# Using `podman compose` with ROS2

- [Compose file reference](https://docs.docker.com/reference/compose-file/)
    - [Version and name top-level elements](https://docs.docker.com/reference/compose-file/version-and-name/)
    - [**Services top-level elements**](https://docs.docker.com/reference/compose-file/services/)

## Prerequisites

````{tabs}
```{code-tab} bash {{ arch_based }}
sudo pacman -S podman podman-compose
```

```{code-tab} bash  {{ debian_based }}
TODO
```
````

### NVIDIA

#### Install NVIDIA Container Toolkit

- [Installing the NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)

````{tabs}
```{code-tab} bash {{ arch_based }}
sudo pacman -S nvidia-container-toolkit
```

```{code-tab} bash  {{ debian_based }}
TODO
```
````

#### Configure Container Device Interface (CDI)

````{tabs}
```{tab} podman
- [Support for Container Device Interface](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/cdi-support.html)
```

```{tab} docker
TODO
```
````

````{tabs}
```{code-tab} bash podman
# Generate config:
sudo nvidia-ctk cdi generate --output=/etc/cdi/nvidia.yaml

# (optional) Test config:
nvidia-ctk cdi list
```

```{code-tab} bash docker
TODO
```
````

## ROS2 Docker images

- [GitHub: osrf/docker_images](https://github.com/osrf/docker_images)

## Compose file library

How to use any of the following `compose.yaml` files:

1. Download the desired `compose.yaml` file.
2. Make new directory, preferably with descriptive name (e.g. `ros2_jazzy_desktop`) and move downloaded file to newly created directory.
3. `cd` to direcory created in step 2 and run desired command (found under usage).

## ROS2

### Jazzy

#### Base

[`compose.yaml`](./compose_files/ros2_base/compose.yaml)

```{literalinclude} ./compose_files/ros2_base/compose.yaml
---
lines: -15
---
```

**Usage**

```bash
podman compose run --rm jazzy_base bash
```

#### Desktop

[`compose.yaml`](./compose_files/ros2_desktop/compose.yaml)

```{literalinclude} ./compose_files/ros2_desktop/compose.yaml
```

**Usage**

```bash
podman compose run --rm jazzy_desktop bash
```