Merged entrypoint files, implementing #2

gstavrinos · Feb 3, 2023 · cd8e8c4 · cd8e8c4
1 parent 92562d7
commit cd8e8c4
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Showing 5 changed files with 36 additions and 33 deletions.
diff --git a/includes/entrypoint.bash b/includes/entrypoint.bash
@@ -0,0 +1,34 @@
+#!/bin/bash
+rosversion="unknown"
+wstxt="ros2_ws.txt"
+if [ -f /opt/ros/humble/setup.bash ]; then
+    rosversion="humble"
+elif [ -f /opt/ros/noetic/setup.bash ]; then
+    rosversion="noetic"
+    wstxt="ros_ws.txt"
+fi
+if [ "$rosversion" != "unknown" ]; then
+    . /opt/ros/$rosversion/setup.bash
+    if [ "$rosversion" == "humble" ]; then
+        export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+    fi
+    while read -r line
+    do
+        bl="$(basename $line)"
+        wstxt="ros2_ws.txt"
+        cd /opt/ros/$bl
+        if rosdep check -i --from-path src --rosdistro $rosversion -y | grep -q 'System dependencies have not been satisfied'; then
+            apt update
+        fi
+        rosdep install -i --from-path src --rosdistro $rosversion -y
+        if [ "$rosversion" == "humble" ]; then
+            colcon build --symlink-install
+            . /opt/ros/$bl/install/setup.bash
+        else
+            catkin_make
+            . /opt/ros/$bl/devel/setup.bash
+        fi
+    done < /opt/ros/$wstxt
+    . /usr/share/gazebo/setup.bash
+    exec "$@"
+fi
diff --git a/includes/ros2_entrypoint.bash b/includes/ros2_entrypoint.bash
diff --git a/includes/ros_entrypoint.bash b/includes/ros_entrypoint.bash
diff --git a/ros-ez/rosez b/ros-ez/rosez
@@ -24,7 +24,7 @@ do
     volumes=$volumes"--volume $wsdir:/opt/ros/$(basename $wsdir) "
 done < $SCRIPT_DIR/../includes/ros_ws.txt
 cd $cwd
-x="sudo "$(sudo rocker --mode dry-run --network host --x11 $gpu_param --volume rosez-volume:/opt/ros/noetic/ --volume $SCRIPT_DIR/../includes/ros_ws.txt:/opt/ros/ros_ws.txt $volumes $SCRIPT_DIR/../includes/ros_entrypoint.bash:/root/.bashrc -- ros_ez:latest | tail -n 1 | sed -e 's/-v .*rosez-volume:/-v rosez-volume:/')
+x="sudo "$(sudo rocker --mode dry-run --network host --x11 $gpu_param --volume rosez-volume:/opt/ros/noetic/ --volume $SCRIPT_DIR/../includes/ros_ws.txt:/opt/ros/ros_ws.txt $volumes $SCRIPT_DIR/../includes/entrypoint.bash:/root/.bashrc -- ros_ez:latest | tail -n 1 | sed -e 's/-v .*rosez-volume:/-v rosez-volume:/')
 xauthf="$((echo \"$x\") | grep -E -o '/tmp/.docker[a-zA-Z0-9_-]+.xauth' | head -1)"
 touch $xauthf
 /bin/bash -c "xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $xauthf nmerge -"

diff --git a/ros2-ez/ros2ez b/ros2-ez/ros2ez
@@ -24,7 +24,7 @@ do
     volumes=$volumes"--volume $wsdir:/opt/ros/$(basename $wsdir) "
 done < $SCRIPT_DIR/../includes/ros2_ws.txt
 cd $cwd
-x="sudo "$(sudo rocker --mode dry-run --network host --x11 $gpu_param --volume ros2ez-volume:/opt/ros/humble/ --volume $SCRIPT_DIR/../includes/ros2_ws.txt:/opt/ros/ros2_ws.txt $volumes $SCRIPT_DIR/../includes/ros2_entrypoint.bash:/root/.bashrc -- ros2_ez:latest | tail -n 1 | sed -e 's/-v .*ros2ez-volume:/-v ros2ez-volume:/')
+x="sudo "$(sudo rocker --mode dry-run --network host --x11 $gpu_param --volume ros2ez-volume:/opt/ros/humble/ --volume $SCRIPT_DIR/../includes/ros2_ws.txt:/opt/ros/ros2_ws.txt $volumes $SCRIPT_DIR/../includes/entrypoint.bash:/root/.bashrc -- ros2_ez:latest | tail -n 1 | sed -e 's/-v .*ros2ez-volume:/-v ros2ez-volume:/')
 xauthf="$((echo \"$x\") | grep -E -o '/tmp/.docker[a-zA-Z0-9_-]+.xauth' | head -1)"
 touch $xauthf
 /bin/bash -c "xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $xauthf nmerge -"