143 lines
4.6 KiB
Bash
143 lines
4.6 KiB
Bash
#!/bin/bash
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# ROS Podman容器启动脚本
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# 作者自动生成
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# 功能：启动ROS容器，挂载当前目录，设置环境变量，安装pip3，错误不退出
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set +e # 遇到错误时不退出
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# 颜色定义（用于美化输出）
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RED='\033[0;31m'
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GREEN='\033[0;32m'
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YELLOW='\033[1;33m'
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NC='\033[0m' # No Color
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# 配置参数
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CONTAINER_IMAGE="69a38b2c0905" # ROS Noetic Desktop Full镜像ID
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WORKSPACE_DIR="$(pwd)" # 当前工作目录
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MOUNT_POINT="/mnt" # 容器内挂载点
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# ROS环境变量设置
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ROS_ENV_VARS=(
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"ROS_DISTRO=noetic"
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"ROS_PYTHON_VERSION=3"
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"ROS_VERSION=1"
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"ROS_ETC_DIR=/opt/ros/noetic/etc/ros"
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"ROS_ROOT=/opt/ros/noetic/share/ros"
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"ROS_PACKAGE_PATH=/opt/ros/noetic/share"
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"PYTHONIOENCODING=utf-8"
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"TZ=Asia/Shanghai"
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)
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echo -e "${GREEN}========================================${NC}"
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echo -e "${GREEN}ROS Podman容器启动脚本${NC}"
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echo -e "${GREEN}========================================${NC}"
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# 检查Podman是否安装
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if ! command -v podman &> /dev/null; then
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echo -e "${RED}错误: Podman未安装，请先安装Podman${NC}"
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echo -e "${YELLOW}Ubuntu/Debian: sudo apt-get install podman${NC}"
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echo -e "${YELLOW}CentOS/RHEL: sudo yum install podman${NC}"
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exit 1
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fi
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# 检查镜像是否存在
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echo -e "${YELLOW}检查容器镜像...${NC}"
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if ! podman image exists $CONTAINER_IMAGE; then
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echo -e "${RED}警告: 镜像 $CONTAINER_IMAGE 不存在${NC}"
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echo -e "${YELLOW}可用的ROS镜像:${NC}"
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podman image list | grep ros
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echo -e "${YELLOW}继续使用指定镜像，如果启动失败请更换镜像ID${NC}"
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fi
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# 构建环境变量参数
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ENV_ARGS=""
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for env_var in "${ROS_ENV_VARS[@]}"; do
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ENV_ARGS="$ENV_ARGS -e $env_var"
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done
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# 添加额外的环境变量（如果用户需要）
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ENV_ARGS="$ENV_ARGS -e DISPLAY=$DISPLAY" # 支持GUI应用
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ENV_ARGS="$ENV_ARGS -e QT_X11_NO_MITSHM=1"
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# X11支持（用于GUI应用）
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if [ -n "$DISPLAY" ]; then
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echo -e "${YELLOW}启用X11支持，用于GUI应用...${NC}"
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xhost +local:root 2>/dev/null
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ENV_ARGS="$ENV_ARGS --volume /tmp/.X11-unix:/tmp/.X11-unix:rw"
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fi
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echo -e "${GREEN}配置信息:${NC}"
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echo -e " 工作目录: $WORKSPACE_DIR"
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echo -e " 挂载点: $MOUNT_POINT"
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echo -e " 镜像ID: $CONTAINER_IMAGE"
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echo -e " ROS发行版: noetic"
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echo -e "${YELLOW}正在启动容器...${NC}"
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# 启动容器的命令
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# 使用bash -c来执行多个命令，确保pip3安装即使失败也不会退出容器
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PODMAN_CMD="podman run -it \
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--rm \
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--name ros_noetic_container_$(date +%s) \
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-v $WORKSPACE_DIR:$MOUNT_POINT:rw \
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$ENV_ARGS \
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$CONTAINER_IMAGE \
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/bin/bash -c \"\
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echo '========================================' && \
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echo 'ROS容器已启动' && \
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echo '========================================' && \
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echo '工作目录已挂载到: $MOUNT_POINT' && \
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echo '当前ROS版本: ' && \
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echo \\\$ROS_DISTRO && \
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echo '' && \
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echo '正在检查并安装pip3...' && \
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if command -v pip3 &> /dev/null; then \
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echo 'pip3已安装，版本: ' && \
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pip3 --version; \
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else \
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echo 'pip3未安装，正在安装...' && \
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apt-get update 2>/dev/null && \
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apt-get install -y python3-pip 2>/dev/null; \
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if [ \\\$? -eq 0 ]; then \
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echo 'pip3安装成功！'; \
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pip3 --version; \
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else \
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echo '警告: pip3安装失败，请手动安装'; \
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fi; \
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fi && \
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echo '' && \
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echo '========================================' && \
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echo '环境变量已设置:' && \
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env | grep ROS_ && \
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echo '========================================' && \
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echo '容器已准备就绪，进入交互式shell...' && \
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echo '提示: 输入exit退出容器' && \
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echo '========================================' && \
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pip config set global.index-url https://mirrors.ustc.edu.cn/pypi/simple && \
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source /ros_entrypoint.sh && \
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cd $MOUNT_POINT && \
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exec /bin/bash -l\""
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# 执行命令
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echo -e "${GREEN}执行启动命令...${NC}"
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# echo -e "${YELLOW}命令详情:${NC}"
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# echo "$PODMAN_CMD"
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echo -e "${YELLOW}========================================${NC}"
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# 运行容器
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eval $PODMAN_CMD
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# 检查退出状态
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if [ $? -ne 0 ]; then
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echo -e "${RED}容器已退出（退出码非0）${NC}"
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else
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echo -e "${GREEN}容器正常退出${NC}"
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fi
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# 清理X11权限
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if [ -n "$DISPLAY" ]; then
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xhost -local:root 2>/dev/null
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fi
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echo -e "${GREEN}脚本执行完成${NC}" |