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ExoMy_Software-master/docker/Dockerfile

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+# Base image
+FROM ros:melodic 
+
+ENV TZ=Europe/Amsterdam
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+# Basic tools
+RUN apt-get update && \
+    apt-get install vim nano git tmux wget curl python-pip net-tools iputils-ping  -y
+
+# Install additional ros packages
+RUN apt-get update && apt-get install ros-melodic-rosbridge-server ros-melodic-joy -y
+RUN pip install adafruit-pca9685
+
+
+# Install packages for web application
+RUN curl -sL https://deb.nodesource.com/setup_12.x | bash -
+RUN apt-get update && \
+    apt-get install nodejs -y
+RUN npm install http-server -g
+
+# Install packages for camera use
+RUN apt-get update && \
+    apt-get install ros-melodic-web-video-server ros-melodic-usb-cam -y
+
+# Add ros sourcing to bashrc
+RUN echo ". /opt/ros/melodic/setup.bash" >> ~/.bashrc
+
+# Create Ros workspace
+ENV EXOMY_WS=/root/exomy_ws
+RUN mkdir -p $EXOMY_WS/src
+
+WORKDIR /root
+
+COPY ./entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]

ExoMy_Software-master/docker/entrypoint.sh

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+#!/bin/bash
+if [[ $1 == "config" ]]
+then
+	cd /root/exomy_ws/src/exomy/scripts
+	bash
+elif [[ $1 == "autostart" ]]
+then
+	source /opt/ros/melodic/setup.bash
+	cd /root/exomy_ws
+	catkin_make
+	http-server src/exomy/gui -p 8000 &
+
+	source devel/setup.bash
+	roslaunch exomy exomy.launch
+
+	bash
+elif [[ $1 == "devel" ]]
+then
+	cd /root/exomy_ws
+	source /opt/ros/melodic/setup.bash
+	# catkin_make
+	# source devel/setup.bash
+	bash
+else
+	bash
+fi
+

ExoMy_Software-master/docker/run_exomy.sh

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+#!/bin/bash
+# run_exomy- A script to run containers for dedicated functions of exomy
+
+help_text="Usage: "$0" [MODE] [OPTIONS]
+    A script to run ExoMy in different configurations
+    Options:
+        -a, --autostart     Toggles autostart mode on or off
+        -c, --config        Runs the motor configuration of ExoMy
+        -d, --devel         Runs the development mode to change some code of ExoMy 
+        -h, --help          Shows this text
+"
+
+### Main
+# Initialize parameters 
+container_name="exomy"
+image_name="exomy"
+
+# Process parameters
+if [ "$1" != "" ]; then
+    case $1 in
+        -a | --autostart)       
+                                container_name="${container_name}_autostart"
+                                start_command="autostart"
+                                options="--restart always"
+                                 
+                                ;;
+        -s | --stop_autostart)  
+                                docker container stop "${container_name}_autostart"
+                                exit     
+                                ;;
+        -c | --config)          
+                                container_name="${container_name}_config"
+                                start_command="config"
+                                options="--rm"
+                                ;;
+        -d | --devel)           
+                                container_name="${container_name}_devel"
+                                start_command="devel"
+                                options="--restart always"
+                                ;;  
+        -h | --help )           echo "$help_text"
+                                exit
+                                ;;
+        * )                     echo "ERROR: Not a valid mode!"
+                                echo "$help_text"
+                                exit 1
+    esac
+else
+    echo "ERROR: You need to specify a mode!"
+    echo "$help_text"
+    exit
+fi
+
+# Build docker image from Dockerfile in directory 
+directory=$( dirname "$0" )
+docker build -t $image_name $directory
+
+# Stop any of the 3 containers if running
+RUNNING_CONTAINERS=$( docker container ls -a -q --filter ancestor=exomy )
+if [ -n "$RUNNING_CONTAINERS" ]; then
+    docker rm -f "$RUNNING_CONTAINERS"
+fi
+
+# Run docker container
+docker run \
+    -it \
+    -v ~/ExoMy_Software:/root/exomy_ws/src/exomy \
+    -p 8000:8000 \
+    -p 8080:8080 \
+    -p 9090:9090 \
+    --privileged \
+    ${options} \
+    --name "${container_name}" \
+    "${image_name}" \
+    "${start_command}"