35 lines
1.4 KiB
Bash
Executable File
35 lines
1.4 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -euo pipefail
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MODULE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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FOLDER_NAME="$(basename "$MODULE_PATH")"
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CONTAINER_NAME="${FOLDER_NAME#[}"; CONTAINER_NAME="${CONTAINER_NAME/]/-}"
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CONTAINER_NAME="${CONTAINER_NAME%_ws}"
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MODULE_ROOT="$(dirname "$MODULE_PATH")"
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IMAGE="${NAV2_DOCKER_IMAGE:-future-nav2-camera-test:humble-jetson_orin}"
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DEVICE=/dev/video0
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for arg in "$@"; do
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case "$arg" in video_device:=*) DEVICE=${arg#video_device:=} ;; esac
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done
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[[ "$DEVICE" =~ ^/dev/video[0-9]+$ ]] && [ -c "$DEVICE" ] || { echo "Camera device not found: $DEVICE" >&2; exit 1; }
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test -f "$MODULE_PATH/install/setup.bash" || { echo 'Module is not built' >&2; exit 1; }
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docker rm -f "$CONTAINER_NAME" >/dev/null 2>&1 || true
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device_args=(--device "$DEVICE:$DEVICE")
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# Jetson VI capture opens additional channel devices from the container.
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for capture_device in /dev/capture-vi-channel*; do
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if [ -c "$capture_device" ]; then
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device_args+=(--device "$capture_device:$capture_device")
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fi
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done
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exec docker run --rm -d "${device_args[@]}" --network host --ipc=host \
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--name "$CONTAINER_NAME" \
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-e "ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-77}" \
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-e "ROS_LOCALHOST_ONLY=${ROS_LOCALHOST_ONLY:-0}" \
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-v "$MODULE_ROOT:/modules" \
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"$IMAGE" bash -lc "
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source /opt/ros/humble/setup.bash
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source '/modules/$FOLDER_NAME/install/setup.bash'
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exec ros2 launch camera_test_pkg camera.launch.py \"\$@\"
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" bash "$@"
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