run

#!/bin/bash

if [ "$#" -ne 1 ]; then
    IMAGE_TYPE=docker
else
    IMAGE_TYPE=$1
fi

IMAGE_NAME="robotica:$IMAGE_TYPE"
CONTAINER_NAME="robotica_$IMAGE_TYPE"

if [ ! $(docker ps --quiet --filter name=$CONTAINER_NAME) ]; then
    xhost +local:docker
    echo "Running container"
    docker run -it --rm \
        --privileged \
        --network host \
        --env DISPLAY \
        --volume $HOME/.bash_history:/home/robotica/.bash_history:rw \
        --volume $HOME/.Xauthority:/home/robotica/.Xauthority:rw \
        --volume /tmp/.X11-unix:/tmp/.X11-unix:rw \
        --user $(id -u $USER):$(id -g $USER) \
        --volume $HOME/catkin_ws/src/$IMAGE_TYPE:/home/robotica/catkin_ws/src:rw \
        --volume $HOME/catkin_ws/.$IMAGE_TYPE/build:/home/robotica/catkin_ws/build:rw \
        --volume $HOME/catkin_ws/.$IMAGE_TYPE/devel:/home/robotica/catkin_ws/devel:rw \
        --volume $HOME/colcon_ws/src/$IMAGE_TYPE:/home/robotica/colcon_ws/src:rw \
        --volume $HOME/colcon_ws/.$IMAGE_TYPE/build:/home/robotica/colcon_ws/build:rw \
        --volume $HOME/colcon_ws/.$IMAGE_TYPE/install:/home/robotica/colcon_ws/install:rw \
        --gpus all \
        --workdir /home/robotica \
        --name $CONTAINER_NAME \
        $IMAGE_NAME bash
    xhost -local:docker
else
    echo "Container is already running, another terminal in the same container is opened"
    docker exec -it $CONTAINER_NAME bash
fi