start_docker.sh

#!/bin/bash
IMAGE_NAME="epfl-lasa/iiwa_ros"
CONTAINER_NAME="${IMAGE_NAME//[\/.]/-}"
USERNAME="ros"
MODE=()
USE_NVIDIA_TOOLKIT=true

# Help
HELP_MESSAGE="Usage: ./start_dockers.sh [interactive | server | connect] [-i, --image] [-u, --user]
Build the '${IMAGE_NAME}' image.
Options:
  interactive            Spin the image in the console
  server                 Spin the image as an ssh server
  connect                Connects to an active container
  -i, --image            The name of the image to use to start the container
  -u, --user             Specify the name of the login user. (optional)
  -h, --help             Show this help message and the one from aica-docker
  Additional arguments are passed to the aica-docker command.
  "

# Argument parsing
RUN_FLAGS=()
FWS_FLAGS=()
SHOW_HELP=false

while [ "$#" -gt 0 ]; do
    case "$1" in
    -i | --image)
        IMAGE_NAME=$2
        shift 2
        ;;
    -u | --user)
        USERNAME=$2
        shift 2
        ;;
    -m | --mode)
        MODE=$2
        shift 2
        ;;
    -h | --help)
        SHOW_HELP=true
        shift 1
        ;;
    *)
        if [ -z "${MODE}" ]; then
            MODE=$1
        else
            FWD_ARGS+=("$1")
        fi
        shift 1
        ;;
    esac
done

# Help verbose
if $SHOW_HELP; then
    echo $HELP_MESSAGE
    aica-docker $MODE -h
    exit 1
fi

# Gotta make sure ssh agent is running
eval $(ssh-agent)

# Handle interactive/server specific arguments
if [ "${MODE}" != "connect" ]; then

    # Check if a conitainer with this name is already running
    if [ "$( docker container inspect -f '{{.State.Status}}' ${CONTAINER_NAME} 2>/dev/null)" == "running" ]; then
        echo "A container named ${CONTAINER_NAME} is already running. Stopping it."
        docker stop ${CONTAINER_NAME}
    fi

    # network for ros
    FWD_ARGS+=(--net=host)
    FWD_ARGS+=(--env ROS_HOSTNAME="$(hostname)")

    # Handle GPU usage
    [[ ${USE_NVIDIA_TOOLKIT} = true ]] && GPU_FLAG="--gpus all" || GPU_FLAG=""
    FWD_ARGS+=("--runtime=nvidia")
    # FWD_ARGS+=("nvidia-smi")

    # Other
    FWD_ARGS+=("--privileged")


    # Setup shared volumes for dev
    docker volume rm llm_simulator
    docker volume create --driver local \
        --opt type="none" \
        --opt device="${PWD}/ros_ws/src/llm_simulator" \
        --opt o="bind" \
        "llm_simulator"
    FWD_ARGS+=(--volume="llm_simulator:/home/ros/ros_ws/src/llm_simulator:rw")

    docker volume rm llm_common
    docker volume create --driver local \
        --opt type="none" \
        --opt device="${PWD}/ros_ws/src/llm_common" \
        --opt o="bind" \
        "llm_common"
    FWD_ARGS+=(--volume="llm_common:/home/ros/ros_ws/src/llm_common:rw")

    docker volume rm llm_primitives
    docker volume create --driver local \
        --opt type="none" \
        --opt device="${PWD}/ros_ws/src/primitive_library" \
        --opt o="bind" \
        "llm_primitives"
    FWD_ARGS+=(--volume="llm_primitives:/home/ros/ros_ws/src/primitive_library:rw")

    docker volume rm planner
    docker volume create --driver local \
        --opt type="none" \
        --opt device="${PWD}/ros_ws/src/planner" \
        --opt o="bind" \
        "planner"
    FWD_ARGS+=(--volume="planner:/home/ros/ros_ws/src/planner:rw")

    docker volume rm vision_server
    docker volume create --driver local \
        --opt type="none" \
        --opt device="${PWD}/ros_ws/src/vision_server" \
        --opt o="bind" \
        "vision_server"
    FWD_ARGS+=(--volume="vision_server:/home/ros/ros_ws/src/vision_server:rw")
fi

# Trick aica-docker into making a server on a host network container
if [ "${MODE}" == "server" ]; then
    FWD_ARGS+=("--detach")
    MODE=interactive
fi

# Start docker using aica
aica-docker \
    "${MODE}" \
    "${IMAGE_NAME}" \
    -u "${USERNAME}" \
    -n "${CONTAINER_NAME}" \
    ${GPU_FLAG} \
    "${FWD_ARGS[@]}" \