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Update mapping docker and startup

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This commit is contained in:
Michael Katsoulis
2026-01-29 10:38:09 +01:00
parent 9df4bc9013
commit 2c89da1af8
3 changed files with 189 additions and 57 deletions
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32
exwayz_mapping.dockerfile Normal file
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# syntax=docker/dockerfile:1.3
FROM ros:jazzy-ros-core
# Build argument provided by buildx/BuildKit: `TARGETARCH` (amd64, arm64, etc.).
# Default to amd64 when not provided.
ARG TARGETARCH=amd64
ARG GRAPICAL_ENV=TRUE
# Install dependencies and setup for GUI applications
ENV DISPLAY=:0
ENV WAYLAND_DISPLAY=wayland-0
ENV XDG_SESSION_TYPE=x11
ENV XDG_RUNTIME_DIR=/mnt/wslg/runtime-dir
#If debug, install the following:
RUN if [ "$GRAPHICAL_ENV" = "TRUE" ]; then \
apt update && apt install -y libgl1-mesa-dev libosmesa6-dev libglew-dev libgles2-mesa-dev libglfw3-dev libstdc++6 mesa-utils; \
fi
#TODO we're installing unneccessary things like the humanity-icons package, clean this up later.
mkdir -p ~/ros2_ws/src
pushd ~/ros2_ws
git clone https://github.com/Exwayz-Navigation/exwayz_msgs.git src/exwayz_msgs
colcon build --packages-select exwayz_msgs --parallel-workers 2
popd
source $HOME/ros2_ws/install/local_setup.bash #resp. local_setup.zsh
# Set entrypoint
ENTRYPOINT ["/ros_entrypoint.sh"]

57
exwayz_test.dockerfile
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# syntax=docker/dockerfile:1.3
FROM ros:jazzy-ros-core
# Build argument provided by buildx/BuildKit: `TARGETARCH` (amd64, arm64, etc.).
# Default to amd64 when not provided.
ARG TARGETARCH=amd64
ARG GRAPICAL_ENV=TRUE
# Copy both architecture-specific packages into the image and choose the right one at build time
COPY pkgs/exwayz_3d_mapping-1.2.2-linux-u24.04-amd64.deb /tmp/exwayz_amd64.deb
COPY pkgs/exwayz_3d_mapping-1.2.2-linux-u24.04-aarch64.deb /tmp/exwayz_aarch64.deb
# Install dependencies and setup for GUI applications
ENV DISPLAY=:0
ENV WAYLAND_DISPLAY=wayland-0
ENV XDG_SESSION_TYPE=x11
ENV XDG_RUNTIME_DIR=/mnt/wslg/runtime-dir
#If debug, install the following:
RUN if [ "$GRAPHICAL_ENV" = "TRUE" ]; then \
apt update && apt install -y libgl1-mesa-dev libosmesa6-dev libglew-dev libgles2-mesa-dev libglfw3-dev libstdc++6 mesa-utils; \
fi
#TODO we're installing unneccessary things like the humanity-icons package, clean this up later.
# RUN --mount=type=secret,id=exwayz_license set -eux; \
# if [ "${TARGETARCH}" = "aarch64" ]; then \
# pkg=/tmp/exwayz_aarch64.deb; \
# else \
# pkg=/tmp/exwayz_amd64.deb; \
# fi; \
# apt-get update; \
# apt-get install -fy "$pkg"; \
# if [ -s /run/secrets/exwayz_license ]; then \
# exwayz_license --query "$(cat /run/secrets/exwayz_license)" || true; \
# fi; \
# rm -f /tmp/exwayz_amd64.deb /tmp/exwayz_aarch64.deb; \
# rm -rf /var/lib/apt/lists/*
COPY licenses/exwayz_liscence.lic /tmp/exwayz_license
RUN set -eux; \
apt-get update; \
apt-get install -fy /tmp/exwayz_amd64.deb; \
if [ -f /tmp/exwayz_license ]; then \
exwayz_license --query "$(cat /tmp/exwayz_license)" || true; \
else \
echo "No license file provided"; \
exit 1; \
fi; \
rm -f /tmp/exwayz_amd64.deb /tmp/exwayz_aarch64.deb; \
rm -f /tmp/exwayz_license; \
rm -rf /var/lib/apt/lists/*
# # Change the working directory to /app
# WORKDIR /app
# Set entrypoint
ENTRYPOINT ["/ros_entrypoint.sh"]

