From bb3e3f6c7a4c2a17a8e24cea8bb534f580b9c4c7 Mon Sep 17 00:00:00 2001
From: Andres Montano <andres.montano@tecnalia.com>
Date: Mon, 20 Nov 2023 11:44:08 +0100
Subject: [PATCH] Update docker.sh now supports parametes in dockrun fucntion
---
.../ws_dependencies/melodic_requirements.txt | 2 +
dotfiles/docker.sh | 206 ++++++++++--------
2 files changed, 121 insertions(+), 87 deletions(-)
diff --git a/dockerfiles/ws_dependencies/melodic_requirements.txt b/dockerfiles/ws_dependencies/melodic_requirements.txt
index fb7dc07..26b2652 100644
--- a/dockerfiles/ws_dependencies/melodic_requirements.txt
+++ b/dockerfiles/ws_dependencies/melodic_requirements.txt
@@ -1,3 +1,4 @@
+# APT-GET PACKAGES
# Base
ipython
python-catkin-tools
@@ -10,4 +11,5 @@ ros-melodic-plotjuggler-ros
ros-melodic-rosmon
ros-melodic-rqt-controller-manager
ros-melodic-rqt-joint-trajectory-controller
+# PIP PACKAGES
# EOF
diff --git a/dotfiles/docker.sh b/dotfiles/docker.sh
index 8fe8e46..35b024e 100644
--- a/dotfiles/docker.sh
+++ b/dotfiles/docker.sh
@@ -1,5 +1,12 @@
+# Define color codes
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m' # No Color
+
# docker common commands
-export dockerfiles_DIR=~/srcs/development_environment/dockerfiles;
+export dockerfiles_path=~/srcs/development_environment/dockerfiles;
alias dim="docker images"
alias dpsa="docker ps -a"
@@ -21,104 +28,161 @@ fi
# Build docker image
# usage: dockbuild {noetic, melodic}
function dockbuild(){
+ current_dir=$(pwd)
+
if [ $# -lt 1 ]; then
- echo "Usage: dockbuild <ROS_DISTRO> [build_args]"
+ echo "${BLUE}Usage: dockbuild <ROS_DISTRO> [build_args]"
echo "ROS_DISTRO:"
echo " melodic, noetic, humble, etc."
echo "build_args:"
- echo " EXT_SHELL - zsh (default) or bash"
+ echo " EXT_SHELL - zsh (default) or bash${NC}"
return 1
fi
- cd $dockerfiles_DIR;
+ cd $dockerfiles_path;
- if [ $# -lt 2 ]; then
- echo "Building ROS_DISTRO:"$1 "with SHELL_VERSION: zsh"
- docker build -t devenv:$1 --build-arg ROS_DISTRO=$1 --build-arg EXT_SHELL="zsh" --build-arg SHELL="/usr/bin/zsh" -f devenv.Dockerfile .
- else
- if [ $2 = "bash" ]; then
- echo "Building ROS_DISTRO:"$1 "with SHELL_VERSION:"$2
- docker build -t devenv:$1 --build-arg ROS_DISTRO=$1 --build-arg EXT_SHELL="bash" --build-arg SHELL="/bin/bash" -f devenv.Dockerfile .
+ ros_distro=$1
+ shell=${ext}
+ shell_path="/usr/bin/zsh"
+
+ if [[ $# -gt 1 ]]; then
+ key=$2
+ shell=$3
+ if [[ $shell = "zsh" ]]; then
+ shell_path="/usr/bin/zsh"
+ elif [[ $shell = "bash" ]]; then
+ shell_path="/bin/bash"
else
- echo "SHELL_VERSION:"$2 "not supported"
+ echo "SHELL_VERSION: ${shell} not supported"
+ cd $current_dir
+ return 1
fi
fi
+
+ echo "${GREEN}Building ROS_DISTRO: ${ros_distro} with SHELL_VERSION: ${shell}${NC}"
+ docker build -t devenv:${ros_distro} --build-arg ROS_DISTRO=${ros_distro} --build-arg EXT_SHELL=${shell} --build-arg SHELL=${shell_path} -f devenv.Dockerfile .
