Skip to content

Support Docker siblings in IKFast plugin script #3517

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
NoahR-ATC wants to merge 1 commit into
base: main
Choose a base branch
from
+18 −5
Open

Support Docker siblings in IKFast plugin script #3517

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
23 changes: 18 additions & 5 deletions moveit_kinematics/ikfast_kinematics_plugin/scripts/auto_create_ikfast_moveit_plugin.sh
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -148,8 +148,15 @@ function create_dae_file {
echo "Failed. Converting urdf to Collada (in docker)"
build_docker_image
cp "$INPUT" "$TMP_DIR/robot.urdf"
run_quiet docker run --rm --user $(id -u):$(id -g) -v $TMP_DIR:/input --workdir /input -e HOME=/input \
fixed-openrave:latest rosrun collada_urdf urdf_to_collada robot.urdf robot.dae
run_quiet docker create \
--workdir /input \
-e HOME=/input \
--cidfile="$TMP_DIR/docker-collada.cid" \
fixed-openrave:latest rosrun collada_urdf urdf_to_collada robot.urdf robot.dae && \
docker cp "$TMP_DIR/." "$(cat $TMP_DIR/docker-collada.cid)":/input && \
docker start -ai "$(cat $TMP_DIR/docker-collada.cid)" && \
docker cp "$(cat $TMP_DIR/docker-collada.cid)":/input/. "$TMP_DIR" ; \
docker rm "$(cat $TMP_DIR/docker-collada.cid)"
fi
}

Expand All @@ -171,9 +178,15 @@ EOF
echo "Running $cmd"

# run $cmd in docker as current user, outputting files to $TMP_DIR/.openrave
run_quiet docker run --rm --user $(id -u):$(id -g) \
-v $TMP_DIR:/input --workdir /input -e HOME=/input \
fixed-openrave:latest $cmd
run_quiet docker create \
--workdir /input \
-e HOME=/input \
--cidfile="$TMP_DIR/docker-solver.cid" \
fixed-openrave:latest $cmd && \
docker cp "$TMP_DIR/." "$(cat $TMP_DIR/docker-solver.cid)":/input && \
docker start -ai "$(cat $TMP_DIR/docker-solver.cid)" && \
docker cp "$(cat $TMP_DIR/docker-solver.cid)":/input/. "$TMP_DIR" ; \
docker rm "$(cat $TMP_DIR/docker-solver.cid)"

# update INPUT to generated .cpp
INPUT=$(ls -1 $TMP_DIR/.openrave/*/*.cpp 2> /dev/null)
Expand Down