/// <summary>
/// Docker run with special ROS specific parameters.
/// <see>https://docs.docker.com/engine/reference/commandline/run/</see>
/// </summary>
/// <param name="imageName"></param>
/// <param name="containerName"></param>
/// <param name="command"></param>
/// <param name="volumes"></param>
/// <param name="ports"></param>
/// <param name="environments"></param>
/// <param name="runX11"></param>
/// <param name="setupROS"></param>
/// <param name="showOutput"></param>
public static void DockerRunROS(string imageName,
string containerName,
string command,
List <VolumeMapEntry> volumes = null,
List <int> ports = null,
List <string> environments = null,
bool runX11 = false,
bool setupROS = false,
bool showOutput = false)
{
// find the docker executable
int exitCode = -99;
string dockerExecutable = ZOSystem.RunProcessAndGetOutput("./", "which", "docker", out exitCode);
// TODO: check exit code...
// remove \n and spaces
dockerExecutable = Regex.Replace(dockerExecutable, @"\s+", string.Empty);
// build volumes string
string dockerVolString = "";
if (volumes != null)
{
foreach (VolumeMapEntry volumeMapEntry in volumes)
{
dockerVolString += volumeMapEntry.String();
}
}
string portsString = "";
if (ports != null)
{
foreach (int port in ports)
{
portsString += $" --publish={port}:{port}";
}
}
string dockerEnvString = "";
if (environments != null)
{
foreach (string env in environments)
{
dockerEnvString += $" --env={env}";
}
}
// docker run string
// See: https://docs.docker.com/engine/reference/commandline/run/
string dockerRunString = $"docker run --name={containerName} --rm ";
// source ROS setup
string preDockerRunString = "";
// build up necessary stuff for X11
if (runX11 == true)
{
string tmpDirectory = Path.GetTempPath();
// setup XAuthority in order for X11 + OpenGL to work
preDockerRunString = $@"
{preDockerRunString}
XAUTH={tmpDirectory}.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
";
dockerEnvString += " --env=DISPLAY=$DISPLAY";
dockerEnvString += " --env=QT_X11_NO_MITSHM=1";
dockerEnvString += " --env=XAUTHORITY=$XAUTH";
dockerVolString += " --volume=$XAUTH:$XAUTH";
dockerVolString += $" --volume={tmpDirectory}.X11-unix:{tmpDirectory}.X11-unix:rw";
dockerRunString += " --gpus all";
}
string runCommandString = "";
if (setupROS == true)
{
// sets up the ROS bridge port & the roscore port
// TODO: the ROS master port
portsString += " --publish=9090:9090 --publish=11311:11311 ";
// sources ROS setup.bash
string rosSetupString = " /bin/bash -c \"source /catkin_ws/devel/setup.bash && ";
runCommandString += rosSetupString;
}
runCommandString += command;
// if doing ros we need to add a " at the end
if (setupROS == true)
{
runCommandString += "\"";
}
dockerRunString += $" {portsString} {dockerEnvString} {dockerVolString} {imageName} {runCommandString}";
// dockerRunString += runCommandString;
string bashScript = $@"
{preDockerRunString}
{dockerRunString}
";
UnityEngine.Debug.Log("INFO: Docker Run: " + $"-c \'{bashScript}\'");
Task <int> t = ZOSystem.RunProcessAsync("/bin/bash", $"-c \'{bashScript}\'");
}
/// <summary>
/// Stop a docker container.
/// </summary>
/// <param name="containerName">The name of the container.</param>
public static void DockerStop(string containerName)
{
Task <int> t = ZOSystem.RunProcessAsync("docker", $"stop {containerName}");
}