docker-compose.yml

services:
  # CPU-only deployment
  depth-anything-3-cpu:
    build:
      context: .
      dockerfile: Dockerfile
      args:
        BUILD_TYPE: base
    image: depth_anything_3_ros2:cpu
    container_name: da3_ros2_cpu
    stdin_open: true
    tty: true
    network_mode: host
    environment:
      - ROS_DOMAIN_ID=0
      - DISPLAY=${DISPLAY}
      # Model configuration (override detected defaults)
      - DA3_MODEL=${DA3_MODEL:-}
      - DA3_INFERENCE_HEIGHT=${DA3_INFERENCE_HEIGHT:-}
      - DA3_INFERENCE_WIDTH=${DA3_INFERENCE_WIDTH:-}
      - DA3_VRAM_LIMIT_MB=${DA3_VRAM_LIMIT_MB:-}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./models:/root/.cache/huggingface:rw
      - ./examples:/examples:ro
      - ./config:/app/config:ro
    command: bash -c "source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && exec bash"

  # GPU-enabled deployment (requires nvidia-docker)
  depth-anything-3-gpu:
    build:
      context: .
      dockerfile: Dockerfile
      args:
        BUILD_TYPE: cuda-base
        CUDA_VERSION: 12.2.0
    image: depth_anything_3_ros2:gpu
    container_name: da3_ros2_gpu
    stdin_open: true
    tty: true
    network_mode: host
    runtime: nvidia
    environment:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - ROS_DOMAIN_ID=0
      - DISPLAY=${DISPLAY}
      # Model configuration (override detected defaults)
      - DA3_MODEL=${DA3_MODEL:-}
      - DA3_INFERENCE_HEIGHT=${DA3_INFERENCE_HEIGHT:-}
      - DA3_INFERENCE_WIDTH=${DA3_INFERENCE_WIDTH:-}
      - DA3_VRAM_LIMIT_MB=${DA3_VRAM_LIMIT_MB:-}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./models:/root/.cache/huggingface:rw
      - ./examples:/examples:ro
      - ./config:/app/config:ro
      - /dev:/dev:rw  # For camera access
    privileged: true  # Required for camera access
    command: bash -c "source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && exec bash"

  # Jetson ARM64 deployment (for NVIDIA Jetson devices)
  # Requires JetPack 6.2+ (L4T R36.4.x) with TensorRT 10.3 on host
  # Run: bash scripts/deploy_jetson.sh
  depth-anything-3-jetson:
    build:
      context: .
      dockerfile: Dockerfile
      args:
        BUILD_TYPE: jetson-base
        L4T_VERSION: r36.4.0  # Base image - matches host L4T R36.4.x
    image: depth_anything_3_ros2:jetson
    container_name: da3_ros2_jetson
    stdin_open: true
    tty: true
    network_mode: host
    runtime: nvidia
    environment:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - ROS_DOMAIN_ID=0
      - DISPLAY=${DISPLAY}
      # Model configuration (override detected defaults)
      - DA3_MODEL=${DA3_MODEL:-}
      - DA3_INFERENCE_HEIGHT=${DA3_INFERENCE_HEIGHT:-}
      - DA3_INFERENCE_WIDTH=${DA3_INFERENCE_WIDTH:-}
      - DA3_VRAM_LIMIT_MB=${DA3_VRAM_LIMIT_MB:-}
      # TensorRT configuration
      - DA3_ENGINE_PATH=${DA3_ENGINE_PATH:-/app/models/tensorrt/da3-small-fp16.engine}
      - DA3_TENSORRT_AUTO=${DA3_TENSORRT_AUTO:-false}
      # Host-container split mode (runs TRT on host, ROS2 in container)
      - DA3_HOST_TRT=${DA3_HOST_TRT:-false}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./models:/root/.cache/huggingface:rw
      - ./models/tensorrt:/app/models/tensorrt:rw
      - ./models/onnx:/app/models/onnx:ro
      - ./examples:/examples:ro
      - ./config:/app/config:ro
      - /dev:/dev:rw
      # Shared memory for host-container TRT communication
      - /tmp/da3_shared:/tmp/da3_shared:rw
      # Fast shared memory IPC via /dev/shm (RAM-backed)
      - /dev/shm/da3:/dev/shm/da3:rw
      # Mount host TensorRT 10.3 (JetPack 6.2+) for DA3 compatibility
      - /usr/src/tensorrt:/usr/src/tensorrt:ro
      - /usr/lib/aarch64-linux-gnu/libnvinfer.so.10.3.0:/usr/lib/aarch64-linux-gnu/libnvinfer.so.10:ro
      - /usr/lib/aarch64-linux-gnu/libnvinfer_plugin.so.10.3.0:/usr/lib/aarch64-linux-gnu/libnvinfer_plugin.so.10:ro
      - /usr/lib/aarch64-linux-gnu/libnvonnxparser.so.10.3.0:/usr/lib/aarch64-linux-gnu/libnvonnxparser.so.10:ro
    privileged: true
    command: bash -c "source /opt/ros/humble/install/setup.bash 2>/dev/null || source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && exec bash"

  # Development environment with mounted source
  depth-anything-3-dev:
    build:
      context: .
      dockerfile: Dockerfile
      args:
        BUILD_TYPE: cuda-base
    image: depth_anything_3_ros2:dev
    container_name: da3_ros2_dev
    stdin_open: true
    tty: true
    network_mode: host
    runtime: nvidia
    environment:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - ROS_DOMAIN_ID=0
      - DISPLAY=${DISPLAY}
      # Model configuration (override detected defaults)
      - DA3_MODEL=${DA3_MODEL:-}
      - DA3_INFERENCE_HEIGHT=${DA3_INFERENCE_HEIGHT:-}
      - DA3_INFERENCE_WIDTH=${DA3_INFERENCE_WIDTH:-}
      - DA3_VRAM_LIMIT_MB=${DA3_VRAM_LIMIT_MB:-}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./models:/root/.cache/huggingface:rw
      - ./examples:/examples:ro
      - .:/ros2_ws/src/depth_anything_3_ros2:rw  # Mount source for development
      - /dev:/dev:rw
    privileged: true
    working_dir: /ros2_ws
    command: bash -c "source /opt/ros/humble/setup.bash && colcon build --packages-select depth_anything_3_ros2 && bash"

  # Standalone node with USB camera
  depth-anything-3-usb-camera:
    build:
      context: .
      dockerfile: Dockerfile
      args:
        BUILD_TYPE: cuda-base
    image: depth_anything_3_ros2:gpu
    container_name: da3_usb_camera
    network_mode: host
    runtime: nvidia
    environment:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - ROS_DOMAIN_ID=0
      # Model configuration (override detected defaults)
      - DA3_MODEL=${DA3_MODEL:-}
      - DA3_INFERENCE_HEIGHT=${DA3_INFERENCE_HEIGHT:-}
      - DA3_INFERENCE_WIDTH=${DA3_INFERENCE_WIDTH:-}
      - DA3_VRAM_LIMIT_MB=${DA3_VRAM_LIMIT_MB:-}
    volumes:
      - ./models:/root/.cache/huggingface:rw
      - ./config:/app/config:ro
      - /dev:/dev:rw
    privileged: true
    command: >
      bash -c "
      source /opt/ros/humble/setup.bash &&
      source /ros2_ws/install/setup.bash &&
      ros2 launch depth_anything_3_ros2 usb_camera_example.launch.py
      "