Aufgeräumt

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 apt-get update && apt-get install python-smbus -y
+RUN pip install adafruit-pureio
+RUN pip install Adafruit-GPIO==1.0.3 --no-deps
+RUN pip install Adafruit-PCA9685==1.0.1 --no-deps
+
+
+# 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 /
+RUN chmod +x /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]

docker/entrypoint.sh

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+#!/bin/bash
+set -eo pipefail
+
+cleanup() {
+	for pid_var in HTTP_PID ROSMASTER_PID ROSBRIDGE_PID ROSAPI_PID ROBOT_PID MOTOR_PID JOYSTICK_PID JOY_PID DELAY_PID GPS_PID; do
+		if [[ -n "${!pid_var:-}" ]]; then
+			kill "${!pid_var}" 2>/dev/null || true
+		fi
+	done
+	wait || true
+}
+
+if [[ $1 == "config" ]]
+then
+	cd /root/exomy_ws/src/exomy/scripts
+	bash
+elif [[ $1 == "autostart" ]]
+then
+	trap cleanup EXIT INT TERM
+	source /opt/ros/melodic/setup.bash
+	cd /root/exomy_ws
+	catkin_make
+	export ROS_MASTER_URI=http://localhost:11311
+	source devel/setup.bash
+
+	cd src/exomy/gui
+	python -m SimpleHTTPServer 8000 &
+	HTTP_PID=$!
+	cd /root/exomy_ws
+
+	rosmaster --core -p 11311 -w 3 > /tmp/rosmaster.log 2>&1 &
+	ROSMASTER_PID=$!
+	sleep 3
+
+	rosparam load /root/exomy_ws/src/exomy/config/exomy.yaml
+	rosparam set /controller logitech-F710
+	rosparam set /delay_seconds 0.0
+	echo 0.0 > /tmp/exomy_delay.txt
+	rosparam set /speed_limit_percent 100
+	echo 100 > /tmp/exomy_speed_limit.txt
+
+	/opt/ros/melodic/lib/rosbridge_server/rosbridge_websocket > /tmp/rosbridge.log 2>&1 &
+	ROSBRIDGE_PID=$!
+	/opt/ros/melodic/lib/rosapi/rosapi_node > /tmp/rosapi.log 2>&1 &
+	ROSAPI_PID=$!
+	python /root/exomy_ws/src/exomy/src/delay_node.py > /tmp/delay_node.log 2>&1 &
+	DELAY_PID=$!
+	python /root/exomy_ws/src/exomy/src/f710_joy_node.py > /tmp/joy_node.log 2>&1 &
+	JOY_PID=$!
+	python /root/exomy_ws/src/exomy/src/robot_node.py > /tmp/robot_node.log 2>&1 &
+	ROBOT_PID=$!
+	python /root/exomy_ws/src/exomy/src/motor_node.py > /tmp/motor_node.log 2>&1 &
+	MOTOR_PID=$!
+	python /root/exomy_ws/src/exomy/src/joystick_parser_node.py > /tmp/joystick_parser.log 2>&1 &
+	JOYSTICK_PID=$!
+	python /root/exomy_ws/src/exomy/src/gps_node.py > /tmp/gps_node.log 2>&1 &
+	GPS_PID=$!
+
+	wait -n "$HTTP_PID" "$ROSMASTER_PID" "$ROSBRIDGE_PID" "$ROSAPI_PID" "$ROBOT_PID" "$MOTOR_PID" "$JOYSTICK_PID" "$JOY_PID" "$DELAY_PID" "$GPS_PID"
+	exit 1
+elif [[ $1 == "devel" ]]
+then
+	cd /root/exomy_ws
+	source /opt/ros/melodic/setup.bash
+	# catkin_make
+	# source devel/setup.bash
+	bash
+else
+	bash
+fi

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}"