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POSIM Docker development images

Build images from the repository root so that Docker uses the exact checkout. These are local development tags; they do not imply a published POSIM release.

AMD64

docker build --platform linux/amd64 \
  -f .docker/lyrical.amd64.dockerfile -t posim:dev-amd64 .
docker run --rm -it posim:dev-amd64 bash

The workspace remains at /opt/dave_ws. In an interactive Bash shell its setup is loaded through .bashrc. For a non-interactive command, source /opt/ros/lyrical/setup.bash and /opt/dave_ws/install/setup.bash explicitly. GUI forwarding and GPU passthrough must be configured for the host before using graphical or GPU-dependent scenarios.

ARM64 / Apple Silicon

docker build --platform linux/arm64 \
  -f .docker/lyrical.arm64v8.dockerfile -t posim:dev-arm64-rdp .
docker run --rm -it --name posim-arm64 \
  -p 127.0.0.1:13389:3389 --shm-size=2g posim:dev-arm64-rdp

Connect an RDP client to localhost:13389. The inherited development image uses the username and password docker; the command above exposes RDP only on the local machine. The workspace remains at /home/docker/dave_ws.

For a shell without the RDP services:

docker run --rm -it --user docker --entrypoint bash posim:dev-arm64-rdp

Docker Desktop on Apple Silicon runs this Linux ARM64 image. It does not make the Mac's Metal backend available to the CUDA sonar implementation. The initial POSIM source does not include the WGPU work from DAVE PR #44.

Publication

ioeslab/posim is the configured Docker Hub destination, pending maintainer setup and successful publication. The workflows use architecture-specific tags: main-amd64 and main-arm64-rdp for branch builds, and version tags such as 1.0.0-amd64 and 1.0.0-arm64-rdp after a future v1.0.0 tag.

Do not assume these tags exist until the corresponding publication has completed. This initial configuration does not create a combined multi-platform manifest. See maintainer setup.