve 128 megabytes
    container_name: ros # Sets a custom name for the container
    stdin_open: true # Keeps the container's standard input open (similar to 'docker run -i')
    tty: true # Allocates a pseudo-TTY (like 'docker run -t'), useful for interactive shells
    #command: /bin/bash # Overrides the default command to start an interactive bash shell
    cap_add:
      - SYS_NICE # Grants the container the CAP_SYS_NICE capability for priority management
    ulimits:
      rtprio: 99 # Sets the realtime priority limit
      rttime: -1 # Sets the realtime CPU time limit to unlimited
      memlock: 8428281856 # Sets the maximum locked-in-memory address space (in bytes)
    network_mode: host
    # network_mode: pandavlan # Uses the host's network stack, not creating a separate network namespace
    privileged: true # Grants the container extended privileges, similar to running as root on the host
    volumes:
      - "/tmp/.X11-unix:/tmp/.X11-unix"
    environment:
      DISPLAY: unix${DISPLAY}
      FRANKA_IP: ${FRANKA_IP}
      ROBOT_UUID: ${ROBOT_UUID}
      MOVEMENT: ${MOVEMENT}
      TEST: ${TEST}
      FRANKA_GRIPPER: ${FRANKA_GRIPPER}
      DATASET_TYPE: ${DATASET_TYPE}
      DATATYPE: ${DATATYPE}

##########################coscine######################################
  coscine:
      build: