Work on development environment.

doc/local_ros_installation.md

@@ -44,23 +44,66 @@ docker system prune
 
 ## Scripts
 
-You should now have help scripts in the path. For example there is a
-script tst that is used among other things to start a TST factorty. For example:
+You now have the following scripts in your path:
+
+### wexec
+
+Execute commands in a running docker container.
 ```bash
-tst roslaunch lrs_launch tst_part.launch ns:=${NS}
+#!/bin/bash
+
+docker exec -it waradevel "$@"
+```
+
+### wgrun
+
+Start a docker container named waradevel and run the command there. Used if you have NVIDIA graphics.
+```bash
+#!/bin/bash
+
+docker run --gpus all \
+  --network host \
+  --ulimit nofile=1024 \
+  -v /tmp/.X11-unix:/tmp/.X11-unix \
+  -e DISPLAY=unix${DISPLAY}\
+  -e ROS_HOSTNAME=localhost \
+  --rm -it --name wara gitlab.liu.se:5000/lrs/waraps_docker_images/wara-melodic:v01 "$@"
+```
+
+
+### wrun
+
+Start a docker container named waradevel and run the command there.
+```bash
+#!/bin/bash
+
+docker run \
+  --network host \
+  --ulimit nofile=1024 \
+  -v /tmp/.X11-unix:/tmp/.X11-unix \
+  -e DISPLAY=unix${DISPLAY}\
+  -e ROS_HOSTNAME=localhost \
+  --rm -it --name waradevel gitlab.liu.se:5000/lrs/lrs_docker_images/wara-melodic:v01 "$@"
 ```
 
-There is one script per minimal docker image and to pull the image do:
+
+### wpull
+
+Pull the image.
 ```bash
-tst pull
+#!/bin/bash
+
+docker pull gitlab.liu.se:5000/lrs/lrs_docker_images/wara-melodic:v01
 ```
 
-To pull all minimal images do:
+
+You should now have help scripts in the path. For example there is a
+script tst that is used among other things to start a TST factorty. For example:
 ```bash
-pull_all_minimal
+tst roslaunch lrs_launch tst_part.launch ns:=${NS}
 ```
 
-## How to start differen parts
+## How to start different parts
 
 ### Start a ros core locally:
 ```bash

doc/minimal_dockers.md

 # Minimal Dockers
 
+## Scripts
+
+You should now have help scripts in the path. For example there is a
+script tst that is used among other things to start a TST factorty. For example:
+```bash
+tst roslaunch lrs_launch tst_part.launch ns:=${NS}
+```
+
+There is one script per minimal docker image and to pull the image do:
+```bash
+tst pull
+```
+
+To pull all minimal images do:
+```bash
+pull_all_minimal
+```
+
+
 ## Minimal LRS Dockers 
 
 There is a set of minimal dockers that contains a set or related functionalities. The idea is that these dockers can be used in conjunction with a native ROS installation.