Allow detached mode for start_ursim.sh

Author: Felix Exner

.github/workflows/ci.yml

@@ -25,7 +25,7 @@ jobs:
       - uses: actions/checkout@v1
       - name: start ursim
         run: |
-          scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER
+          scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER -d
         env: ${{matrix.env}}
       - name: install gtest
         run: sudo apt-get install -y libgtest-dev

.github/workflows/industrial-ci.yml

@@ -83,7 +83,7 @@ jobs:
       - uses: actions/checkout@v1
       - name: start ursim
         run: |
-          scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER
+          scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER -d
         env: ${{matrix.env}}
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}

scripts/start_ursim.sh

@@ -45,6 +45,7 @@ help()
                    If not specified, will fallback to ${PERSISTENT_BASE}/${ROBOT_SERIES}/programs"
   echo "    -u <folder>    Location from which URCaps are read / to which URCaps are written.
                    If not specified, will fallback to ${PERSISTENT_BASE}/${ROBOT_SERIES}/urcaps"
+  echo "    -d     Detached mode - start in backgound"
   echo "    -h             Print this Help."
   echo
 }
@@ -54,6 +55,7 @@ ROBOT_SERIES=e-series
 URSIM_VERSION=latest
 URCAP_STORAGE="${PERSISTENT_BASE}/${ROBOT_SERIES}/urcaps"
 PROGRAM_STORAGE="${PERSISTENT_BASE}/${ROBOT_SERIES}/programs"
+DETACHED=false
 
 
 validate_model()
@@ -101,7 +103,7 @@ validate_ursim_version()
 }
 
 
-while getopts ":hm:v:p:u:" option; do
+while getopts ":hm:v:p:u:d" option; do
   case $option in
     h) # display Help
       help
@@ -120,6 +122,9 @@ while getopts ":hm:v:p:u:" option; do
     u) # urcaps_folder
       URCAP_STORAGE=${OPTARG}
       ;;
+    d) # detached mode
+      DETACHED=true
+      ;;
     \?) # invalid option
       echo "Error: Invalid option"
       help
@@ -155,9 +160,13 @@ trap "echo killing; docker container kill ursim; exit" SIGINT SIGTERM
 
 echo "Docker URSim is running"
 printf "\nTo access Polyscope, open the following URL in a web browser.\n\thttp://192.168.56.101:6080/vnc.html\n\n"
-echo "To exit, press CTRL+C"
 
-while :
-do
-  sleep 1
-done
+if [ "$DETACHED" = false ]; then
+echo "To exit, press CTRL+C"
+  while :
+  do
+    sleep 1
+  done
+else
+  echo "To kill it, please execute 'docker stop ursim'"
+fi