140 lines
5.9 KiB
Bash
Executable File
140 lines
5.9 KiB
Bash
Executable File
#!/bin/bash
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# ROS Podman 容器启动脚本 — 用于 rosbag 可视化
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# 用法:
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# ./start_ros_container.sh # 启动交互式 shell
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# ./start_ros_container.sh play <bag_name> # 自动播放 bag + 启动 rviz
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set -euo pipefail
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RED='\033[0;31m'; GREEN='\033[0;32m'; YELLOW='\033[1;33m'; CYAN='\033[0;36m'; NC='\033[0m'
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# ─── 配置 ───────────────────────────────────────────────────────────────────
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# 使用镜像名而非 ID，更可读；优先用本地 custom 镜像，fallback 到官方
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CONTAINER_IMAGE="docker.io/osrf/ros:noetic-desktop-full"
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# 如果本地有 custom 镜像，优先用它（可自行修改）
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if podman image exists localhost/custom-ros-noetic:v1.0 2>/dev/null; then
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CONTAINER_IMAGE="localhost/custom-ros-noetic:v1.0"
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fi
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WORKSPACE_DIR="$(pwd)"
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MOUNT_POINT="/workspace"
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BAG_DIR="$WORKSPACE_DIR/bags"
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CONTAINER_NAME="ros_$(date +%s)"
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# ─── 前置检查 ───────────────────────────────────────────────────────────────
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if ! command -v podman &> /dev/null; then
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echo -e "${RED}错误: 未安装 podman${NC}"; exit 1
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fi
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if ! podman image exists "$CONTAINER_IMAGE"; then
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echo -e "${YELLOW}正在拉取镜像 $CONTAINER_IMAGE ...${NC}"
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podman pull "$CONTAINER_IMAGE"
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fi
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# ─── X11 配置 ────────────────────────────────────────────────────────────────
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# 你的 DISPLAY=localhost:10.0，容器内需要能访问宿主机 X11 socket
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# 方案: host 网络 + 挂载 X11 socket
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if [ -z "${DISPLAY:-}" ]; then
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echo -e "${YELLOW}警告: DISPLAY 未设置，GUI 应用可能无法启动${NC}"
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fi
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# 临时允许本地 X11 连接（仅当前用户）
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xhost +SI:localuser:$USER 2>/dev/null || true
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# ─── 构建 podman 参数 ──────────────────────────────────────────────────────
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ENV_ARGS=(
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-e DISPLAY="$DISPLAY"
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-e QT_X11_NO_MITSHM=1
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-e ROS_DISTRO=noetic
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-e ROS_MASTER_URI=http://localhost:11311
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-e TZ=Asia/Shanghai
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)
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VOLUME_ARGS=(
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-v "$WORKSPACE_DIR:$MOUNT_POINT:rw"
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-v "/tmp/.X11-unix:/tmp/.X11-unix:rw"
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)
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# host 网络模式: 容器直接使用宿主机网络栈，X11 和 ros master 通信都正常
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NET_ARGS=(--network=host)
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# ─── 打印配置 ────────────────────────────────────────────────────────────────
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echo -e "${GREEN}========================================${NC}"
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echo -e "${GREEN}ROS Podman 容器 — rosbag 可视化${NC}"
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echo -e "${GREEN}========================================${NC}"
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echo -e " 镜像: ${CYAN}$CONTAINER_IMAGE${NC}"
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echo -e " 工作目录: $WORKSPACE_DIR → $MOUNT_POINT"
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echo -e " DISPLAY: $DISPLAY"
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echo -e " 网络模式: host"
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echo -e " Bag 目录: $BAG_DIR"
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echo -e "${GREEN}========================================${NC}"
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# ─── 执行 ────────────────────────────────────────────────────────────────────
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# 根据参数决定模式
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if [ "${1:-}" = "play" ] && [ -n "${2:-}" ]; then
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BAG_FILE="$BAG_DIR/${2}_davis_with_gt.bag"
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if [ ! -f "$BAG_FILE" ]; then
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echo -e "${RED}错误: bag 文件不存在: $BAG_FILE${NC}"
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echo -e "${YELLOW}可用的 bag 文件:${NC}"
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ls -1 "$BAG_DIR"/*.bag 2>/dev/null | xargs -n1 basename | sed 's/_davis_with_gt.bag//'
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exit 1
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fi
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echo -e "${GREEN}启动 rosbag play + rviz 模式${NC}"
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echo -e " Bag: ${CYAN}$(basename "$BAG_FILE")${NC}"
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echo -e "${YELLOW}容器启动后会自动播放 bag 并打开 rviz${NC}"
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echo -e "${YELLOW}按 Ctrl+C 停止${NC}"
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echo -e "${GREEN}========================================${NC}"
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podman run -it --rm --name "$CONTAINER_NAME" \
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"${VOLUME_ARGS[@]}" \
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"${ENV_ARGS[@]}" \
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"${NET_ARGS[@]}" \
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"$CONTAINER_IMAGE" \
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/bin/bash -c "
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set -e
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source /opt/ros/noetic/setup.bash
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echo '启动 roscore...'
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roscore &
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ROSCORE_PID=\$!
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sleep 2
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echo '播放 bag: ${2}_davis_with_gt.bag'
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rosbag play --clock \"$MOUNT_POINT/bags/${2}_davis_with_gt.bag\" &
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BAG_PID=\$!
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sleep 1
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echo '启动 rviz...'
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rviz -d \"$MOUNT_POINT/visualize/default.rviz\" 2>/dev/null || rviz
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# 等待 bag 播放完成
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wait \$BAG_PID 2>/dev/null || true
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kill \$ROSCORE_PID 2>/dev/null || true
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"
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else
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# 交互式 shell 模式
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echo -e "${GREEN}启动交互式 shell${NC}"
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echo -e "${YELLOW}提示: 进入后执行以下命令播放 bag${NC}"
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echo -e " source /opt/ros/noetic/setup.bash"
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echo -e " roscore &"
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echo -e " rosbag play --clock $MOUNT_POINT/bags/indoor_forward_3_davis_with_gt.bag"
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echo -e " rviz"
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echo -e "${GREEN}========================================${NC}"
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podman run -it --rm --name "$CONTAINER_NAME" \
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"${VOLUME_ARGS[@]}" \
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"${ENV_ARGS[@]}" \
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"${NET_ARGS[@]}" \
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"$CONTAINER_IMAGE" \
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/bin/bash -c "
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source /opt/ros/noetic/setup.bash
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cd $MOUNT_POINT
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exec /bin/bash -l
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"
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fi
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# ─── 清理 ────────────────────────────────────────────────────────────────────
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xhost -SI:localuser:$USER 2>/dev/null || true
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echo -e "${GREEN}容器已退出${NC}"
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