add --data-path option

Signed-off-by: Yutaka Kondo <[email protected]>
youtalk · May 22, 2024 · 28f636f · 28f636f
1 parent 9047913
commit 28f636f
Showing 1 changed file with 18 additions and 4 deletions.
diff --git a/docker/run.sh b/docker/run.sh
@@ -20,21 +20,23 @@ fi
 option_no_nvidia=false
 option_devel=false
 option_headless=false
+DATA_PATH=""
 MAP_PATH=""
 WORKSPACE_PATH=""
 USER_ID=""
 WORKSPACE=""
-DEFAULT_LAUNCH_CMD="ros2 launch autoware_launch autoware.launch.xml map_path:=/autoware_map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit"
+DEFAULT_LAUNCH_CMD="ros2 launch autoware_launch autoware.launch.xml data_path:=/autoware_data map_path:=/autoware_map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit"
 
 # Function to print help message
 print_help() {
     echo -e "\n------------------------------------------------------------"
-    echo -e "${RED}Note:${NC} The --map-path option is mandatory if not custom launch command given. Please provide exact path to the map files."
+    echo -e "${RED}Note:${NC} The --data-path and --map-path options are mandatory if not custom launch command given. Please provide exact paths to the data and map files."
     echo -e "      Default launch command: ${GREEN}${DEFAULT_LAUNCH_CMD}${NC}"
     echo -e "------------------------------------------------------------"
     echo -e "${RED}Usage:${NC} run.sh [OPTIONS] [LAUNCH_CMD](optional)"
     echo -e "Options:"
     echo -e "  ${GREEN}--help/-h${NC}       Display this help message"
+    echo -e "  ${GREEN}--data-path${NC}     Specify to mount data files into /autoware_data (mandatory if no custom launch command is provided)"
     echo -e "  ${GREEN}--map-path${NC}      Specify to mount map files into /autoware_map (mandatory if no custom launch command is provided)"
     echo -e "  ${GREEN}--no-nvidia${NC}     Disable NVIDIA GPU support"
     echo -e "  ${GREEN}--devel${NC}         Use the latest development version of Autoware"
@@ -64,6 +66,10 @@ parse_arguments() {
             WORKSPACE_PATH="$2"
             shift
             ;;
+        --data-path)
+            DATA_PATH="$2"
+            shift
+            ;;
         --map-path)
             MAP_PATH="$2"
             shift
@@ -89,12 +95,19 @@ parse_arguments() {
 
 # Set image and workspace variables
 set_variables() {
-    # Check if map path is provided for default launch command
+    # Check if data and map paths are provided for default launch command
+    if [ "$DATA_PATH" == "" ] && [ "$LAUNCH_CMD" == "" ]; then
+        print_help
+        exit 1
+    fi
     if [ "$MAP_PATH" == "" ] && [ "$LAUNCH_CMD" == "" ]; then
         print_help
         exit 1
     fi
 
+    # Mount data path if provided
+    DATA="-v ${DATA_PATH}:/autoware_data:ro"
+
     # Mount map path if provided
     MAP="-v ${MAP_PATH}:/autoware_map:ro"
 
@@ -150,6 +163,7 @@ main() {
 
     echo -e "${GREEN}\n-----------------------LAUNCHING CONTAINER-----------------------"
     echo -e "${GREEN}IMAGE:${NC} ${IMAGE}"
+    echo -e "${GREEN}DATA PATH(mounted):${NC} ${DATA_PATH}:/autoware_data"
     echo -e "${GREEN}MAP PATH(mounted):${NC} ${MAP_PATH}:/autoware_map"
     echo -e "${GREEN}WORKSPACE(mounted):${NC} ${WORKSPACE_PATH}:/workspace"
     echo -e "${GREEN}LAUNCH CMD:${NC} ${LAUNCH_CMD}"
@@ -159,7 +173,7 @@ main() {
     set -x
     docker run -it --rm --net=host ${GPU_FLAG} ${USER_ID} ${MOUNT_X} \
         -e XAUTHORITY=${XAUTHORITY} -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR -e NVIDIA_DRIVER_CAPABILITIES=all -v /etc/localtime:/etc/localtime:ro \
-        ${WORKSPACE} ${MAP} ${IMAGE} \
+        ${WORKSPACE} ${DATA} ${MAP} ${IMAGE} \
         ${LAUNCH_CMD}
 }