Enhance run_sensors.sh

dev_radar_compose.yaml

@@ -7,7 +7,9 @@ services:
     privileged: true
     command: rosmaster --core
     volumes:
-     - "/etc/localtime:/etc/localtime:ro"
+    - "/dev:/dev"
+    - "/tmp:/tmp"
+    - "/etc/localtime:/etc/localtime:ro"
 
   av_radar:
     image: "av_radar:latest"
@@ -36,7 +38,8 @@ services:
     network_mode: "host"
     privileged: true
     volumes:
-      - "/dev/shm:/dev/shm"
+      - "/dev:/dev"
+      - "/tmp:/tmp"
       - "/etc/localtime:/etc/localtime:ro"
     depends_on:
       - ros1_bridge

dev_sensors_compose.yaml

@@ -6,7 +6,8 @@ services:
     network_mode: "host"
     privileged: true
     volumes:
-      - "/dev/shm:/dev/shm"
+      - "/dev:/dev"
+      - "/tmp:/tmp"
       - "/etc/localtime:/etc/localtime:ro"
 
   av_dbw:
@@ -15,7 +16,8 @@ services:
     network_mode: "host"
     privileged: true
     volumes:
-      - "/dev/bus/usb:/dev/bus/usb"
+      - "/dev:/dev"
+      - "/tmp:/tmp"
       - "/etc/localtime:/etc/localtime:ro"
 
   av_imu:
@@ -24,8 +26,8 @@ services:
     network_mode: "host"
     privileged: true
     volumes:
-      - "/dev/shm:/dev/shm"
-      - "/dev/imu-6:/dev/imu-6"
+      - "/dev:/dev"
+      - "/tmp:/tmp"
       - "/etc/localtime:/etc/localtime:ro"
 
   av_gps:
@@ -34,7 +36,8 @@ services:
     network_mode: "host"
     privileged: true
     volumes:
-      - "/dev/shm:/dev/shm"
+      - "/dev:/dev"
+      - "/tmp:/tmp"
       - "/etc/localtime:/etc/localtime:ro"
 
   av_ouster:
@@ -43,7 +46,8 @@ services:
     network_mode: "host"
     privileged: true
     volumes:
-      - "/dev/shm:/dev/shm"
+      - "/dev:/dev"
+      - "/tmp:/tmp"
       - "/etc/localtime:/etc/localtime:ro"
 
   av_velodyne:
@@ -52,7 +56,8 @@ services:
     network_mode: "host"
     privileged: true
     volumes:
-      - "/dev/shm:/dev/shm"
+      - "/dev:/dev"
+      - "/tmp:/tmp"
       - "/etc/localtime:/etc/localtime:ro"
 
   av_camera:
@@ -61,8 +66,22 @@ services:
     network_mode: "host"
     privileged: true
     volumes:
-      - "/dev/shm:/dev/shm"
+      - "/dev:/dev"
+      - "/tmp:/tmp"
       - "/etc/localtime:/etc/localtime:ro"
 
+  av_camera_trigger:
+    image: "av_camera_trigger:latest"
+    command: sh -c "sleep 13 && ros2 launch av_camera_trigger av_camera_trigger.launch.xml"
+    container_name: av_camera_trigger
+    network_mode: "host"
+    privileged: true
+    volumes:
+      - "/dev:/dev"
+      - "/tmp:/tmp"
+      - "/etc/localtime:/etc/localtime:ro"
+    depends_on:
+      - av_camera
+
 include:
   - dev_radar_compose.yaml

run_sensors.sh

@@ -1,18 +1,109 @@
 #!/bin/bash
 
+help() {
+    echo "Usage: run_sensors.sh [options] [sensor_list]
+
+    Options:
+      --dev        Use the 'dev_sensors_compose.yaml' file
+      --build      Build Docker images for the specified sensors (only valid with --dev)
+      --build-only Only build Docker images
+      --no-cache   Build Docker images with no cache
+      -h, --help   Show this help message and exit
+    "
+    exit 0
+}
+
+
 # Function to handle termination
 stop_sensors() {
     echo "Caught signal, stopping Docker Compose..."
-    docker compose -f ./sensors_compose.yaml kill
-    docker compose -f ./sensors_compose.yaml down
+    docker compose -f "$compose_file" kill
+    docker compose -f "$compose_file" down
     exit 0
 }
 
 # Trap SIGINT and SIGTERM
 trap 'stop_sensors' SIGINT SIGTERM
 
-# Start Docker Compose
-docker compose -f ./sensors_compose.yaml up &
+# Default values
+compose_file="./sensors_compose.yaml"
+services=""
+build_docker=""
+is_dev_mode="false"
+run_services="true"
+build_no_cache=""
+
+while [[ $# -gt 0 ]]; do
+    case $1 in
+        --dev)
+            compose_file="./dev_sensors_compose.yaml"
+            is_dev_mode="true"
+            shift
+            ;;
+        --build)
+            build_docker="True"
+            shift
+            ;;
+        --build-only)
+           build_docker="True"
+           run_services="false"
+           shift
+           ;;
+        --no-cache)
+          build_no_cache="--no-cache"
+          shift
+          ;;
+        -h|--help)
+            help
+            ;;
+        *)
+            services="$services $1"
+            shift
+            ;;
+    esac
+done
+
+build_docker_images() {
+    original_dir=$(pwd)  # Save the original directory
+    for service in $services; do
+        found=0
+        # Search recursively for directories matching the service name
+        for dir in $(find . -type d -name "$service"); do
+            # Check for Dockerfile in the directory
+            if [[ -f "$dir/Dockerfile" ]]; then
+                echo "Building Docker image for $service..."
+                pushd "$dir" > /dev/null   # Change to the directory containing the Dockerfile
+                docker build $build_no_cache -t "$service:latest" --target runtime .
+                popd > /dev/null   # Return to the original directory
+                found=1
+                break
+            fi
+        done
+        # If no matching Dockerfile or directory is found
+        if [[ $found -eq 0 ]]; then
+            echo "No directory or Dockerfile found for $service."
+        fi
+    done
+}
+
+# Only build Docker images if --dev is specified
+if [ "$is_dev_mode" == "true" ] && [ -n "$build_docker" ]; then
+    if [ -n "$services" ]; then
+        build_docker_images
+    else
+        echo "No services specified for building."
+        exit 1
+    fi
+fi
+
+if [ "$run_services" == "true" ]; then
+ # Start Docker Compose with optional services
+ if [ -n "$services" ]; then
+     docker compose -f "$compose_file" up $services &
+ else
+     docker compose -f "$compose_file" up &
+ fi
+fi
 
 # Wait for Docker Compose to finish
 wait $!