From 60349997022a22d25794bffb89d1c9dfbc8515c1 Mon Sep 17 00:00:00 2001
From: Alex <alex.thiel@aotu.ai>
Date: Fri, 23 Apr 2021 18:09:49 -0700
Subject: [PATCH] Add support for computers without NVIDIA hardware

---
 Dockerfile         |  5 ++---
 README.md          |  6 +++---
 docker-compose.yml | 38 +++++++++++++++++++++++++-------------
 3 files changed, 30 insertions(+), 19 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index 89d5aa0..008f54c 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,7 +1,6 @@
+ARG BASE_IMAGE
 
-ARG UBUNTU_VERSION
-
-FROM nvidia/opengl:1.1-glvnd-runtime-ubuntu${UBUNTU_VERSION}
+FROM ${BASE_IMAGE}
 
 # For this build, we pull the entire ros image, and then merge the filesystem
 # with the nvidia/opengl image, so that displaying to the screen on GPU
diff --git a/README.md b/README.md
index 2fa3cbe..82a20d4 100644
--- a/README.md
+++ b/README.md
@@ -29,11 +29,11 @@ is new enough.
 Once docker is installed, run the following command, and the project should show up:
 
 ```
-docker-compose build && xhost +local:root && docker-compose up
+docker-compose build ros && xhost +local:root && docker-compose up ros
 ```
 
 This command does three things:
-1) `docker-compose build`
+1) `docker-compose build ros`
    
    This builds the project in a container. That means nothing is installed on your host machine!
    The first time this runs, this command will take a long while. After running it once, caching 
@@ -43,7 +43,7 @@ This command does three things:
 
    This command gives X the ability to display GUI's from within the docker container
 
-3) `docker-compose up`
+3) `docker-compose up ros`
 
    This runs the image specified in the `docker-compose.yml`, which by default runs
    the command `roslaunch myCobotROS control_slider.launch` within the container.
diff --git a/docker-compose.yml b/docker-compose.yml
index 322d9d4..e11f3fb 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -1,19 +1,31 @@
-version: '3'
+version: '3.4'
+
+x-app: &common
+  command: [ "roslaunch myCobotROS control_slider.launch" ]
+  privileged: true
+  environment:
+    PYTHONUNBUFFERED: 1
+    QT_X11_NO_MITSHM: 1
+    DISPLAY: :1
+  volumes:
+    - "/tmp/.X11-unix:/tmp/.X11-unix:rw"
+  build:
+    context: .
+    args: &common-args
+      ROS_DISTRO: "kinetic"
+      PYMYCOBOT_VERSION: ">=2<3"
+      BASE_IMAGE: nvidia/opengl:1.1-glvnd-runtime-ubuntu18.04
+
 
 services:
+  # This configuration builds the project for computers with NVIDIA hardware
+  nvidia-ros: *common
+
+  # This is the default for computers that don't have nvidia hardware accelerators
   ros:
-    image: elephantrobotics/my-cobot-ros
-    command: ["roslaunch myCobotROS control_slider.launch"]
-    privileged: true
-    environment:
-      PYTHONUNBUFFERED: 1
-      QT_X11_NO_MITSHM: 1
-      DISPLAY: :1
-    volumes:
-      - "/tmp/.X11-unix:/tmp/.X11-unix:rw"
+    <<: *common
     build:
       context: .
       args:
-        UBUNTU_VERSION: "16.04"
-        ROS_DISTRO: "kinetic"
-        PYMYCOBOT_VERSION: ">=2<3"
+        <<: *common-args
+        BASE_IMAGE: ubuntu:18.04