run-ros-docker

#!/bin/bash

XAUTH=/tmp/.docker.xauth
if [ ! -f $XAUTH ]; then
    xauth_list=$( xauth nlist :0 | sed -e 's/^..../ffff/' )
    if [ ! -z "$xauth_list" ]; then
        echo $xauth_list | xauth -f $XAUTH nmerge -
    else
        touch $XAUTH
    fi
    chmod a+r $XAUTH
fi

# https://qiita.com/tnarihi/items/275c009e9dec1306893f
docker run -it --rm \
    --user="$( id -u ):$( id -g )" \
    $( for i in $( id -G ); do echo -n " --group-add $i"; done ) \
    --env="DISPLAY=$DISPLAY" \
    --env="QT_X11_NO_MITSHM=1" \
    --env="XAUTHORITY=$XAUTH" \
    --workdir="/home/$USER" \
    --volume="/home/$USER:/home/$USER" \
    --volume="/etc/group:/etc/group:ro" \
    --volume="/etc/passwd:/etc/passwd:ro" \
    --volume="/etc/shadow:/etc/shadow:ro" \
    --volume="$XAUTH:$XAUTH" \
    --volume="/etc/sudoers.d:/etc/sudoers.d:ro" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    --runtime=nvidia \
    cartographer-ros:dev