diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 0000000..ae6e139 --- /dev/null +++ b/Dockerfile @@ -0,0 +1,75 @@ +FROM tiryoh/ros2-desktop-vnc:foxy + +ENV DEBCONF_NOWARNINGS=yes +ENV DEBIAN_FRONTEND noninteractive +ENV ROS_PYTHON_VERSION 3 +SHELL ["/bin/bash", "-c"] + +RUN sed -i 's@archive.ubuntu.com@ftp.jaist.ac.jp/pub/Linux@g' /etc/apt/sources.list + +RUN apt-get update && \ + apt-get upgrade -y && \ + apt-get install --no-install-recommends -y \ + build-essential \ + dkms wget git \ + openssh-server && \ + apt-get autoremove -y && \ + apt-get -y clean && \ + rm -rf /var/lib/apt/lists/* + +RUN mkdir /var/run/sshd && \ + echo 'root:ubuntu' | chpasswd && \ + sed -i 's/PermitRootLogin prohibit-password/PermitRootLogin yes/' /etc/ssh/sshd_config && \ + sed 's@session\s*required\s*pam_loginuid.so@session optional pam_loginuid.so@g' -i /etc/pam.d/sshd + +EXPOSE 22 + +RUN apt-get update && \ + apt-get upgrade -y && \ + apt-get install --no-install-recommends -y \ + libopencv-dev \ + python3-colcon-common-extensions && \ + cd /home/ubuntu && \ + git clone https://github.com/ROBOTIS-GIT/robotis_tools.git && \ + cd robotis_tools && \ + chmod 755 ./install_ros2_foxy.sh && \ + /bin/bash ./install_ros2_foxy.sh && \ + apt-get install --no-install-recommends -y \ + ros-foxy-gazebo-ros-pkgs \ + ros-foxy-cartographer \ + ros-foxy-cartographer-ros \ + ros-foxy-navigation2 \ + ros-foxy-nav2-bringup \ + python3-vcstool \ + ros-foxy-dynamixel-sdk \ + ros-foxy-turtlebot3* && \ + apt-get -y autoremove && \ + apt-get -y clean && \ + rm -rf /var/lib/apt/lists/* + +RUN mkdir -p /home/ubuntu/colcon_ws/src && \ + echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc && \ + echo "source /home/ubuntu/colcon_ws/install/setup.bash" >> ~/.bashrc && \ + echo "export ROS_DOMAIN_ID=30 #TURTLEBOT3" >> ~/.bashrc && \ + echo "alias cm='cd ~/colcon_ws;colcon build'" >> ~/.bashrc && \ + echo "alias cs='cd ~/colcon_ws/src'" >> ~/.bashrc && \ + echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/colcon_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models" >> ~/.bashrc && \ + echo "export TURTLEBOT3_MODEL=burger " >> ~/.bashrc && \ + apt-get update && \ + apt-get upgrade -y && \ + cd /home/ubuntu/colcon_ws/src && \ + . /opt/ros/foxy/setup.bash && \ + . /home/ubuntu/colcon_ws/install/setup.bash && \ + colcon build && \ + git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git && \ + git clone -b ros2-devel https://github.com/ROBOTIS-GIT/turtlebot3_machine_learning.git && \ + git clone -b foxy-devel https://github.com/ros-planning/navigation2.git && \ + git clone -b foxy-devel https://github.com/SteveMacenski/slam_toolbox.git && \ + cd /home/ubuntu/colcon_ws && \ + colcon build --symlink-install --parallel-workers 1 && \ + apt-get autoremove -y && \ + apt-get clean && \ + rm -rf /var/lib/apt/lists/* + +COPY ./scripts /home/ubuntu/scripts +COPY ./startup.sh /startup.sh diff --git a/IGVC.world b/IGVC.world new file 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0 + 10 + 0 0 0 0 -0 0 + + + 0.147496 2.4617 0.136116 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + 1 + 1 + 1.86411 -3.11593 0.029908 0 -0 0 + + + diff --git a/build.sh b/build.sh new file mode 100755 index 0000000..ddc1899 --- /dev/null +++ b/build.sh @@ -0,0 +1 @@ +docker build --rm -t turtlebot3_foxy . diff --git a/readme.txt b/readme.txt new file mode 100755 index 0000000..3589383 --- /dev/null +++ b/readme.txt @@ -0,0 +1,184 @@ +Source code from turtlebot3_foxy/src without realsense package +In order to use docker image, all you have to do is +Windows docker and ubuntu docker + +./importTURTLEBOT3LITE.sh +./runTURTLEBOT3LITE.sh + +open +http://localhost:6080 +http://docker_ip:6080 +ssh +ssh ubuntu:docker_ip -p 2222 + + + +------------------------ +roslaunch orne_bringup orne_alpha_sim.launch +roslaunch icart_mini_gazebo icart_mini.launch +rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/icart_mini/cmd_vel + +Build tsukuba-image and execute +> buildTSUKUBA.sh +> runTSUKUBA.sh + +Snap tsukuba-image and export tsukuba-lite-image +> docker container ls +> docker export tsukuba_containerID | gzip -c > tsukuba-lite.taz + +Ctrl-C and remove tsukuba_containerID and tsukuba_image +> docker container ls -a +> docker container rm tsukuba_containerID +> docker image ls +> docker image rm tsukuba_imageID + +Import orne-lite-image to Docker +> importORNELITE.sh + +Execute orne-lite-image +> runORNELITE.sh + + +buildORNE.sh +--- +docker build -t orne . +--- +runORNE.sh +--- +docker run --rm -p 6080:80 -p 2222:22 --shm-size=512m -e HOME=/home/ubuntu -e SHELL=/bin/bash --entrypoint '/startup.sh' orne +--- +exportORNE.txt +--- +docker export orne_containerID | gzip -c > orne-lite.taz +--- +importORNELITE.sh +--- +cat orne-lite.taz | gzip -d | docker import - orne-lite:latest +--- +runORNELITE.sh +--- +docker run -p 6080:80 -p 2222:22 -e RESOLUTION=1920x1080 --shm-size=512m -e HOME=/home/ubuntu -e SHELL=/bin/bash --entrypoint '/startup.sh' orne-lite +--- +runORNELITEUSB.sh video example +sudo chmod 777 /dev/video* + +docker run -p 6080:80 -p 2222:22 -e RESOLUTION=1920x1080 --shm-size=512m -e HOME=/home/ubuntu -e SHELL=/bin/bash --device /dev/video0:/dev/video0:mwr --device /dev/video6:/dev/video1:mwr --entrypoint '/startup.sh' orne-lite + + + + +----- +#kbkn +#%buildmap +#buildmap ='roslaunch orne_navigation_executor build_map_teleop.launch' +#buildmap-igvc='roslaunch orne_navigation_executor build_map_teleop_igvc.launch' + +#savemap ='rosrun map_server map_saver -f /home/kbkn/catkin_ws/src/orne_navigation/#orne_navigation_executor/maps/mymap && bash /home/kbkn/catkin_ws/src/orne_navigation/#orne_navigation_executor/launch/rename.sh' +#savemap-igvc='roslaunch orne_navigation_executor save_map_igvc.launch' + +alias kbkn-savemap-cam-nomap='roslaunch orne_navigation_executor save_map_igvc_cam.launch' +alias kbkn-savemap-cam-map='roslaunch orne_navigation_executor save_map_igvc_cam2.launch' +alias kbkn-velodyne='roslaunch pointcloud_to_laserscan velodyne_scan_node.launch' + +alias kbkn-waypoint-joy='roslaunch orne_navigation_executor record_waypoints_joy.launch map_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/maps/mymap.yaml' +alias kbkn-waypoint-rviz='roslaunch orne_navigation_executor record_waypoints_viz.launch map_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/maps/mymap.yaml' + +#alias kbkn-navi='roslaunch orne_navigation_executor play_waypoints_nav.launch map_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/maps/mymap.yaml & /home/kbkn/Desktop/velodyn_add.sh' +alias