157
start_exwayz_mapping_container.sh Normal file
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#!/bin/bash
# =============================================================================
#
# Script to manage and interact with the Exwayz development container.
#
# Author: Gemini
# Reviewer: Gemini (as Senior Developer)
#
# =============================================================================
# Exit immediately if a command exits with a non-zero status.
set -e
# --- Configuration ---
readonly CONTAINER_NAME="ExwayzMapping"
readonly IMAGE_NAME="beckhoff-exwayz:latest"
readonly HOST_DIR="$(pwd)" # Use the current directory from where the script is run
readonly CONTAINER_DIR="/app"
readonly MOUNT_PATH="${HOST_DIR}:${CONTAINER_DIR}"
# Default network setting. Can be overridden with --network flag.
NETWORK_NAME="host"
WORKING_DIR="${CONTAINER_DIR}"
# --- Helper Functions ---
# Displays a user-friendly usage message.
usage() {
cat <<EOF
Usage: $0 [options] [command] [args...]
Manages the Exwayz container lifecycle and provides an execution environment.
Options:
--network <name> Specify a network name or 'host'. Defaults to 'host'.
--working-dir <path> Specify the directory inside the container to use as working directory. Defaults to the /app.
--help Shows this usage message.
Commands:
<none> Creates and starts the container if needed, then attaches an interactive shell.
shell Explicitly creates, starts, and attaches an interactive shell.
stop Stops the running container.
rm Stops and removes the container.
* Executes any other command inside the container (e.g., "$0 ros2 topic list").
EOF
exit 1
}
# Executes a command inside the running container with the ROS2 environment sourced.
# $@ - The command and its arguments to execute.
exec_in_container() {
echo "--- Executing in container (with ROS2): '$@' ---"
local ros2_setup_command="
if [ -n \"\$ROS_DISTRO\" ] && [ -f \"/opt/ros/\$ROS_DISTRO/setup.bash\" ]; then
source \"/opt/ros/\$ROS_DISTRO/setup.bash\" --;
echo 'Sourced ROS2 environment.'
else
echo 'Warning: \$ROS_DISTRO not set or setup file not found. Continuing without sourcing ROS2 environment.' >&2
fi;
exec \"\$@\"
"
podman exec -it -w "${WORKING_DIR}" "${CONTAINER_NAME}" \
/bin/bash -c "${ros2_setup_command}" bash "$@"
}
# --- Argument Parsing ---
# Parse flags like --network before handling commands.
while [[ $# -gt 0 ]]; do
case "$1" in
--network)
if [[ -z "$2" ]]; then
echo "Error: --network requires a name." >&2
exit 1
fi
NETWORK_NAME="$2"
shift # remove --network
shift # remove its value
;;
--working-dir)
if [[ -z "$2" ]]; then
echo "Error: --working-dir requires a path." >&2
exit 1
fi
WORKING_DIR="$2"
shift # remove --working-dir
shift # remove its value
;;
--help)
usage
;;
*)
# Not a flag we recognize, so it must be the start of the command.
break
;;
esac
done
# --- Main Logic ---
# Handle stateless commands that don't require the container to be running.
case "$1" in
stop)
echo "Stopping container '${CONTAINER_NAME}'..."
podman stop "${CONTAINER_NAME}"
exit 0
;;
rm)
echo "Stopping and removing container '${CONTAINER_NAME}'..."
# Stop container, ignoring errors if it's already stopped.
podman stop "${CONTAINER_NAME}" >/dev/null 2>&1 || true
podman rm "${CONTAINER_NAME}"
exit 0
;;
esac
# --- Container Lifecycle Management ---
# For all other commands, ensure the container is running.
# Check if a container with the specified name already exists.
if ! podman ps -a --format '{{.Names}}' | grep -q "^${CONTAINER_NAME}"$; then
echo "Container '${CONTAINER_NAME}' not found. Creating and starting a new one..."
podman run -d --name "${CONTAINER_NAME}" \
--network="${NETWORK_NAME}" \
--ipc=host \
--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
-v "${MOUNT_PATH}" \
-w "${CONTAINER_DIR}" \
"${IMAGE_NAME}" \
tail -f /dev/null # Keep container running
echo "Container created and started."
# If the container exists, check if it is running.
elif ! podman ps --format '{{.Names}}' | grep -q "^${CONTAINER_NAME}"$; then
echo "Container '${CONTAINER_NAME}' exists but is stopped. Starting it..."
podman start "${CONTAINER_NAME}"
echo "Container started."
else
echo "Container '${CONTAINER_NAME}' is already running."
fi
# --- Command Execution ---
# Decide what to execute inside the container.
case "$1" in
"" | "shell") # No arguments or "shell" argument
exec_in_container /bin/bash
;;
*)
exec_in_container "$@"
;;
esac
echo "Script finished."