run.bash

#!/usr/bin/env bash

#
# Copyright (C) 2018 Open Source Robotics Foundation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
#

# Runs a docker container with the image created by build.bash
# Requires:
#   docker
#   nvidia-docker
#   an X server
# Recommended:
#   A joystick mounted to /dev/input/js0 or /dev/input/js1

if [ $# -lt 1 ]
then
    echo "Usage: $0 <docker image> [<dir with workspace> ...]"
    exit 1
fi

#IMG=$(basename $1)
IMG=$1

ARGS=("$@")

# 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 $DISPLAY)
    xauth_list=$(sed -e 's/^..../ffff/' <<< "$xauth_list")
    if [ ! -z "$xauth_list" ]
    then
        echo "$xauth_list" | xauth -f $XAUTH nmerge -
    else
        touch $XAUTH
    fi
    chmod a+r $XAUTH
fi

DOCKER_OPTS=

# Get the current version of docker-ce
# Strip leading stuff before the version number so it can be compared
DOCKER_VER=$(dpkg-query -f='${Version}' --show docker-ce | sed 's/[0-9]://')
if dpkg --compare-versions 19.03 gt "$DOCKER_VER"
then
    echo "Docker version is less than 19.03, using nvidia-docker2 runtime"
    if ! dpkg --list | grep nvidia-docker2
    then
        echo "Please either update docker-ce to a version greater than 19.03 or install nvidia-docker2"
	exit 1
    fi
    DOCKER_OPTS="$DOCKER_OPTS --runtime=nvidia"
else
    DOCKER_OPTS="$DOCKER_OPTS --gpus all"
fi

# Share your vim settings.
VIMRC=~/.vimrc
if [ -f $VIMRC ]
then
  DOCKER_OPTS="$DOCKER_OPTS -v $VIMRC:/home/developer/.vimrc:ro"
fi

# Prevent executing "docker run" when xauth failed.
if [ ! -f $XAUTH ]
then
  echo "[$XAUTH] was not properly created. Exiting..."
  exit 1
fi

# Mount extra volumes if needed.
# E.g.:
# -v "/opt/sublime_text:/opt/sublime_text" \

# Developer note: If you are running docker in cloudsim then make sure to add
# -e IGN_PARTITION=subt to the following command.
docker run -it \
  -e DISPLAY \
  -e QT_X11_NO_MITSHM=1 \
  -e XAUTHORITY=$XAUTH \
  -v "$XAUTH:$XAUTH" \
  -v "/tmp/.X11-unix:/tmp/.X11-unix" \
  -v "/etc/localtime:/etc/localtime:ro" \
  -v "/dev/input:/dev/input" \
  --network host \
  --rm \
  --privileged \
  --security-opt seccomp=unconfined \
  $DOCKER_OPTS \
  $IMG \
  ${@:2}