23 lines
617 B
Bash
Executable File
23 lines
617 B
Bash
Executable File
#!/bin/bash
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# Run the Webots container with X11 forwarding.
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# Usage:
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# ./run.sh — interactive shell
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# ./run.sh ros2 launch iiwa_bringup webots_spawn.launch.py ...
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IMAGE="${WEBOTS_IMAGE:-evilfisru/lwc:webots-jazzy}"
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# Allow local Docker processes to connect to the X server
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xhost +local:docker > /dev/null
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docker run -it --rm \
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--name ros-webots \
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--network host \
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-e USER=root \
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-e DISPLAY="${DISPLAY}" \
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-e QT_X11_NO_MITSHM=1 \
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-e LIBGL_ALWAYS_SOFTWARE=1 \
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-e GALLIUM_DRIVER=llvmpipe \
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-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
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"${IMAGE}" \
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"$@"
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