launch_x11_remote.sh

#!/bin/bash

tmp_ips=$(hostname -I) # Worst scenario: avahi-publish won't do its work.
tmp_array=($tmp_ips) 
avahi-publish -a -R ros2_open_voc_landing_heatmap.local ${tmp_array[0]} &>/dev/null &
export AVAHI_PUB_PID=$!
trap 'echo Killing avahi-publish with PID $AVAHI_PUB_PID && kill $AVAHI_PUB_PID' EXIT

XAUTHORITY_DOCKER=
FILE=$HOME/.Xauthority
if [ -f "$FILE" ]; then
    XAUTHORITY_DOCKER="--mount type=bind,source=/home/$USER/.Xauthority,target=/home/ros2user/.Xauthority"
else 
    echo "If you are launching this through a remote computer connected using ssh -X, it won't work because you don't have $FILE."
    echo "Just use 'touch ~/.Xauthority' and log out/in and it will be fine."
fi

echo "Launching ros2_open_voc_landing_heatmap... "

docker run --rm --gpus 'all,"capabilities=graphics,utility,display,video,compute"' -it \
--name ros2_open_voc_landing_heatmap --network host \
--user $(id -u):$(id -g) --group-add sudo \
--env=DISPLAY=$DISPLAY --env=QT_X11_NO_MITSHM=1 \
--volume /tmp/.X11-unix:/tmp/.X11-unix \
--volume $(pwd):/home/ros2user/host \
$XAUTHORITY_DOCKER \
ros2_open_voc_landing_heatmap:$USER \
bash