Add the option of using docker-compose instead of rocker

Dockerfile

@@ -3,7 +3,7 @@ ENV LANG=C
 ENV LC_ALL=C
 ARG DEBIAN_FRONTEND=noninteractive
 RUN apt-get update \
-    && apt-get install -y dirmngr git python3 python3-docopt python3-yaml python3-distro \
+    && apt-get install -y dirmngr git python3 python3-docopt python3-yaml python3-distro sudo mesa-utils \
     && apt-get clean \
     && rm -rf /var/lib/apt/lists/*
 RUN git clone https://github.com/gazebo-tooling/gzdev \
@@ -14,6 +14,31 @@ RUN apt-get install -y gz-ionic \
     && apt-get clean \
     && rm -rf /var/lib/apt/lists/*
 
+FROM ionic-prerelease AS ionic-prerelease-nvidia
+RUN dpkg --add-architecture i386 && \
+    apt-get update && apt-get install -y --no-install-recommends \
+        libxau6 libxau6:i386 \
+        libxdmcp6 libxdmcp6:i386 \
+        libxcb1 libxcb1:i386 \
+        libxext6 libxext6:i386 \
+        libx11-6 libx11-6:i386 \
+        libglvnd0 libglvnd0:i386 \
+        libgl1 libgl1:i386 \
+        libglx0 libglx0:i386 \
+        libegl1 libegl1:i386 \
+        libgles2 libgles2:i386 && \
+    rm -rf /var/lib/apt/lists/*
+COPY 10_nvidia.json /usr/share/glvnd/egl_vendor.d/10_nvidia.json
+# nvidia-container-runtime
+ENV NVIDIA_VISIBLE_DEVICES \
+        ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES \
+        ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics,compat32,utility
+RUN echo "/usr/local/nvidia/lib" >> /etc/ld.so.conf.d/nvidia.conf && \
+    echo "/usr/local/nvidia/lib64" >> /etc/ld.so.conf.d/nvidia.conf
+# Required for non-glvnd setups.
+ENV LD_LIBRARY_PATH /usr/lib/x86_64-linux-gnu:/usr/lib/i386-linux-gnu${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}:/usr/local/nvidia/lib:/usr/local/nvidia/lib64
+
 FROM ionic-prerelease AS ionic-nightly
 RUN cd gzdev \
     && python3 gzdev.py repository enable osrf nightly

README.md

@@ -4,7 +4,13 @@ Gazebo Ionic is supported for Linux only on Ubuntu Noble (24.04). For the
 testers that don't run this platform it is possible to use a virtual
 environment with GPU support to run this.
 
-## Docker ionic-prerelease image
+A couple of options to run the docker container:
+  * A: use docker and rocker
+  * B: use docker compose
+
+## Option A: using docker + rocker
+
+### Docker ionic-prerelease image
 
 The repository contains a `Dockerfile` ready to setup an Ubuntu Noble with
 the necessary packages from the prerelease repository to run Gazebo Ionic.
@@ -14,13 +20,13 @@ Build it with:
 docker build --target=ionic-prerelease -t ionic-prerelease - < Dockerfile
 ```
 
-## Running the images with GPU support
+### Running the images with GPU support
 
 To run the ionic-prerelease image created the recommended tool is `rocker`:
 https://github.com/osrf/rocker .
 
 
-### Installing rocker
+#### Installing rocker
 
 The `master` branch is needed to support Ubuntu Noble systems:
 ```
@@ -32,27 +38,72 @@ The `master` branch is needed to support Ubuntu Noble systems:
 Be sure of using the same shell to launch rocker from it or run the activate
 command in the desired shell.
 
-### Launching the ionic image: Nvidia users
+#### Launching the ionic image: Nvidia users
 
 ```
 rocker --user --x11 --nvidia -- ionic-prerelease
 # User should be now inside the Noble system with Ionic installed
 # to launch the simulator: gz sim --verbose
 ```
 
-### Launching the ionic image: Intel users
+#### Launching the ionic image: Intel users
 
 ```
 rocker --user --x11 --devices /dev/dri --group-add video  -- ionic-prerelease
 # User should be now inside the Noble system with Ionic installed
 # to launch the simulator: gz sim --verbose
 ```
 
-## Using the nightly packages
+### Using the nightly packages
 
 During the testing period some hot fixes land everyday in the Gazebo
 repositories. Nightly packages are released every night into the nightly
 repository using the latest commits in the Gazebo Ionic repositories.
 
 To use the nightly image just repeat the steps before changing ionic-prerelease
 by ionic-nightly in docker build and rocker.
+
+## Option B: using docker compose
+
+### Docker ionic-prerelease image
+
+The repository contains a `Dockerfile` ready to setup an Ubuntu Noble with
+the necessary packages from the prerelease repository to run Gazebo Ionic.
+
+Build it with:
+```
+# For intel users
+docker compose build ionic-build
+
+# For nvidia users
+docker compose build ionic-build-nvidia
+```
+### Running the images with GPU support
+
+#### Launching the ionic image: Nvidia users
+
+The [nvidia-container-toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)
+installation is required to use the docker compose successfully.
+
+```
+docker compose run ionic-nvidia-run
+# User should be now inside the Noble system with Ionic installed
+# to launch the simulator: gz sim --verbose
+```
+
+#### Launching the ionic image: Intel users
+
+```
+docker compose run ionic-intel-run
+# User should be now inside the Noble system with Ionic installed
+# to launch the simulator: gz sim --verbose
+```
+
+### Using the nightly packages
+
+During the testing period some hot fixes land everyday in the Gazebo
+repositories. Nightly packages are released every night into the nightly
+repository using the latest commits in the Gazebo Ionic repositories.
+
+To use the nightly image just repeat the docker compose steps adding
+`BUILD_TYPE=nightly` before the docker compose executions.

docker-compose.yml

@@ -0,0 +1,53 @@
+services:
+  ionic-build:
+    image: ionic/${BUILD_TYPE:-prerelease}
+    build:
+      context: .
+      dockerfile: Dockerfile
+      target: ionic-${BUILD_TYPE:-prerelease}
+  ionic-build-nvidia:
+    image: ionic/${BUILD_TYPE:-prerelease}-nvidia
+    build:
+      context: .
+      dockerfile: Dockerfile
+      target: ionic-${BUILD_TYPE:-prerelease}-nvidia
+
+  ionic-intel-run:
+    image: ionic/${BUILD_TYPE:-prerelease}
+    stdin_open: true 
+    tty: true
+    user: ubuntu
+    group_add:
+      - video
+    devices:
+      - /dev/dri
+    environment:
+      - DISPLAY=unix${DISPLAY}
+      - TERM=xterm-256color
+    volumes:
+        - /sys:/sys:ro
+        - /tmp/.X11-unix:/tmp/.X11-unix:rw
+        - /dev/log:/dev/log:ro
+        - /run/log:/run/log:ro
+  ionic-nvidia-run:
+    image: ionic/${BUILD_TYPE:-prerelease}-nvidia
+    stdin_open: true 
+    tty: true
+    user: ubuntu
+    group_add:
+      - video
+    environment:
+      - DISPLAY=unix${DISPLAY}
+      - TERM=xterm-256color
+    volumes:
+        - /sys:/sys:ro
+        - /tmp/.X11-unix:/tmp/.X11-unix:rw
+        - /dev/log:/dev/log:ro
+        - /run/log:/run/log:ro
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [gpu]