#!/usr/bin/env bash
set -euo pipefail

MODULE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
RUNTIME_ROOT="${AUTONOMY_STUDIO_RUNTIME_ROOT:-$HOME/autonomy-studio/runtime/nav2}"
FOLDER_NAME="$(basename "$MODULE_PATH")"
CONTAINER_NAME="${FOLDER_NAME#\[}"; CONTAINER_NAME="${CONTAINER_NAME/\]/-}"
ROS_PARAM='sim_mode:=true robot:=turtlebot3 level:=2d'
read -r -a ROS_ARGS <<< "$ROS_PARAM"
exec bash "$RUNTIME_ROOT/docker/docker_run_nav2.sh" "$CONTAINER_NAME" "$(dirname "$MODULE_PATH")" "$FOLDER_NAME" "${NAV2_DOCKER_IMAGE:-future-nav2-gazebo:humble}" "${ROS_DOMAIN_ID:-0}" "${ROS_ARGS[@]}" "$@"