entrypoint.sh

#!/bin/bash

# Set up debug
mkdir -p $HOME/.log

# Set up ROS workspace
mkdir -p $HOME/racecar_ws/src

# Copy the default RViz configuration
/bin/bash -c 'mkdir -p $HOME/.rviz; cp /tmp/default.rviz $HOME/.rviz'

# Source ROS setup script and build the workspace
source /opt/ros/$ROS_DISTRO/setup.bash
/bin/bash -c 'cd $HOME/racecar_ws; catkin_make'

# Start the VNC server
vncserver -SecurityTypes None -xstartup /usr/bin/xstartup.sh > $HOME/.log/TigerVNC.log 2>&1

# Start NoVNC
exec /noVNC-$NO_VNC_VERSION/utils/novnc_proxy --vnc 0.0.0.0:5901 --listen 0.0.0.0:6080 > $HOME/.log/NoVNC.log 2>&1 &

# Welcome message
printf "\n"
printf "~~~~~Welcome to the racecar docker image!~~~~~"
printf "\n\n"
printf "To interface via a local terminal, open a new"
printf "\n"
printf "terminal, cd into the racecar_docker directory"
printf "\n"
printf "and run:"
printf "\n\n"
printf "  docker compose exec racecar bash"
printf "\n\n"
printf "To use graphical programs like rviz, navigate"
printf "\n"
printf "to:"
printf "\n\n"
printf "  http://localhost:6080/vnc.html?resize=remote"
printf "\n"

# Hang to keep the container running
tail -f /dev/null