kbkn-navi='roslaunch orne_navigation_executor play_waypoints_nav.launch map_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/maps/mymap.yaml' +alias kbkn-navi-nomap='roslaunch orne_navigation_executor play_waypoints_nav_first.launch' +alias kbkn-navi-map='roslaunch orne_navigation_executor play_waypoints_nav_second.launch map_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/maps/mymap.yaml' + +alias tsukuba-navi-left='roslaunch orne_navigation_executor tsukuba2018_play_waypoints_nav.launch map_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/maps/multimap_l.yaml waypoints_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/waypoints_cfg/waypoints_l.yaml' +alias tsukuba-navi-right='roslaunch orne_navigation_executor tsukuba2018_play_waypoints_nav.launch map_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/maps/multimap_r.yaml waypoints_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/waypoints_cfg/waypoints_r.yaml' + +alias kbkn-start='echo ggggg >/dev/sensors/LED & roslaunch orne_bringup orne_beta.launch' +alias kbkn-start-igvc='echo ggggg >/dev/sensors/LED & roslaunch orne_bringup orne_beta_igvc.launch' +alias kbkn-start-sim='roslaunch orne_bringup orne_beta_sim.launch' +alias kbkn-start-bag='roslaunch orne_bringup orne_beta_bag.launch' +alias kbkn-start-gps='echo ggggg >/dev/sensors/LED & roslaunch orne_bringup orne_beta_gps.launch' +alias kbkn-linedetection='roslaunch line_detection line_detection.launch' +alias kbkn-lineplusLRF='rosrun image_to_scan LinePlusLRF.py' +alias 8terminator='terminator -l 8terminator' +alias off='echo hhhhh >/dev/sensors/LED' + +alias restart_nav='rosservice call /restart_nav' + +alias imu-start='roslaunch bno055_serial_to_imu start_imu.launch' +alias zero-imu='rosservice call /imu/set_zero_orientation' + +alias gps_usa='roslaunch gps gps_shusei_usa.launch --screen' +alias gps_japan='roslaunch gps gps_shusei.launch --screen' + + +# igvc2019 alias-list + +alias igvc-start='echo ggggg >/dev/sensors/LED & roslaunch orne_bringup orne_beta_igvc.launch' +alias igvc-sim='roslaunch orne_bringup orne_beta_sim.launch' +alias igvc-bag='roslaunch orne_bringup orne_beta_bag.launch' +alias igvc-buildmap='roslaunch orne_navigation_executor build_map_teleop_igvc.launch' +alias igvc-savemap='roslaunch orne_navigation_executor save_map_igvc_cam.launch' +alias igvc-nav-nomap='roslaunch orne_navigation_executor play_waypoints_nav_first.launch' +alias igvc-nav-map='roslaunch orne_navigation_executor play_waypoints_nav_second.launch map_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/maps/mymap.yaml' +alias line='roslaunch line_detection line_detection.launch' +alias gps='roslaunch gps gps_compass.launch --screen' + +# exe line_detection + +alias line_tmp='roslaunch line_detection line_detection_tmp.launch' +alias line_med='roslaunch line_detection line_detection_med.launch' +alias line_otsu='roslaunch line_detection line_detection_otsu.launch' +alias line_exe='roslaunch line_detection line_detection_exe.launch' +alias line_ada='roslaunch line_detection line_detection_ada.launch' +alias line_label='roslaunch line_detection line_detection_label.launch' + +#test + +alias realsense='roslaunch realsense2_camera rs_camera.launch' +alias rs_bag='cd /home/kbkn/Desktop/Tsukuba2019_0629bag/realsense && rosbag record /camera/color/image_raw /camera/depth/image_rect_raw /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw' +alias webcamera_bag='cd /home/kbkn/Desktop/Tsukuba2019_0629bag/web_camera && rosbag record /camera_web/image_raw' +alias theta_bag='cd /home/kbkn/Desktop/Tsukuba2019_0629bag/theta && rosbag record /camera_theta/image_raw' +alias r_and_w='cd /home/kbkn/Desktop/Tsukuba2019_0629bag/r_w && rosbag record /camera/color/image_raw /camera/depth/image_rect_raw /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw /camera_web/image_raw' +alias t_and_r='cd /home/kbkn/Desktop/Tsukuba2019_0629bag/r_t && rosbag record /camera/color/image_raw /camera/depth/image_rect_raw /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw /camera_theta/image_raw' +alias w_and_t='cd /home/kbkn/Desktop/Tsukuba2019_0629bag/t_w && rosbag record /camera_theta/image_raw /camera_web/image_raw' +alias all_camera='cd /home/kbkn/Desktop/Tsukuba2019_0629bag/all && rosbag record /camera/color/image_raw /camera/depth/image_rect_raw /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw /camera_theta/image_raw /camera_web/image_raw' + + +#Tsukuba2019_0914 + +alias camera='roslaunch camera_bag camera_bag.launch' +alias tr_traffic='cd /home/kbkn/Desktop/Tsukuba2019_0914bag/traffic && rosbag record /camera/color/image_raw /camera/depth/image_rect_raw /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw /camera_theta/image_raw' +alias tr_human='cd /home/kbkn/Desktop/Tsukuba2019_0914bag/human && rosbag record /camera/color/image_raw /camera/depth/image_rect_raw /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw /camera_theta/image_raw' +alias tr_check='cd /home/kbkn/Desktop/Tsukuba2019_0914bag/check && rosbag record /camera/color/image_raw /camera/depth/image_rect_raw /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw /camera_theta/image_raw' + +#Tsukuba-csv +alias csv-start='echo ggggg >/dev/sensors/LED & roslaunch orne_bringup orne_beta_gps.launch' +alias csv-buildmap='roslaunch orne_navigation_executor csv_build_map_teleop.launch' +alias csv-navi='roslaunch orne_navigation_executor csv_play_waypoints_nav.launch map_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/maps/mymap.yaml' + +alias rtk-start='cd /home/kbkn/rtklib_2.4.3/app/rtkrcv/gcc && ./rtkrcv -o ../conf/myrtk4.conf' +alias rtk-calc='roslaunch gps gps_rtk.launch --screen' + + +#stty ospeed 115200 ispeed 115200 -F /dev/sensors/LED + +#My PC +alias screen-set='xrandr --output VGA-1 --mode 1280x1024 -r 60.02' + + + +sudo vi /etc/udev/rules.d/70-sensors.rules +------------ +SUBSYSTEMS=="usb", KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="15d1", ATTRS{idProduct}=="0000", MODE="666", SYMLINK+="sensors/hokuyo_urg", GROUP="dialout" +SUBSYSTEMS=="usb", KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="03eb", ATTRS{idProduct}=="6119", MODE="666", SYMLINK+="sensors/icart-mini", GROUP="dialout" +#SUBSYSTEMS=="usb", KERNEL=="ttyACM*", ACTION=="add", ATTRS{product}=="T-frog Driver", MODE="666", SYMLINK+="sensors/icart-mini", GROUP="dialout" +SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{product}=="FT232R USB