run.sh

#!/bin/bash
#
# Perform several ORB-SLAM3 operations in a Docker container:
#   1-Build docker image (compilation)
#   2-Run method in a docker container (dev mode)
#   3-Run method in a docker container (vis mode)

DEV_MODE=0
VIS_MODE=0
BUILD=0
DETACHED=0
MUTUALLY_EXCLUSIVE_OPTS=0
LAUNCH_FILE=orbslam3.launch

# Get full directory name of the script no matter where it is being called from
CURRENT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"

function echoUsage()
{
    echo -e "Usage: ./run.sh   -d | -v [detached] [-l LAUNCHFILE] | -b [-h]  \n\
                  \t -d dev mode \n\
                  \t -v vis mode \n\
                  \t\t 'detached' to run in background \n\
                  \t\t -l <NAME_OF_LAUNCHFILE> to run a specific launch file. \n\
                  \t\t\t It must be placed in launch/ \n\
                  \t -b build image \n\
                  \t -h help" >&2
}

function mutually_exclusive_opts() {
  if [ $MUTUALLY_EXCLUSIVE_OPTS -eq 1 ] ; then
    >&2 echo "ERROR: Only one option is allowed"
    echoUsage
    exit 1
  fi
}

unset SOME_OPT
while getopts "hdvl:b" opt; do
    SOME_OPT=1
    case "$opt" in
        h)
            echoUsage
            exit 0
            ;;
        d)  DEV_MODE=1
            mutually_exclusive_opts
            MUTUALLY_EXCLUSIVE_OPTS=1
            ;;
        v)  VIS_MODE=1
            mutually_exclusive_opts
            MUTUALLY_EXCLUSIVE_OPTS=1
            case $2 in
              "detached") DETACHED=1; shift ;;
              -* | "") ;;
              *) echoUsage; exit 1 ;;
            esac
            ;;
        b)  BUILD=1
            mutually_exclusive_opts
            MUTUALLY_EXCLUSIVE_OPTS=1
            ;;
        l)  if [ $VIS_MODE -eq 1 ] ; then
              case $OPTARG in
                -*) echo "ERROR: a path to launchfile must be provided"; echoUsage; exit 1 ;;
                *) LAUNCH_FILE=$OPTARG ;;
              esac
            else
              echoUsage; exit 1
            fi
            ;;
        *)
            echoUsage
            exit 1
            ;;
    esac
done

if [ -z "$SOME_OPT" ]; then
  echoUsage
  exit 1
fi

if [ $DEV_MODE -eq 1 ] ; then
  docker run --rm -it --net=host -v $CURRENT_DIR:/root/catkin_ws/src/ORB_SLAM3/ orbslam3:ros_melodic /bin/bash
fi

if [ $VIS_MODE -eq 1 ] ; then
  if [ $DETACHED -eq 1 ] ; then
    docker run -d --net=host \
      -v $CURRENT_DIR/Examples/Stereo-Inertial/rosario_dataset:/root/catkin_ws/src/ORB_SLAM3/Examples/Stereo-Inertial/rosario_dataset:ro \
      -v $CURRENT_DIR/Examples/ROS/ORB_SLAM3/config:/root/catkin_ws/src/ORB_SLAM3/Examples/ROS/ORB_SLAM3/config:ro \
      -v $CURRENT_DIR/Examples/ROS/ORB_SLAM3/launch:/root/catkin_ws/src/ORB_SLAM3/Examples/ROS/ORB_SLAM3/launch:ro \
      orbslam3:ros_melodic \
      roslaunch ORB_SLAM3 $LAUNCH_FILE
  else
    docker run --net=host \
      -v $CURRENT_DIR/Examples/Stereo-Inertial/rosario_dataset:/root/catkin_ws/src/ORB_SLAM3/Examples/Stereo-Inertial/rosario_dataset:ro \
      -v $CURRENT_DIR/Examples/ROS/ORB_SLAM3/config:/root/catkin_ws/src/ORB_SLAM3/Examples/ROS/ORB_SLAM3/config:ro \
      -v $CURRENT_DIR/Examples/ROS/ORB_SLAM3/launch:/root/catkin_ws/src/ORB_SLAM3/Examples/ROS/ORB_SLAM3/launch:ro \
      orbslam3:ros_melodic \
      roslaunch ORB_SLAM3 $LAUNCH_FILE
  fi
fi

if [ $BUILD -eq 1 ] ; then
  docker build --rm -t orbslam3:ros_melodic $CURRENT_DIR
fi