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Signed-off-by: Oguz Ozturk <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,188 +1,4 @@ | ||
| #!/usr/bin/env bash | ||
| # shellcheck disable=SC2086,SC2124 | ||
| #!/bin/bash | ||
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| set -e | ||
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| # Define terminal colors | ||
| RED='\033[0;31m' | ||
| GREEN='\033[0;32m' | ||
| BLUE='\033[0;34m' | ||
| NC='\033[0m' # No Color | ||
|
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||
| SCRIPT_DIR=$(readlink -f "$(dirname "$0")") | ||
| WORKSPACE_ROOT="$SCRIPT_DIR/.." | ||
| source "$WORKSPACE_ROOT/amd64.env" | ||
| if [ "$(uname -m)" = "aarch64" ]; then | ||
| source "$WORKSPACE_ROOT/arm64.env" | ||
| fi | ||
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||
| # Default values | ||
| option_no_nvidia=false | ||
| option_devel=false | ||
| option_headless=false | ||
| MAP_PATH="" | ||
| WORKSPACE_PATH="" | ||
| USER_ID="" | ||
| WORKSPACE="" | ||
| DEFAULT_LAUNCH_CMD="ros2 launch autoware_launch autoware.launch.xml map_path:=/autoware_map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit" | ||
|
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||
| # Function to print help message | ||
| print_help() { | ||
| echo -e "\n------------------------------------------------------------" | ||
| echo -e "${RED}Note:${NC} The --map-path option is mandatory for the runtime. For development environment with shell access, use --devel option." | ||
| echo -e " Default launch command: ${GREEN}${DEFAULT_LAUNCH_CMD}${NC}" | ||
| echo -e "------------------------------------------------------------" | ||
| echo -e "${RED}Usage:${NC} run.sh [OPTIONS] [LAUNCH_CMD](optional)" | ||
| echo -e "Options:" | ||
| echo -e " ${GREEN}--help/-h${NC} Display this help message" | ||
| echo -e " ${GREEN}--map-path${NC} Specify to mount map files into /autoware_map (mandatory for runtime)" | ||
| echo -e " ${GREEN}--devel${NC} Launch the latest Autoware development environment with shell access" | ||
| echo -e " ${GREEN}--workspace${NC} (--devel only)Specify the directory to mount into /workspace, by default it uses current directory (pwd)" | ||
| echo -e " ${GREEN}--no-nvidia${NC} Disable NVIDIA GPU support" | ||
| echo -e " ${GREEN}--headless${NC} Run Autoware in headless mode (default: false)" | ||
| echo "" | ||
| } | ||
|
|
||
| # Parse arguments | ||
| parse_arguments() { | ||
| while [ "$1" != "" ]; do | ||
| case "$1" in | ||
| --help | -h) | ||
| print_help | ||
| exit 1 | ||
| ;; | ||
| --no-nvidia) | ||
| option_no_nvidia=true | ||
| ;; | ||
| --devel) | ||
| option_devel=true | ||
| ;; | ||
| --headless) | ||
| option_headless=true | ||
| ;; | ||
| --workspace) | ||
| WORKSPACE_PATH="$2" | ||
| shift | ||
| ;; | ||
| --map-path) | ||
| MAP_PATH="$2" | ||
| shift | ||
| ;; | ||
| --*) | ||
| echo "Unknown option: $1" | ||
| print_help | ||
| exit 1 | ||
| ;; | ||
| -*) | ||
| echo "Unknown option: $1" | ||
| print_help | ||
| exit 1 | ||
| ;; | ||
| *) | ||
| LAUNCH_CMD="$@" | ||
| break | ||
| ;; | ||
| esac | ||
| shift | ||
| done | ||
| } | ||
|
|
||
| # Set the docker image and workspace variables | ||
| set_variables() { | ||
| if [ "$option_devel" = "true" ]; then | ||
| # Set image based on option | ||
| IMAGE="ghcr.io/autowarefoundation/autoware:universe-devel" | ||
|
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||
| # Set workspace path, if not provided use the current directory | ||
| if [ "$WORKSPACE_PATH" = "" ]; then | ||
| WORKSPACE_PATH=$(pwd) | ||
| fi | ||
| WORKSPACE="-v ${WORKSPACE_PATH}:/workspace" | ||
|
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||
| # Set user ID and group ID to match the local user | ||