+ cd $current_dir
}
# Run container with rocker
-# usage: rundock {noetic, melodic} [{remodel_ws, odin_ws}] [cmd]
-# ToDo Add extra parameters by arg
# To share docker --volume /var/run/docker.sock:/var/run/docker.sock:ro
# To share video (usb-cam) --volume /dev/video0:/dev/video0
# To share pcan --volume /dev/pcanusb32:/dev/pcanusb32
-# To share 3Dmouse --volume /dev/pcanusb32:/dev/pcanusb32
+# To share dev folder --volume /dev:/dev
function dockrun() {
+ current_dir=$(pwd)
+
if [ $# -lt 1 ]; then
- echo "Usage: dockrun <ROS_DISTRO> [posicional options]"
+ echo "${BLUE}Usage: dockrun <ROS_DISTRO> [options]"
echo "ROS_DISTRO:"
echo " melodic, noetic, humble, etc."
echo "Options:"
- echo " Passing 1 option --> path_to_workspace. E.g., dockrun humble mairon_ws"
- echo " Passing 2 options --> path_to_workspace + extra_config. E.g., dockrun humble mairon_ws video"
- echo " extra_config: pcan, video, pcan_video"
+ echo " --ws: path to workspace. e.g. odin_ws"
+ echo " --share: resource to share with the container, e.g. video, pcan or dev"
+ echo " --shell: shell to use in the container. By default zsh"
+ echo " --parse: parse_args to use in the container, e.g. --oyr-spacenav. By default none"
echo "Examples:"
- echo "dockrun humble mairon_ws"
- echo "dockrun noetic neurondones_ws pcan_video"
- echo "dockrun melodic odinrobot_ws video"
+ echo "dockrun humble --ws mairon_ws"
+ echo "dockrun noetic --ws neurondones_ws --share pcan"
+ echo "dockrun melodic --ws odinrobot_ws --share video --shell bash${NC}"
return 1
fi
+ container_name="$1"
+ docker_shell=${ext}
+ workspace="${HOME}/ros/${container_name}"
+ resource_to_share=""
+ parse_args=""
+
+ while [[ $# -gt 1 ]]; do
+ key="$2"
+
+ case $key in
+ --ws)
+ workspace="${HOME}/ros/${container_name}/$3"
+ shift
+ shift
+ ;;
+ --shell)
+ docker_shell="$3"
+ shift
+ shift
+ ;;
+ --share)
+ resource=$3
+ if [[ $resource = "video" ]]; then
+ resource_to_share="--volume /dev/video0:/dev/video0"
+ elif [[ $resource = "pcan" ]]; then
+ resource_to_share="--volume /dev/pcanusb32:/dev/pcanusb32"
+ elif [[ $resource = "dev" ]]; then
+ resource_to_share="--volume /dev:/dev"
+ fi
+ shift
+ shift
+ ;;
+ --parse)
+ parse_args="$3"
+ shift
+ shift
+ ;;
+ *) # Unknown option
+ echo "Unknown option: $2"
+ return 1
+ ;;
+ esac
+ done
+
+ echo "${BLUE}Resource to share: ${resource_to_share}"
+ echo "Workspace: ${workspace}"
+ echo "Shell: ${docker_shell}"
+ echo "Container name: ${container_name}"
+ echo "Parse args: ${parse_args}${NC}"
+
# Check if the image exist
- if [[ "$(docker images -q devenv:$1 2> /dev/null)" == "" ]]; then
+ if [[ "$(docker images -q devenv:$container_name 2> /dev/null)" == "" ]]; then
# build the image
- dockbuild $1
+ echo "${GREEN}Docker image for ${container_name} does not exist. Building...${NC}"
+ echo "${YELLOW}dockbuild ${container_name} ${docker_shell}${NC}"
+ if dockbuild ${container_name} ${docker_shell}; then
+ echo "${GREEN}Docker image for ${container_name} successfully built.${NC}"
+ else
+ echo "${RED}Docker image for ${container_name} failed to build.${NC}"
+ return 1
+ fi
fi
+ cd $workspace
+
# Check if the container exist
- if [[ $(docker ps -aq -f name=$1) ]]; then
+ if [[ $(docker ps -aq -f name=$container_name) ]]; then
+ echo "Container ${container_name} already running. Attach console to container."
# Attach to container
- if [ $# -lt 2 ]; then
- docker exec -it $1 bash -c "cd ~/ros/$1 && $ext"
- else
- docker exec -it $1 bash -c "cd ~/ros/$1/$2 && $ext"
- fi
+ docker exec -it ${container_name} bash -c "cd ${workspace} && ${docker_shell}"
else
+ echo "${GREEN}Container ${container_name} not running. Launching...${NC}"
# Launch container
- cd ~/ros/$1/$2;
-
- if [ $# -lt 4 ]; then
- rocker --home --ssh --git --user --privileged --nvidia --x11 --network host --name $1 devenv:$1
- else
- if [ $3 = "dev" ]; then
- rocker --home --ssh --git --user --privileged --nvidia --x11 --volume /dev:/dev --network host --name $1 devenv:$1
- else
- fi
- if [ $3 = "pcan" ]; then
- rocker --home --ssh --git --user --privileged --nvidia --x11 --volume /dev/pcanusb32:/dev/pcanusb32 --network host --name $1 devenv:$1
- else
- fi
- if [ $3 = "video" ]; then
- rocker --home --ssh --git --user --privileged --nvidia --x11 --volume /dev/video0:/dev/video0 --network host --name $1 devenv:$1
- else
- fi
- fi
+ rocker_command="rocker --home --ssh --git --user --privileged --nvidia ${resource_to_share} ${parse_args} --x11 --network host --name ${container_name} devenv:${container_name} ${docker_shell}"
+ echo "${YELLOW}${rocker_command}${NC}"
+ $(echo "$rocker_command")
fi
+
+ cd $current_dir
}
function dockexec() {
if [ $# -lt 1 ]; then
- echo "Usage: dockexec <ROS_DISTRO> [workspace] [command]"
+ echo "${BLUE}Usage: dockexec <ROS_DISTRO> [workspace] [command]"
echo "ROS_DISTRO:"
echo " melodic, noetic, humble, etc."
