64 lines
1.6 KiB
Bash
64 lines
1.6 KiB
Bash
#!/bin/bash
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# Basic entrypoint for ROS / Colcon Docker containers
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UNDERLAY_WS=/rmp_ws
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# Source ROS 2
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source /opt/ros/${ROS_DISTRO}/setup.bash
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echo "Sourced ROS 2 ${ROS_DISTRO}"
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# Source the base workspace, if built
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if [ -f ${UNDERLAY_WS}/install/setup.bash ]
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then
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source ${UNDERLAY_WS}/install/setup.bash
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vcs pull ${UNDERLAY_WS}/src
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echo "Sourced CPS RMP 220 base workspace"
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fi
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# Source the overlay workspace, if built
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if [ -f /overlay_ws/install/setup.bash ]
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then
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source /overlay_ws/install/setup.bash
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vcs pull /overlay_ws/src
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echo "Sourced CPS RMP 220 Overlay workspace"
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fi
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# Source the bridge workspace, if built
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if [ -f ~/ros2_humble/install/setup.bash ]
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then
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source ~/ros2_humbleinstall/setup.bash
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#export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
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echo "Sourced CPS RMP 220 base workspace"
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fi
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# Implement updating all repositories at launch
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if [ -f ${UNDERLAY_WS}/]
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then
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cd ${UNDERLAY_WS}
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vcs pull src
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echo "Updated base workspace"
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fi
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if [ -f /overlay_ws/]
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then
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cd /overlay_ws
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vcs pull src
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echo "Updated overlay workspace"
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fi
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# configure container networking to use zerotier interface as standard gateway
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# this might be for later
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# if [ -f /zerotier-one/zerotier-cli ]
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# then
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# /zerotier-one/zerotier-cli join 8056c2e21c000001
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# echo "Joined zerotier network"
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# fi
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# set standard gateway to zerotier interface
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ip route del default
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ip route add default via $(ip addr show zt0 | grep -Po 'inet \K[\d.]+')
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echo "Set zerotier interface as standard gateway"
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# this should now route the ros2 traffic through zerotier?
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# Execute the command passed into this entrypoint
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exec "$@" |