UART", MODE="666", SYMLINK+="sensors/ftdi%n", GROUP="dialout" +#SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", MODE="666", SYMLINK+="sensors/jg35fd", GROUP="dialout" +SUBSYSTEMS=="usb", KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a8", MODE="666", SYMLINK+="sensors/rtkgps", GROUP="dialout" +SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", MODE="666", SYMLINK+="sensors/gps", GROUP="dialout" +#SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE="666", SYMLINK+="sensors/gpsmini", GROUP="dialout" +SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE="666", SYMLINK+="sensors/jg35fd", GROUP="dialout" +SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6015", MODE="666", SYMLINK+="sensors/LED", GROUP="dialout" +#SUBSYSTEM=="net", ACTION=="add", DRIVERS=="?*", ATTR{address}=="80:fa:5b:22:bd:88", ATTR{dev_id}=="0x0", ATTR{type}=="1", KERNEL=="eth*", NAME="eth0" + + + diff --git a/run.sh b/run.sh new file mode 100755 index 0000000..677759d --- /dev/null +++ b/run.sh @@ -0,0 +1 @@ +docker run --rm -p 6080:80 -p 2222:22 --shm-size=512m -e HOME=/home/ubuntu -e SHELL=/bin/bash --entrypoint '/startup.sh' turtlebot3_foxy diff --git a/scripts/collisionavoidance.sh b/scripts/collisionavoidance.sh new file mode 100755 index 0000000..e3d6eaf --- /dev/null +++ b/scripts/collisionavoidance.sh @@ -0,0 +1 @@ +ros2 run turtlebot3_gazebo turtlebot3_drive diff --git a/scripts/fakenode.sh b/scripts/fakenode.sh new file mode 100755 index 0000000..9f36b0e --- /dev/null +++ b/scripts/fakenode.sh @@ -0,0 +1 @@ + ros2 launch turtlebot3_fake_node turtlebot3_fake_node.launch.py diff --git a/scripts/launchemptyworld.sh b/scripts/launchemptyworld.sh new file mode 100755 index 0000000..acac063 --- /dev/null +++ b/scripts/launchemptyworld.sh @@ -0,0 +1 @@ +ros2 launch turtlebot3_gazebo empty_world.launch.py diff --git a/scripts/launchrviz2.sh b/scripts/launchrviz2.sh new file mode 100755 index 0000000..16a7e21 --- /dev/null +++ b/scripts/launchrviz2.sh @@ -0,0 +1 @@ +ros2 launch turtlebot3_bringup rviz2.launch.py diff --git a/scripts/launchturtlebothouse.sh b/scripts/launchturtlebothouse.sh new file mode 100755 index 0000000..68a5cda --- /dev/null +++ b/scripts/launchturtlebothouse.sh @@ -0,0 +1 @@ +ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py diff --git a/scripts/launchturtlebotworld.sh b/scripts/launchturtlebotworld.sh new file mode 100755 index 0000000..22c8254 --- /dev/null +++ b/scripts/launchturtlebotworld.sh @@ -0,0 +1 @@ +ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py diff --git a/scripts/operateturtlebot.sh b/scripts/operateturtlebot.sh new file mode 100755 index 0000000..6c72b8e --- /dev/null +++ b/scripts/operateturtlebot.sh @@ -0,0 +1 @@ +ros2 run turtlebot3_teleop teleop_keyboard diff --git a/scripts/runcartgraph.sh b/scripts/runcartgraph.sh new file mode 100755 index 0000000..e1200c5 --- /dev/null +++ b/scripts/runcartgraph.sh @@ -0,0 +1,3 @@ +ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py & +read -n 1 -p "Please hit any key to start cartographer" aaa +ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True diff --git a/scripts/runnavigationnode.sh b/scripts/runnavigationnode.sh new file mode 100755 index 0000000..ff2648e --- /dev/null +++ b/scripts/runnavigationnode.sh @@ -0,0 +1 @@ +ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=$HOME/map.yaml diff --git a/scripts/runslamtoolbox.sh b/scripts/runslamtoolbox.sh