如何在奇点配方中使用更改目录 CD 和源命令

Question

我正在尝试创建一个奇点容器来模拟 Emika Franka 机器人。为此，我需要使用 catkin 从 GitHub 存储库构建 moveit examples 和 panda_config。但是，由于我了解 singularity 如何相对于我的主系统文件夹安装容器，我一直运行遇到一些麻烦。我使用下面的配方通过 sudo singularity build --sandbox ros-kinetic-pandasim-xenial/ recipes/ros_kinetic_pandasim_xenial/ros_kinetic_pandasim_xenial.def 命令构建容器。

ros_kinetic_pandasim_xenial 食谱

# Ros kinetic panda simulation ubuntu xenial singularity container recipe file
Bootstrap: docker
From: osrf/ros:kinetic-desktop-full-xenial

%help
    singularity container with Ros kinetic and Gazebo7 for the dynamic simulation of the Emika Franka Panda robot.

%post
    echo "Setting up ros kinetic emika Franka container."

    ## Set user permissions to root ##
    chmod 755 /root

    ## Retrieve updates ##
    apt-get update

    ## Install ros dependencies for building packages
    apt-get install -y python-rosinstall python-rosinstall-generator python-wstool build-essential

    ## Install additional ros packages ##
    apt-get install -y ros-kinetic-joint-state-controller ros-kinetic-controller-manager* ros-kinetic-joint-trajectory-controller
    apt-get install -y ros-kinetic-effort-controllers ros-kinetic-gazebo-ros* ros-kinetic-gazebo-ros-control ros-kinetic-rviz*
    apt-get install -y ros-kinetic-catkin python-catkin-tools

    ## Install other needed packages ##
    apt-get install -y usbutils wget libboost-filesystem-dev libjsoncpp-dev

    ## Setup ros dependency tool ##
    rosdep update

    ## Install MoveIt, MoveIt tutorials and the panda_movit_config files ##
    apt-get install -y ros-kinetic-moveit*
    . /opt/ros/kinetic/setup.sh
    mkdir -p ~/pandasim_ws/src
    cd ~/pandasim_ws/src
    git clone -b kinetic-devel https://github.com/ros-planning/moveit_tutorials.git
    git clone https://github.com/erdalpekel/panda_moveit_config.git
    rosdep install -y --from-paths . --ignore-src --rosdistro kinetic
    cd ~/pandasim_ws/
    catkin config --extend /opt/ros/kinetic
    catkin build
    . ~/pandasim_ws/devel/setup.bash

%environment

    ## Change floating point format ##
    LC_NUMERIC="en_US.UTF-8"

    ## Source ros setup file ##
    . /opt/ros/kinetic/setup.sh

    ## Source catkin setup file ##
    . ~/pandasim_ws/devel/setup.bash

预期行为

我希望将食谱 cd 到 ~/pandasim_ws/ 文件夹中，以便我可以执行 catkin 构建。

当前行为

目前，它给我以下错误：

#All required steps installed successfully
+ cd ~/pandasim_ws/
/bin/sh: 31: cd: can't cd to ~/pandasim_ws/
FATAL:   post proc: exit status 2
FATAL:   While performing build: while running engine: exit status 255

主要问题

有人可以解释一下或提供一些关于奇点如何相对于我的系统目录安装其容器的文档吗？看起来它使用用户工作区，因此 cd ~/ 指向在主机系统内启动容器的用户的主目录。下面的 / 看起来是根目录。有没有办法 cd 相对于奇点沙箱文件夹？例如 $SINGULARITY_PATH 变量或构建参数。

Answer 1

我找到了解决方案。由于奇点使用 sh shell 你必须使用 bash -c 命令到运行 bash 命令。此外，由于在沙箱中您确实位于主工作区中，因此最好安装在根文件夹下而不是主文件夹下，请参阅 definition file documentation.

## Install MoveIt, MoveIt tutorials and the panda_movit_config files ##
rosdep update
apt-get install -y ros-kinetic-moveit
apt-get install -y \
    ros-kinetic-catkin \
    python-catkin-tools \
    ros-kinetic-controller-manager* \
    ros-kinetic-effort-controllers \
    ros-kinetic-joint-trajectory-controller \
    ros-kinetic-rviz* \
    libboost-filesystem-dev \
    libjsoncpp-dev
bash -c "source /opt/ros/kinetic/setup.sh \
    && mkdir -p /moveit_ws/src \
    && cd /moveit_ws/src \
    && git clone -b kinetic-devel https://github.com/ros-planning/moveit_tutorials.git \
    && git clone https://github.com/erdalpekel/panda_moveit_config.git \
    && rosdep install -y --from-paths . --ignore-src --rosdistro kinetic \
    && cd /moveit_ws \
    && catkin config --extend /opt/ros/kinetic \
    && catkin build \
    && source /moveit_ws/devel/setup.bash

如何在奇点配方中使用更改目录 CD 和源命令

How to use change directory CD and source commands in a singularity recipe

ros

catkin

singularity-container

moveit

ros_kinetic_pandasim_xenial 食谱

预期行为

当前行为

主要问题