docker-compose.yml

services:
  flo_robot:
    build:
      context: .
      dockerfile: Dockerfile
      args:
        UID: ${UID}
        GID: ${GID}
    image: flo_system_v2_game_demo:latest
    container_name: flo_game
    privileged: true              # required for hardware device passthrough & audio
    user: "${UID}:${GID}"
    environment:
      - DISPLAY=${DISPLAY}
      - XDG_RUNTIME_DIR=/tmp/pulse   # new path *inside* the container
      - PULSE_SERVER=unix:/tmp/pulse/native
      - QT_X11_NO_MITSHM=1
      - LIBGL_ALWAYS_INDIRECT=0
      - UDEV=1                    # still useful for hot-plugged devices
      - AWS_SHARED_CREDENTIALS_FILE=/home/hostuser/.aws/credentials
      - AWS_CONFIG_FILE=/home/hostuser/.aws/config
      - FLO_CAMERA_DEVICE=/dev/flo_camera
      - FLO_CAMERA_SOURCE=${FLO_CAMERA_SOURCE:-/dev/flo_camera}
      - FLO_MOTORS_DEVICE=/dev/flo_motors
      - FLO_MOTORS_SOURCE=${FLO_MOTORS_SOURCE:-/dev/flo_motors}
      - FLO_FACE_DEVICE=/dev/flo_face
      - FLO_FACE_SOURCE=${FLO_FACE_SOURCE:-/dev/flo_face}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:ro
      # PulseWire socket + cookie (read-only is fine)
      - ${PULSE_DIR}:/tmp/pulse:ro
      - ${PULSE_DIR}/native:/tmp/pulse/native:ro
      - ${XAUTHORITY}:/home/hostuser/.Xauthority:ro
      - ./certs/aws-credentials:/home/hostuser/.aws/credentials:ro
      - ./certs/aws-config:/home/hostuser/.aws/config:ro
      # - /dev/snd:/dev/snd                 # pass audio
    devices:
      - ${FLO_CAMERA_SOURCE:-/dev/flo_camera}:/dev/flo_camera
      - ${FLO_MOTORS_SOURCE:-/dev/flo_motors}:/dev/flo_motors
      - ${FLO_FACE_SOURCE:-/dev/flo_face}:/dev/flo_face
      - /dev/snd:/dev/snd                 # ALSA devices
    working_dir: /catkin_ws
    # ipc: host
    group_add:
      - audio
      - dialout
      - video
    tty: true
    stdin_open: true
    entrypoint:
      - bash
      - -c
      - "/usr/local/bin/ros_docker_auto_startup_launcher.sh && exec tail -f /dev/null"