From ba1b0acddc40c47ea277379a9ae92ee879ff0bb1 Mon Sep 17 00:00:00 2001
From: siilats <keith@siilats.com>
Date: Thu, 1 Jun 2023 00:00:12 -0400
Subject: [PATCH] bytelogics dockerfile

---
 .dockerignore |  4 +++-
 Dockerfile    | 26 ++++++++++++++++++++++----
 README.md     | 25 +++++++++++++++++++++++--
 3 files changed, 48 insertions(+), 7 deletions(-)

diff --git a/.dockerignore b/.dockerignore
index 0ac6f18..b2f2e8e 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -1,2 +1,4 @@
 build/**
-build
\ No newline at end of file
+build
+unitree_ws
+unitree_ws/**
\ No newline at end of file
diff --git a/Dockerfile b/Dockerfile
index c4413f4..aeedd41 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,17 +1,35 @@
 FROM  kstein/noetic-arm-desktop-full
 
 RUN apt-get update
-RUN apt-get -y install python3-catkin-tools ninja-build git
+RUN apt-get -y install python3-catkin-tools ninja-build git telnet
 
 ADD . / data/
 WORKDIR data
 RUN mkdir build
 WORKDIR build
 ENV CMAKE_PREFIX_PATH=/opt/ros/noetic
-RUN bash -c 'cmake .. -DCOMMUNICATION=ROS'
+RUN bash -c 'cmake ..'
 RUN make
+WORKDIR ..
+RUN ./prepare_unitree_ws.sh
+SHELL ["/bin/bash", "-c"]
+WORKDIR unitree_ws
+RUN source /ros_entrypoint.sh && /opt/ros/noetic/bin/catkin_make
+RUN source devel/setup.bash
+# WORKDIR ../build
+#CMD roslaunch unitree_gazebo z1_spawn.launch
 
 #CMD ./z1_ctrl
 #docker tag bytelogics:z1_controller siilats/z1_controller
-#docker push new-repo:tagname
-#docker push siilats/z1_controller:latest
\ No newline at end of file
+#docker push siilats/z1_controller:latest
+#xhost +localhost
+#defaults read org.xquartz.X11 enable_iglx
+
+#defaults write org.xquartz.X11 enable_iglx -bool YES
+#defaults read org.xquartz.X11 enable_iglx
+
+
+#docker run  -ti -v /tmp/.X11-unix:/tmp/.X11-unix -e "DISPLAY=host.docker.internal:0" pstoll/emacs-cross emacs
+# docker run -it -p 11311:11311 --env="ROS_MASTER_URI=http://localhost:11311" bytelogics:z1_controller roslaunch unitree_gazebo z1_spawn.launch
+
+#docker run -p 6080:80 --shm-size=512m tiryoh/ros-desktop-vnc:melodic
\ No newline at end of file
diff --git a/README.md b/README.md
index c97377f..abba113 100644
--- a/README.md
+++ b/README.md
@@ -20,7 +20,7 @@ docker run -ti --rm --network host bytelogics:z1_controller
 
 For manual build within a docker:
 Make sure you are not in build folder but in the parent then run
-
+docker run -it --net=host --env="ROS_MASTER_URI=http://host.docker.internal:11311" bytelogics:z1_controller bash
 `docker run -ti --rm --network host bytelogics:z1_controller bash`
 `cmake .. -DCOMMUNICATION=ROS`
 `make`
@@ -39,4 +39,25 @@ docker run -d --rm --network host  --env="DISPLAY_WIDTH=3000" --env="DISPLAY_HEI
 https://gist.github.com/cschiewek/246a244ba23da8b9f0e7b11a68bf3285
 cd /data/unitree_ws
 source devel/setup.bash
-roslaunch unitree_gazebo z1.launch
\ No newline at end of file
+roslaunch unitree_gazebo z1.launch
+
+## macos v2 
+brew install --cask mambaforge
+mamba create -n ros_env
+mamba init
+mamba activate ros_env
+conda config --env --add channels robostack-staging
+mamba install ros-noetic-desktop-full
+mamba install compilers cmake pkg-config make ninja colcon-common-extensions catkin_tools
+./prepare_unitree_ws.sh
+cd unitree_ws
+rm -Rf src/unitree_controller
+rm -Rf src/z1_controller
+rm -Rf src/unitree_legged_control
+
+catkin_make
+source devel/setup.bash 
+roslaunch unitree_gazebo z1_empty.launch
+# go to dockcker and run
+# roslaunch unitree_gazebo z1_spawn.launch
+