From 1f8572452ba2d12508d315057aadc67b3af29a3a Mon Sep 17 00:00:00 2001
From: Matthew Hansen <12618239+mkhansenbot@users.noreply.github.com>
Date: Mon, 29 Apr 2024 21:38:34 +0000
Subject: [PATCH] Remove rocker - fix issue #146

---
 moveit2/run.sh      |  9 ++-------
 nav2_demo/run.sh    |  9 ++-------
 navigation2/run.sh  | 10 ++--------
 space_robots/run.sh |  9 ++-------
 spaceros/README.md  |  3 +--
 spaceros/run.sh     | 10 ++--------
 6 files changed, 11 insertions(+), 39 deletions(-)

diff --git a/moveit2/run.sh b/moveit2/run.sh
index 0d35d60..9381852 100755
--- a/moveit2/run.sh
+++ b/moveit2/run.sh
@@ -4,18 +4,13 @@
 # Requires:
 #   docker
 #   an X server
-#   rocker
-
-
-ROCKER_ARGS="--devices /dev/dri/ --dev-helpers --x11 --user-override-name spaceros-user --network host"
 
 IMG_NAME=openrobotics/moveit2
 
 # Replace `/` with `_` to comply with docker container naming
 # And append `_runtime`
 CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")"
-ROCKER_ARGS="${ROCKER_ARGS} --name $CONTAINER_NAME"
-echo "Using image <$IMG_NAME> to start container <$CONTAINER_NAME>"
 
 # Start the container
-rocker ${ROCKER_ARGS} $IMG_NAME
+docker run --rm -it --name $CONTAINER_NAME  --network host \
+    -e DISPLAY -e TERM   -e QT_X11_NO_MITSHM=1 $IMG_NAME
diff --git a/nav2_demo/run.sh b/nav2_demo/run.sh
index c0a6438..d596ffc 100755
--- a/nav2_demo/run.sh
+++ b/nav2_demo/run.sh
@@ -4,18 +4,13 @@
 # Requires:
 #   docker
 #   an X server
-#   rocker
-
-
-ROCKER_ARGS="--devices /dev/dri/ --dev-helpers --x11 --user-override-name spaceros-user --network host"
 
 IMG_NAME=osrf/space_nav2_demo
 
 # Replace `/` with `_` to comply with docker container naming
 # And append `_runtime`
 CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")"
-ROCKER_ARGS="${ROCKER_ARGS} --name $CONTAINER_NAME"
-echo "Using image <$IMG_NAME> to start container <$CONTAINER_NAME>"
 
 # Start the container
-rocker ${ROCKER_ARGS} $IMG_NAME
+docker run --rm -it --name $CONTAINER_NAME  --network host \
+    -e DISPLAY -e TERM   -e QT_X11_NO_MITSHM=1 $IMG_NAME
diff --git a/navigation2/run.sh b/navigation2/run.sh
index e1c9884..77377f6 100755
--- a/navigation2/run.sh
+++ b/navigation2/run.sh
@@ -4,18 +4,12 @@
 # Requires:
 #   docker
 #   an X server
-#   rocker
-
-
-ROCKER_ARGS="--devices /dev/dri/ --dev-helpers --x11 --user-override-name spaceros-user --network host"
 
 IMG_NAME=osrf/space_nav2
-
 # Replace `/` with `_` to comply with docker container naming
 # And append `_runtime`
 CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")"
-ROCKER_ARGS="${ROCKER_ARGS} --name $CONTAINER_NAME"
-echo "Using image <$IMG_NAME> to start container <$CONTAINER_NAME>"
 
 # Start the container
-rocker ${ROCKER_ARGS} $IMG_NAME
+docker run --rm -it --name $CONTAINER_NAME  --network host \
+    -e DISPLAY -e TERM   -e QT_X11_NO_MITSHM=1 $IMG_NAME
diff --git a/space_robots/run.sh b/space_robots/run.sh
index 9a3b739..39c9993 100755
--- a/space_robots/run.sh
+++ b/space_robots/run.sh
@@ -4,18 +4,13 @@
 # Requires:
 #   docker
 #   an X server
-#   rocker
-
-
-ROCKER_ARGS="--devices /dev/dri/ --dev-helpers --x11 --user-override-name spaceros-user --network host"
 
 IMG_NAME=openrobotics/space_robots_demo
 
 # Replace `/` with `_` to comply with docker container naming
 # And append `_runtime`
 CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")"
-ROCKER_ARGS="${ROCKER_ARGS} --name $CONTAINER_NAME"
-echo "Using image <$IMG_NAME> to start container <$CONTAINER_NAME>"
 
 # Start the container
-rocker ${ROCKER_ARGS} $IMG_NAME
+docker run --rm -it --name $CONTAINER_NAME  --network host \
+    -e DISPLAY -e TERM   -e QT_X11_NO_MITSHM=1 $IMG_NAME
diff --git a/spaceros/README.md b/spaceros/README.md
index 109d132..c572e6d 100644
--- a/spaceros/README.md
+++ b/spaceros/README.md
@@ -1,7 +1,7 @@
 # Space ROS Docker Image and Earthly configuration
 
 The Earthfile configuration in this directory facilitates builds of Space ROS from source code.
-The generated container image is based on Ubuntu 22.04 (Jammy) and can be used with [`rocker`](https://github.com/osrf/rocker) to add X11 and GPU passthrough.
+The generated container image is based on Ubuntu 22.04 (Jammy)
 
 ## Building the Docker Image
 
@@ -42,7 +42,6 @@ ubuntu                jammy                      a8780b506fa4   5 days ago
 
 The new image is named **osrf/space-ros:latest**.
 
-The `rocker` library is required to run the built image, install it by `sudo apt-get install python3-rocker`.
 There is a run.sh script provided for convenience that will run the spaceros image in a container.
 
 ```bash
diff --git a/spaceros/run.sh b/spaceros/run.sh
index d4a311c..7b6845c 100755
--- a/spaceros/run.sh
+++ b/spaceros/run.sh
@@ -4,18 +4,12 @@
 # Requires:
 #   docker
 #   an X server
-#   rocker
-
-
-ROCKER_ARGS="--devices /dev/dri/ --dev-helpers --x11 --user-override-name spaceros-user --network host"
 
 IMG_NAME=osrf/space-ros
-
 # Replace `/` with `_` to comply with docker container naming
 # And append `_runtime`
 CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")"
-ROCKER_ARGS="${ROCKER_ARGS} --name $CONTAINER_NAME"
-echo "Using image <$IMG_NAME> to start container <$CONTAINER_NAME>"
 
 # Start the container
-rocker ${ROCKER_ARGS} $IMG_NAME
+docker run --rm -it --name $CONTAINER_NAME  --network host \
+    -e DISPLAY -e TERM   -e QT_X11_NO_MITSHM=1 $IMG_NAME