69 lines
2.0 KiB
Bash
Executable File
69 lines
2.0 KiB
Bash
Executable File
#!/bin/bash
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# Run the Webots container with X11 forwarding.
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#
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# Usage:
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# ./run.sh [--gpu nvidia|mesa|software] [CMD...]
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#
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# Examples:
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# ./run.sh — software rendering (llvmpipe), по умолчанию
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# ./run.sh --gpu mesa — Intel/AMD GPU через DRI (ноутбук без NVIDIA)
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# ./run.sh --gpu nvidia — NVIDIA GPU rendering
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# ./run.sh --gpu nvidia ros2 launch ... — NVIDIA GPU rendering + команда
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set -e
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IMAGE="${WEBOTS_IMAGE:-evilfisru/lwc:webots-jazzy-dev}"
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GPU_MODE="software"
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# Resolve the project root (two levels above this script: docker/jazzy/ros-iiwa7-webots → project root)
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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PROJECT_ROOT="$(cd "${SCRIPT_DIR}/../../.." && pwd)"
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CONFIG_FILE="${PROJECT_ROOT}/cobot-setting.yaml"
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# Parse --gpu flag
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if [[ "${1}" == "--gpu" ]]; then
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GPU_MODE="${2:?--gpu requires an argument: nvidia|mesa|software}"
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shift 2
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fi
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# Allow local Docker processes to connect to the X server
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xhost +local:docker > /dev/null
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case "${GPU_MODE}" in
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nvidia)
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RENDER_FLAGS=(
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--gpus all
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-e NVIDIA_VISIBLE_DEVICES=all
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-e NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
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)
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;;
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mesa)
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# Intel/AMD integrated/discrete — Mesa через DRI, без NVIDIA toolkit
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RENDER_FLAGS=(
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--device /dev/dri
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)
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;;
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software)
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RENDER_FLAGS=(
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-e LIBGL_ALWAYS_SOFTWARE=1
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-e GALLIUM_DRIVER=llvmpipe
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)
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;;
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*)
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echo "Unknown --gpu value: '${GPU_MODE}'. Use 'nvidia', 'mesa' or 'software'." >&2
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exit 1
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;;
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esac
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docker run -it --rm \
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--name ros-webots \
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--network host \
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-e USER=root \
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-e DISPLAY="${DISPLAY}" \
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-e QT_X11_NO_MITSHM=1 \
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"${RENDER_FLAGS[@]}" \
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-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
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${CONFIG_FILE:+-v "${CONFIG_FILE}:/ros2_ws/cobot-setting.yaml:ro"} \
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"${IMAGE}" \
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"$@"
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