new file mode 100755 index 0000000..e7bde82 --- /dev/null +++ b/scripts/runslamtoolbox.sh @@ -0,0 +1,6 @@ +echo "See https://qiita.com/porizou1/items/152ad3829e84a9ba0355 " +ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py & +read -n 1 -p "Please hit any key to start slam toolbox" aaa +ros2 launch slam_toolbox online_async_launch.py use_sim_time:=True & +rviz2 & + diff --git a/scripts/savemap.sh b/scripts/savemap.sh new file mode 100755 index 0000000..2ff16b0 --- /dev/null +++ b/scripts/savemap.sh @@ -0,0 +1 @@ +ros2 run nav2_map_server map_saver_cli -f ~/map diff --git a/scripts/telop.sh b/scripts/telop.sh new file mode 100755 index 0000000..080b9c0 --- /dev/null +++ b/scripts/telop.sh @@ -0,0 +1 @@ +ros2 run teleop_twist_keyboard teleop_twist_keyboard diff --git a/startup.sh b/startup.sh new file mode 100755 index 0000000..7e42289 --- /dev/null +++ b/startup.sh @@ -0,0 +1,71 @@ +#!/bin/bash +sudo /usr/sbin/sshd -D & +if [ -n "$VNC_PASSWORD" ]; then + echo -n "$VNC_PASSWORD" > /.password1 + x11vnc -storepasswd $(cat /.password1) /.password2 + chmod 400 /.password* + sed -i 's/^command=x11vnc.*/& -rfbauth \/.password2/' /etc/supervisor/conf.d/supervisord.conf + export VNC_PASSWORD= +fi + +if [ -n "$X11VNC_ARGS" ]; then + sed -i "s/^command=x11vnc.*/& ${X11VNC_ARGS}/" /etc/supervisor/conf.d/supervisord.conf +fi + +if [ -n "$OPENBOX_ARGS" ]; then + sed -i "s#^command=/usr/bin/openbox.*#& ${OPENBOX_ARGS}#" /etc/supervisor/conf.d/supervisord.conf +fi + +if [ -n "$RESOLUTION" ]; then + sed -i "s/1024x768/$RESOLUTION/" /usr/local/bin/xvfb.sh +fi + +USER=${USER:-root} +HOME=/root +if [ "$USER" != "root" ]; then + echo "* enable custom user: $USER" + useradd --create-home --shell /bin/bash --user-group --groups adm,sudo $USER + if [ -z "$PASSWORD" ]; then + echo " set default password to \"ubuntu\"" + PASSWORD=ubuntu + fi + HOME=/home/$USER + echo "$USER:$PASSWORD" | chpasswd + cp -r /root/{.gtkrc-2.0,.asoundrc} ${HOME} + [ -d "/dev/snd" ] && chgrp -R adm /dev/snd +fi +sed -i -e "s|%USER%|$USER|" -e "s|%HOME%|$HOME|" /etc/supervisor/conf.d/supervisord.conf + +# home folder +mkdir -p $HOME/.config/pcmanfm/LXDE/ +ln -sf /usr/local/share/doro-lxde-wallpapers/desktop-items-0.conf $HOME/.config/pcmanfm/LXDE/ +chown -R $USER:$USER $HOME + +# nginx workers +sed -i 's|worker_processes .*|worker_processes 1;|' /etc/nginx/nginx.conf + +# nginx ssl +if [ -n "$SSL_PORT" ] && [ -e "/etc/nginx/ssl/nginx.key" ]; then + echo "* enable SSL" + sed -i 's|#_SSL_PORT_#\(.*\)443\(.*\)|\1'$SSL_PORT'\2|' /etc/nginx/sites-enabled/default + sed -i 's|#_SSL_PORT_#||' /etc/nginx/sites-enabled/default +fi + +# nginx http base authentication +if [ -n "$HTTP_PASSWORD" ]; then + echo "* enable HTTP base authentication" + htpasswd -bc /etc/nginx/.htpasswd $USER $HTTP_PASSWORD + sed -i 's|#_HTTP_PASSWORD_#||' /etc/nginx/sites-enabled/default +fi + +# dynamic prefix path renaming +if [ -n "$RELATIVE_URL_ROOT" ]; then + echo "* enable RELATIVE_URL_ROOT: $RELATIVE_URL_ROOT" + sed -i 's|#_RELATIVE_URL_ROOT_||' /etc/nginx/sites-enabled/default + sed -i 's|_RELATIVE_URL_ROOT_|'$RELATIVE_URL_ROOT'|' /etc/nginx/sites-enabled/default +fi +# clearup +PASSWORD= +HTTP_PASSWORD= + +exec /bin/tini -- /usr/bin/supervisord -n -c /etc/supervisor/supervisord.conf