131 lines
3.8 KiB
Bash
Executable File
131 lines
3.8 KiB
Bash
Executable File
#!/usr/bin/env bash
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TAG="cacdar/drawing-robot-ros2"
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## Forward custom volumes and environment variables
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CUSTOM_VOLUMES=()
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CUSTOM_ENVS=()
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while getopts ":v:e:" opt; do
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case "${opt}" in
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v) CUSTOM_VOLUMES+=("${OPTARG}") ;;
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e) CUSTOM_ENVS+=("${OPTARG}") ;;
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*)
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echo >&2 "Usage: ${0} [-v VOLUME] [-e ENV] [TAG] [CMD]"
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exit 2
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;;
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esac
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done
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shift "$((OPTIND - 1))"
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## Determine TAG and CMD positional arguments
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if [ "${#}" -gt "0" ]; then
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if [[ $(docker images --format "{{.Tag}}" "${TAG}") =~ (^|[[:space:]])${1}($|[[:space:]]) || $(wget -q https://registry.hub.docker.com/v2/repositories/${TAG}/tags -O - | grep -Poe '(?<=(\"name\":\")).*?(?=\")') =~ (^|[[:space:]])${1}($|[[:space:]]) ]]; then
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# Use the first argument as a tag is such tag exists either locally or on the remote registry
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TAG="${TAG}:${1}"
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CMD=${*:2}
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else
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CMD=${*:1}
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fi
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fi
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## GPU
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LS_HW_DISPLAY=$(lshw -short -C display 2> /dev/null | grep display)
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if [[ ${LS_HW_DISPLAY^^} =~ NVIDIA ]]; then
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# Enable GPU either via NVIDIA Container Toolkit or NVIDIA Docker (depending on Docker version)
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if dpkg --compare-versions "$(docker version --format '{{.Server.Version}}')" gt "19.3"; then
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GPU_OPT="--gpus all"
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else
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GPU_OPT="--runtime nvidia"
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fi
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GPU_ENVS=(
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NVIDIA_VISIBLE_DEVICES="all"
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NVIDIA_DRIVER_CAPABILITIES="compute,utility,graphics"
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)
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fi
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## GUI
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# To enable GUI, make sure processes in the container can connect to the x server
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XAUTH=/tmp/.docker.xauth
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if [ ! -f ${XAUTH} ]; then
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touch ${XAUTH}
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chmod a+r ${XAUTH}
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XAUTH_LIST=$(xauth nlist "${DISPLAY}")
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if [ -n "${XAUTH_LIST}" ]; then
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# shellcheck disable=SC2001
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XAUTH_LIST=$(sed -e 's/^..../ffff/' <<<"${XAUTH_LIST}")
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echo "${XAUTH_LIST}" | xauth -f ${XAUTH} nmerge -
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fi
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fi
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# GUI-enabling volumes
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GUI_VOLUMES=(
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"${XAUTH}:${XAUTH}"
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"/tmp/.X11-unix:/tmp/.X11-unix"
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"/dev/input:/dev/input"
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)
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# GUI-enabling environment variables
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GUI_ENVS=(
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XAUTHORITY="${XAUTH}"
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QT_X11_NO_MITSHM=1
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DISPLAY="${DISPLAY}"
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)
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## Additional volumes
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# Synchronize timezone with host
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CUSTOM_VOLUMES+=("/etc/localtime:/etc/localtime:ro")
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# Pass USB devices to container
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#USB_VOLUME+=("/dev/bus/usb:/dev/bus/usb")
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DEVICE_VOLUME+=("/dev:/dev:rw")
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#USB_SERIAL+=("/dev/ttyACM0:/dev/ttyACM0")
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## Additional environment variables
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# Synchronize ROS_DOMAIN_ID with host
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if [ -n "${ROS_DOMAIN_ID}" ]; then
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CUSTOM_ENVS+=("ROS_DOMAIN_ID=${ROS_DOMAIN_ID}")
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fi
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# Synchronize IGN_PARTITION with host
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if [ -n "${IGN_PARTITION}" ]; then
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CUSTOM_ENVS+=("IGN_PARTITION=${IGN_PARTITION}")
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fi
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# Synchronize RMW configuration with host
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if [ -n "${RMW_IMPLEMENTATION}" ]; then
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CUSTOM_ENVS+=("RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION}")
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fi
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if [ -n "${CYCLONEDDS_URI}" ]; then
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CUSTOM_ENVS+=("CYCLONEDDS_URI=${CYCLONEDDS_URI}")
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CUSTOM_VOLUMES+=("${CYCLONEDDS_URI//file:\/\//}:${CYCLONEDDS_URI//file:\/\//}:ro")
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fi
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if [ -n "${FASTRTPS_DEFAULT_PROFILES_FILE}" ]; then
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CUSTOM_ENVS+=("FASTRTPS_DEFAULT_PROFILES_FILE=${FASTRTPS_DEFAULT_PROFILES_FILE}")
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CUSTOM_VOLUMES+=("${FASTRTPS_DEFAULT_PROFILES_FILE}:${FASTRTPS_DEFAULT_PROFILES_FILE}:ro")
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fi
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DOCKER_RUN_CMD=(
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docker run
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--interactive
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--tty
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--rm
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--network host
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--ipc host
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--privileged
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--security-opt "seccomp=unconfined"
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"${GUI_VOLUMES[@]/#/"--volume "}"
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"${GUI_ENVS[@]/#/"--env "}"
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"${GPU_OPT}"
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"${GPU_ENVS[@]/#/"--env "}"
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"${CUSTOM_VOLUMES[@]/#/"--volume "}"
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"${DEVICE_VOLUME[@]/#/"--volume "}"
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#"${USB_VOLUME[@]/#/"--volume "}"
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#"${USB_SERIAL[@]/#/"--volume "}"
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"${CUSTOM_ENVS[@]/#/"--env "}"
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"${TAG}"
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"${CMD}"
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)
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echo -e "\033[1;30m${DOCKER_RUN_CMD[*]}\033[0m" | xargs
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# shellcheck disable=SC2048
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exec ${DOCKER_RUN_CMD[*]}
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