freisa_on_mars/run.sh: Add more command-line options to docker run

Signed-off-by: Gianpaolo Macario <[email protected]>

freisa_on_mars/run.sh

@@ -12,7 +12,32 @@ IMG_NAME=baroloteam/freisa_on_mars
 CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")"
 
 # Start the container
-docker run --rm -it --name $CONTAINER_NAME  --network host \
-    -e DISPLAY -e TERM   -e QT_X11_NO_MITSHM=1 $IMG_NAME
+#
+# --rm: delete container after exiting
+# -it: Interactive TTY mode so you can use a shell.
+# --network host: Does not isolate Docker container from host's network interfaces.
+#                 Allows all traffic to pass through as if it originated from the host.
+#                 In our case, useful for DDS traffic for ROS.
+# -e DISPLAY: Pass the X11 display through to the container.
+# -e TERM: Pass the kind of terminal being used through to the container.
+# -e QT_X11_NO_MITSHM=1: Disables shared memory extension for Qt/X11, which does not work consistently inside a process namespace like a container.
+# -v "$XAUTHORITY:/.Xauthority": the $XAUTHORITY environment variable on the host contains the path to a file that grants access to X11.
+#                                We mount the path defined in that environment variable into the container at /.Xauthority.
+# -e XAUTHORITY=/.Xauthority: We set $XAUTHORITY *inside* the container to the place we just mounted the Xauthority (/.Xauthority)
+#
+# Credits:
+# * https://github.com/space-ros/docker/pull/168
+# * https://github.com/space-ros/docker/pull/175
+#
+docker run --rm -it --name $CONTAINER_NAME \
+    --network host \
+    --volume=/tmp/.X11-unix:/tmp/.X11-unix \
+    --device=/dev/dri:/dev/dri \
+    --volume "$XAUTHORITY:/.Xauthority" \
+    -e DISPLAY \
+    -e TERM \
+    -e QT_X11_NO_MITSHM=1 \
+    -e XAUTHORITY=/.Xauthority \
+    $IMG_NAME
 
 # EOF