echo "Example:"
- echo "dockexec noetic neurondones_ws roscore"
+ echo "dockexec noetic neurondones_ws roscore${NC}"
return 1
fi
# Check if the image exist
if [[ "$(docker images -q devenv:$1 2> /dev/null)" == "" ]]; then
# build the image
- echo "Docker image for ${1} does not exist"
+ echo "${RED}Docker image for ${1} does not exist${NC}"
return 1
fi
@@ -126,13 +190,14 @@ function dockexec() {
if [[ $(docker ps -aq -f name=$1) ]]; then
# Attach to container
if [ $# -lt 2 ]; then
- docker exec -it $1 bash -c "cd ~/ros/$1 && $ext"
+ docker exec -it $1 bash -c "cd ${HOME}/ros/$1 && $ext"
else
- docker exec -it $1 bash -c "cd ~/ros/$1/$2 && $ext"
+ docker exec -it $1 bash -c "cd ${HOME}/ros/$1/$2 && $ext"
fi
else
# Launch container
- echo "Container for ${1} does not exist"
+ echo "${RED}Container for ${1} does not exist${NC}"
+ return 1
fi
}
@@ -156,36 +221,3 @@ function dsr() {
# function runpythonsyntax(){
# rocker --home --name python_syntax tecnalia-docker-dev.artifact.tecnalia.com/docker:git
# }
-
-# function runremodel() {
-# rocker --x11 --nvidia --privileged --network=host --name remodel_docker --oyr-run-arg " -v iiwa_state_recorder:/home/remodel/iiwa_state_recorder -v /home/andres/test/remodel_shared:/home/remodel/remodel_shared" -- remodel_app:melodic bash -c "'roslaunch remodel_app remodel_app.launch use_sim:=true docker:=true skill_manager:=true collision_detector:=true ui:=true cad:=true joystick:=false'"
-# }
-
-# function docrun() {
-# rocker --nvidia --pulse --x11 --volume /dev/video0:/dev/video0 --privileged --oyr-run-arg " -v odin_robot_volume:/root/" --name odin_robot --network host odin_robot:melodic $1
-# }
-
-# function runodin() {
-# rocker --nvidia --pulse --x11 --privileged --volume /dev/video0:/dev/video0 --name odin_melodic --network host devenv:melodic $1
-# }
-
-#DOCKER
-alias dexec='f(){ docker exec -w /root/ --detach-keys="ctrl-@" -e DISPLAY=$DISPLAY -it $1 /bin/bash -c "terminator --no-dbus"; unset -f f; }; f'
-alias dexec_nt='f(){ docker exec --detach-keys="ctrl-@" -e DISPLAY=$DISPLAY -it $1 /bin/bash ; unset -f f; }; f'
-alias dstart='f(){ docker start $1; dexec $1; unset -f f; }; f'
-# Run using same X and .ssh folder
-alias drun='f(){ docker run -it -e DISPLAY=$DISPLAY --detach-keys="ctrl-@" -v /tmp/.X11-unix:/tmp/.X11-unix -v ~/.ssh:/root/.ssh:ro -v ~/docker_share/:/root/docker_share/ --net=host --name $2 $1; unset -f f; }; f'
-alias drun_nvidia='f(){ docker run -it --name $2 --privileged \
- --net=host \
- --env=NVIDIA_VISIBLE_DEVICES=all \
- --env=NVIDIA_DRIVER_CAPABILITIES=all \
- --env=DISPLAY \
- --env=QT_X11_NO_MITSHM=1 \
- -v /tmp/.X11-unix:/tmp/.X11-unix \
- --gpus all \
- --device /dev/snd \
- -e NVIDIA_VISIBLE_DEVICES=0 \
- --detach-keys="ctrl-@" \
- -v ~/.ssh:/root/.ssh:ro \
- -v ~/docker_share/:/root/docker_share/ \
- $1 /bin/bash; unset -f f; }; f'
--
GitLab