Makefile

IMAGE_NAME := sysid_go2
CONTAINER_NAME := $(IMAGE_NAME)
DOMAIN_ID := 100

build:
	docker build . -t $(IMAGE_NAME)

run:
	@if command -v xhost >/dev/null 2>&1; then xhost +local:docker; fi
	touch .bash_history
	docker run -it --rm --name $(CONTAINER_NAME) \
		--privileged \
		--env="DISPLAY" \
		--env="ROS_DOMAIN_ID=$(DOMAIN_ID)" \
		--env="QT_X11_NO_MITSHM=1" \
		--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
		--volume="/home/$(USER)/.Xauthority:/root/.Xauthority" \
		--volume="$(CURDIR)/sim2real-robot-identification:/root/sim2real-robot-identification" \
		--volume="$(CURDIR)/unitree-ros2-dls:/root/unitree-ros2-dls" \
		--volume="$(CURDIR)/.bash_history:/root/.bash_history" \
		--network host \
		--workdir /root/sim2real-robot-identification \
		$(IMAGE_NAME)

attach:
	docker exec -it $(CONTAINER_NAME) /bin/bash