ariac2019_docker.sh

#!/bin/bash

DOCKER_IMG="sumanthnirmal/ros-melodic-gazebo9:ariac2019"
DOCKER_CONATINER_NAME="ariac2019_docker_container"
HOME_DIRECTORY="/home/$USER/ariac2019_home"

docker_start() {
  # if ariac2019_home directory presents
  if [ -d "$HOME_DIRECTORY" ]; then
    # Make sure processes in the container can connect to the x server
    # Necessary so gazebo can create a context for OpenGL rendering (even headless)
    XAUTH=/tmp/.docker.xauth
    if [ ! -f $XAUTH ]
    then
      xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/')
      if [ ! -z "$xauth_list" ]
      then
        echo "$xauth_list | xauth -f $XAUTH nmerge -"
      else
        touch $XAUTH
      fi
      chmod a+r $XAUTH
    fi

    # docker run
    CONTAINER_ID=$(docker run -it --detach \
        -v "/dev/dri:/dev/dri" \
        -v "/dev/shm:/dev/shm" \
        -v "/tmp/.X11-unix:/tmp/.X11-unix:rw" \
        -v /home/$USER/ariac2019_home:/home/developer/ \
        -v "/home/$USER/.ssh:/home/developer/.ssh" \
        -e DISPLAY=$DISPLAY  \
        -e QT_X11_NO_MITSHM=1 \
        -e XAUTHORITY=$XAUTH \
        -v "$XAUTH:$XAUTH" \
        -v "/etc/localtime:/etc/localtime:ro" \
        -u "$(id -u)" \
        --net=host \
        --privileged \
        --rm \
        --runtime=nvidia \
        --security-opt seccomp=unconfined \
        --name $DOCKER_CONATINER_NAME \
      $DOCKER_IMG)

    # X forwarding
    host=$(docker inspect --format='{{ .Config.Hostname }}' $DOCKER_CONATINER_NAME)
    xhost +local:$host

    # check if the docker is running
    if [ "$(docker inspect --format='{{.State.Running}}' $CONTAINER_ID)" = "true" ]; then
      echo "$DOCKER_IMG startup completed
      $DOCKER_IMG has been started, enter using: bash ariac2019_docker.sh enter"
    else
      echo "ERROR: Failed to start $DOCKER_IMG"
    fi
  else
    echo "ariac2019_home directory is not available
    create a directory 'ariac2019_home' in '/home/$USER'"
  fi
}

docker_enter() {
  # docker exec
  docker exec -ti -u "$(id -u)" $DOCKER_CONATINER_NAME bash -li
}

docker_stop() {
  docker stop -t 0 $DOCKER_CONATINER_NAME
}

if [ "$1" = "start" ]; then
  # if container is already Running
  if docker ps --format '{{.Names}}' | grep -q $DOCKER_CONATINER_NAME; then
    # if requested to restart
    if [ "$2" = "-f" ]; then
      # stop the container
      docker_stop
    else
      echo "ERROR: $DOCKER_IMG is already running.
      Use bash ariac2019_docker.sh enter to enter
      or
      Use bash ariac2019_docker.sh start -f to restart."
      # exit from here
      exit
    fi
  fi
  echo "Starting $DOCKER_IMG container"
  docker_start
elif [ "$1" = "enter" ]
then
  docker_enter
elif [ "$1" = "stop" ]
then
  docker_stop
else
  echo "Options:
  --help     Show this message and exit.

Commands:
  start  Start ariac2019 docker environment.
  enter  Enter ariac2019 docker environment.
  stop   Stop ariac2019 docker environment."
fi