| USER_ID="-e LOCAL_UID=$(id -u) -e LOCAL_GID=$(id -g) -e LOCAL_USER=$(id -un) -e LOCAL_GROUP=$(id -gn)" | ||
|
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||
| # Set map path | ||
| if [ "$MAP_PATH" != "" ]; then | ||
| MAP="-v ${MAP_PATH}:/autoware_map:ro" | ||
| fi | ||
|
|
||
| # Set launch command | ||
| if [ "$LAUNCH_CMD" = "" ]; then | ||
| LAUNCH_CMD="/bin/bash" | ||
| fi | ||
| else | ||
| # Set image based on option | ||
| IMAGE="ghcr.io/autowarefoundation/autoware:universe" | ||
|
|
||
| # Set map path | ||
| if [ "$MAP_PATH" = "" ]; then | ||
| echo -e "\n------------------------------------------------------------" | ||
| echo -e "${RED}Note:${NC} The --map-path option is mandatory for the universe(runtime image). For development environment with shell access, use --devel option." | ||
| echo -e "------------------------------------------------------------" | ||
| exit 1 | ||
| else | ||
| MAP="-v ${MAP_PATH}:/autoware_map:ro" | ||
| fi | ||
|
|
||
| # Set default launch command if not provided | ||
| if [ "$LAUNCH_CMD" = "" ]; then | ||
| LAUNCH_CMD=${DEFAULT_LAUNCH_CMD} | ||
| fi | ||
| fi | ||
| } | ||
|
|
||
| # Set GPU flag based on option | ||
| set_gpu_flag() { | ||
| if [ "$option_no_nvidia" = "true" ]; then | ||
| GPU_FLAG="" | ||
| else | ||
| GPU_FLAG="--gpus all" | ||
| IMAGE=${IMAGE}-cuda | ||
| fi | ||
| } | ||
|
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||
| # Set X display variables | ||
| set_x_display() { | ||
| MOUNT_X="" | ||
| if [ "$option_headless" = "false" ]; then | ||
| MOUNT_X="-e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix" | ||
| xhost + >/dev/null | ||
| fi | ||
| } | ||
|
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||
| # Main script execution | ||
| main() { | ||
| # Parse arguments | ||
| parse_arguments "$@" | ||
| set_variables | ||
| set_gpu_flag | ||
| set_x_display | ||
|
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||
| if [ "$option_devel" = "true" ]; then | ||
| echo -e "${GREEN}-----------------------------------------------------------------${NC}" | ||
| echo -e "${BLUE}Launching Autoware development environment${NC}" | ||
| else | ||
| echo -e "${GREEN}-----------------------------------------------------------------${NC}" | ||
| echo -e "${GREEN}Launching Autoware${NC}" | ||
| fi | ||
| echo -e "${GREEN}IMAGE:${NC} ${IMAGE}" | ||
| if [ "$option_devel" = "true" ]; then | ||
| echo -e "${GREEN}WORKSPACE PATH(mounted):${NC} ${WORKSPACE_PATH}:/workspace" | ||
| fi | ||
| if [ "$MAP_PATH" != "" ]; then | ||
| echo -e "${GREEN}MAP PATH(mounted):${NC} ${MAP_PATH}:/autoware_map" | ||
| fi | ||
| echo -e "${GREEN}LAUNCH CMD:${NC} ${LAUNCH_CMD}" | ||
| echo -e "${GREEN}-----------------------------------------------------------------${NC}" | ||
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| # Launch the container | ||
| set -x | ||
| docker run -it --rm --net=host ${GPU_FLAG} ${USER_ID} ${MOUNT_X} \ | ||
| -e XAUTHORITY=${XAUTHORITY} -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR -e NVIDIA_DRIVER_CAPABILITIES=all -v /etc/localtime:/etc/localtime:ro \ | ||
| ${WORKSPACE} ${MAP} ${IMAGE} \ | ||
| ${LAUNCH_CMD} | ||
| } | ||
|
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| # Execute the main script | ||
| main "$@" | ||
| xhost + | ||
| docker run -it -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix --net=host -v /dev/shm:/dev/shm -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ghcr.io/autowarefoundation/openadkit_demo.autoware:aws-reinvent-simulator-monolithic-amd64 ros2 launch scenario_test_runner scenario_test_runner.launch.py architecture_type:=awf/universe/20240605 record:=false scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' sensor_model:=sample_sensor_kit vehicle_model:=sample_vehicle initialize_duration:=90 |