# Copyright 2019 The KubeEdge Authors.
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#     http://www.apache.org/licenses/LICENSE-2.0
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# UI permisions
XSOCK=/tmp/.X11-unix
XAUTH=/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -

xhost +local:docker

# docker pull jike5/orbslam2-dev:latest

# Create a new container
docker run -td --privileged --net=orbslam-cloud --ipc=host \
    --name="orbslam-edge" \
    -e "DISPLAY=$DISPLAY" \
    -e "QT_X11_NO_MITSHM=1" \
    -v "/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    -e "XAUTHORITY=$XAUTH" \
    -e ROS_IP=127.0.0.1 \
    --cap-add=SYS_PTRACE \
    -v "PATH_TO_WORKSPACE:/workspace" \
    jike5/orbslam2-dev:latest bash