Work on docker

README.md

@@ -2,16 +2,62 @@
 
 Things needed to build a development docker image based on waraps base LRS image.
 
+Also instructions how to run different units from a docker. Thie will
+replace the setup we have had with virtual machines that combitech
+have used.
+
 Will be used for more things in the future.
 
-## Build user specific developer docker image
+## Running units from docker
+
+Start the wara docker on all machines were you want to run units.
+```bash
+docker run --gpus all \
+  --network host \
+  --ulimit nofile=1024 \
+  -v /tmp/.X11-unix:/tmp/.X11-unix \
+  -e DISPLAY=unix${DISPLAY}\
+  -e ROS_HOSTNAME=localhost \
+  --rm -it --name wara gitlab.liu.se:5000/lrs/waraps_docker_images/wara-melodic:v01 bash
+```
+Can be detached with C-p C-q.
+
+It is possible to give argument "op 0" and so on instead of bash to
+docker run.  But that mean we have to start new containers for each
+unit.  But if we are running the different units on diffrent computers
+we can start that way.
+
+To start /op0, /djisim0, /djisim1, /pirayasim0 do:
+```bash
+docker exec -it wara bash
+op 0
+```
+
+```bash
+docker exec -it wara bash
+djisim 0
+```
+
+```bash
+docker exec -it wara bash
+djisim 1
+```
+```bash
+docker exec -it wara bash
+pirayasim 0
+```
+
+
+## User Specific Development Docker
+
+### Build user specific development docker image
 
 ```bash
 cd docker
 ./build
 ```
 
-## Run the user specific developer image
+### Run the user specific developer image
 
 ```bash
 cd docker
@@ -20,7 +66,7 @@ cd docker
 
 The run.sh script takes one argument and it is the directory that is mounted as home directory.
 
-## Init files
+### Init files
 
 You have to create your own init files.
 

script/wexec

+#!/bin/bash
+
+docker exec -it wara bash

script/wgrun

+#!/bin/bash
+
+docker run --gpus all \
+  --network host \
+  --ulimit nofile=1024 \
+  -v /tmp/.X11-unix:/tmp/.X11-unix \
+  -e DISPLAY=unix${DISPLAY}\
+  -e ROS_HOSTNAME=localhost \
+  --rm -it --name wara gitlab.liu.se:5000/lrs/waraps_docker_images/wara-melodic:v01 "$@"
+

script/wrun

+#!/bin/bash
+
+docker run \
+  --network host \
+  --ulimit nofile=1024 \
+  -v /tmp/.X11-unix:/tmp/.X11-unix \
+  -e DISPLAY=unix${DISPLAY}\
+  -e ROS_HOSTNAME=localhost \
+  --rm -it --name wara gitlab.liu.se:5000/lrs/waraps_docker_images/wara-melodic:v01 "$@"