Kenneth Pullen sirovenmitts

Getting a USB device to show up in a Docker container on OS X

Some background

I was trying to get the Arduino IDE to work inside a Docker container on OS X. I was able to get the IDE working (see Getting X11 GUI applications to work on OS X with Docker), but I could not figure out how to make the USB port for the Arduino visible.

The solution

I first tried to directly map hardware serial port into the Docker container, doing something like this:

Getting X11 GUI applications to work on OS X with Docker

$ brew install socat
$ brew cask install xquartz <--- assuming you don't already have XQuartz installed some other way
$ open -a XQuartz <--- start an XQuartz session

$ socat TCP-LISTEN:6000,reuseaddr,fork UNIX-CLIENT:\"$DISPLAY\"

The document provides description on calibration of three Kinect for Microsoft sensors connected to one computer with several usb controllers. Three cameras setup is shown below:

![Figure 1] (http://i.imgur.com/sdOWbVl.jpg)

Intrinsic, extrinsic, and Kinect2Kinect calibration is performed to know the position of each sensor in the space. Our setup is ROS Indigo with Ubuntu 14.04. freenect_launch and camera_pose ROS packages are used. Camera_pose package provides the pipeline to calibrate the relative 6D poses between multiple camera's. freenect_launch package contains launch files for using OpenNI-compliant devices in ROS. It creates a nodelet graph to transform raw data from the device driver into point clouds, disparity images, and other products suitable for processing and visualization. It is installed with catkin as follows:

# Prep

	# config/initializers/react.rb

	Rails.configuration.react.server_renderer =
	Class.new(React::ServerRendering::BundleRenderer) do
	private

	def render_from_parts(before, main, after)
	js_code = compose_js(before, main, after)
	@context.eval(js_code)
	end

	'use strict';

	const puppeteer = require('puppeteer');

	(async () => {
	/* PRECONDITION:
	0. download ublock, I used https://github.com/gorhill/uBlock/releases/download/1.14.19b5/uBlock0.chromium.zip
	1. run $PATH_TO_CHROME --user-data-dir=/some/empty/directory --load-extension=/location/of/ublock
	2. enable block lists you want to use
	*/

	---
	- hosts: all
	tasks:
	- name: Install prerequisites for Docker repository
	apt:
	name: ['apt-transport-https', 'ca-certificates', 'curl', 'gnupg2', 'software-properties-common']
	update_cache: yes

	- name: Add Docker GPG key
	apt_key:

	using System.Collections.Generic;
	using UnityEngine;

	namespace UnityCommonLibrary.Utility
	{
	public static class ActorUtililty
	{
	/// <summary>
	/// Caching because Actors should never be removed
	/// </summary>

	/*
	TODO:
	X Maybe account for defaults: color: var(--header-color, blue);
	- Verify cross domain working or not (it is working from dropbox)
	- Option to wait to apply anything until all <link>s are parsed or inject what we have and update as each <link> returns
	- Need to test on a more complex CSS file
	- Option to save parsed file in local/session storage so there isn't a delay on additional page loads. Could only do it for links (with URLs to use as keys) and style blocks with IDs of some sort
	- Need to test more complex values like rgba(255,0,0,0.5); and something with !important
	- Try multiple links
	- Local links

	// using ES6 Proxy to let Promises/Observables pretend like they're regular values.

	// get the mapping function used for async objects
	let getMapper = (target) => target instanceof Promise ? 'then' :
	target instanceof Observable ? 'switchMap' : null;
	// ^ fails if the Observable is in a local namespace e.g. Rx.Observable

	// bind a value to its object if it's a function
	let bindFn = (val, obj) => typeof val == 'function' ? val.bind(obj) : val;

	Copyright 2015 Matthew Brush

	Permission is hereby granted, free of charge, to any person obtaining a
	copy of this software and associated documentation files (the
	"Software"), to deal in the Software without restriction, including
	without limitation the rights to use, copy, modify, merge, publish,
	distribute, sublicense, and/or sell copies of the Software, and to
	permit persons to whom the Software is furnished to do so, subject to
	the following conditions: