mbari/tethystales repository overview

# 1. Pull the image
docker pull mbari/tethystales:latest

# 2. Allow X11 access (required for GUI)
xhost +local:docker

# 3. Run with your LRAUV data
docker run -it --rm \
    -e DISPLAY="$DISPLAY" \
    -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
    -v "$HOME/.Xauthority:/root/.Xauthority:ro" \
    -v /mbari/LRAUV:/mbari/LRAUV:ro \
    --network host \
    mbari/tethystales:latest \
    ros2 launch tethystales tethystales.launch.py vehicle:=tethys logset:=20250304T211257

docker run -it --rm \
    -e DISPLAY="$DISPLAY" \
    -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
    -v "$HOME/.Xauthority:/root/.Xauthority:ro" \
    -v /mbari/LRAUV:/mbari/LRAUV:ro \
    --network host \
    mbari/tethystales:latest \
    ros2 launch tethystales tethystales.launch.py vehicle:=pontus logset:=20251117T180000

docker run -it --rm \
    -e DISPLAY="$DISPLAY" \
    -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
    -v "$HOME/.Xauthority:/root/.Xauthority:ro" \
    -v /mbari/LRAUV:/mbari/LRAUV:ro \
    --network host \
    mbari/tethystales:latest \
    ros2 launch tethystales tethystales.launch.py log_file:=/mbari/LRAUV/tethys/missionlogs/2025/path/to/file.nc4

docker run -it --rm \
    -e DISPLAY="$DISPLAY" \
    -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
    -v "$HOME/.Xauthority:/root/.Xauthority:ro" \
    -v /mbari/LRAUV:/mbari/LRAUV:ro \
    --network host \
    mbari/tethystales:latest

docker run -it --rm \
    -e DISPLAY="$DISPLAY" \
    -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
    -v "$HOME/.Xauthority:/root/.Xauthority:ro" \
    -v /path/to/your/data:/mbari/LRAUV:ro \
    --network host \
    mbari/tethystales:latest

cannot open display: :0

docker run --rm -v /mbari/LRAUV:/mbari/LRAUV:ro mbari/tethystales:latest ls /mbari/LRAUV

#!/bin/bash
# Tethys Tales - Docker Run Script
# Runs the container with X11 forwarding and NVIDIA GPU support (if available)

set -e

SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"

# Default values
IMAGE_NAME="${IMAGE_NAME:-mbari/tethystales}"
IMAGE_TAG="${IMAGE_TAG:-latest}"
DATA_PATH="${LRAUV_DATA_PATH:-/mbari/LRAUV}"

# Colors
GREEN='\033[0;32m'
YELLOW='\033[1;33m'
RED='\033[0;31m'
NC='\033[0m'

print_msg() {
    echo -e "${GREEN}[Tethys Tales Docker]${NC} $1"
}

print_warn() {
    echo -e "${YELLOW}[Tethys Tales Docker]${NC} $1"
}

print_error() {
    echo -e "${RED}[Tethys Tales Docker]${NC} $1"
}

usage() {
    echo "Usage: $0 [OPTIONS] [ROS_LAUNCH_ARGS...]"
    echo ""
    echo "Run the Tethys Tales Docker container"
    echo ""
    echo "Options:"
    echo "  --nvidia        Force NVIDIA GPU support (use -nvidia tagged image)"
    echo "  --no-gpu        Disable GPU detection, use software rendering"
    echo "  --shell         Start a bash shell instead of launching ROS2"
    echo "  --scale FACTOR  Set Qt UI scale factor (e.g., 1.0, 1.5, 2.0)"
    echo "  -h, --help      Show this help message"
    echo ""
    echo "Environment variables:"
    echo "  IMAGE_NAME        Override image name (default: mbari/tethystales)"
    echo "  IMAGE_TAG         Override image tag (default: latest)"
    echo "  LRAUV_DATA_PATH   Path to LRAUV data directory (default: /mbari/LRAUV)"
    echo "  QT_SCALE_FACTOR   Qt UI scale factor (default: auto)"
    echo ""
    echo "Examples:"
    echo "  $0                                    # Launch with default settings"
    echo "  $0 log_file:=/mbari/LRAUV/path.nc4   # Launch with specific log file"
    echo "  $0 --nvidia                          # Force NVIDIA GPU"
    echo "  $0 --shell                           # Start interactive shell"
    echo "  $0 --scale 1.5                       # Launch with 150% UI scaling"
    echo "  $0 playback_speed:=10.0              # Launch with 10x playback speed"
}

# Parse options
USE_NVIDIA=""
FORCE_NO_GPU=false
SHELL_MODE=false
SCALE_FACTOR="${QT_SCALE_FACTOR:-}"
ROS_ARGS=()

while [[ $# -gt 0 ]]; do
    case $1 in
        --nvidia)
            USE_NVIDIA="-nvidia"
            shift
            ;;
        --no-gpu)
            FORCE_NO_GPU=true
            shift
            ;;
        --shell)
            SHELL_MODE=true
            shift
            ;;
        --scale)
            SCALE_FACTOR="$2"
            shift 2
            ;;
        -h|--help)
            usage
            exit 0
            ;;
        *)
            ROS_ARGS+=("$1")
            shift
            ;;
    esac
done

print_msg "Starting Tethys Tales..."

# Enable X11 forwarding
print_msg "Enabling X11 forwarding..."
xhost +local:docker 2>/dev/null || {
    print_warn "Could not run xhost. X11 forwarding may not work."
    print_warn "Try running: xhost +local:docker"
}

# Detect NVIDIA GPU and DRI devices
NVIDIA_ARGS=""
DRI_ARGS=""
if [ "$FORCE_NO_GPU" = false ]; then
    if command -v nvidia-smi &> /dev/null && nvidia-smi &> /dev/null; then
        print_msg "NVIDIA GPU detected - enabling hardware acceleration"
        NVIDIA_ARGS="--gpus all"
        # Pass through DRI devices for OpenGL rendering
        if [ -d "/dev/dri" ]; then
            DRI_ARGS="--device /dev/dri:/dev/dri"
            print_msg "Passing through /dev/dri for OpenGL rendering"
        fi
        # Use nvidia-tagged image if available and not explicitly set
        if [ -z "$USE_NVIDIA" ]; then
            # Check if nvidia image exists
            if docker image inspect "${IMAGE_NAME}:${IMAGE_TAG}-nvidia" &> /dev/null; then
                USE_NVIDIA="-nvidia"
                print_msg "Using NVIDIA-optimized image"
            fi
        fi
    else
        print_warn "No NVIDIA GPU detected - using software rendering"
    fi
else
    print_msg "GPU disabled - using software rendering"
fi

# Check data path
if [ ! -d "$DATA_PATH" ]; then
    print_warn "Data path not found: $DATA_PATH"
    print_warn "Container will still run, but log files won't be accessible."
    print_warn "Set LRAUV_DATA_PATH environment variable to your data directory."
fi

# Build the full image name
FULL_IMAGE="${IMAGE_NAME}:${IMAGE_TAG}${USE_NVIDIA}"

# Check if image exists
if ! docker image inspect "$FULL_IMAGE" &> /dev/null; then
    print_error "Image not found: $FULL_IMAGE"
    print_msg "You can build it with: ./docker/build.sh"
    print_msg "Or pull it with: docker pull $FULL_IMAGE"
    exit 1
fi

print_msg "Using image: $FULL_IMAGE"
print_msg "Data path: $DATA_PATH"

# Determine command to run
if [ "$SHELL_MODE" = true ]; then
    DOCKER_CMD="bash"
    print_msg "Starting interactive shell..."
elif [ ${#ROS_ARGS[@]} -gt 0 ]; then
    DOCKER_CMD="ros2 launch tethystales tethystales.launch.py ${ROS_ARGS[*]}"
    print_msg "Launching with arguments: ${ROS_ARGS[*]}"
else
    DOCKER_CMD="ros2 launch tethystales tethystales.launch.py"
    print_msg "Launching Tethys Tales..."
fi

echo ""

# Build scale factor argument
SCALE_ARG=""
if [ -n "$SCALE_FACTOR" ]; then
    SCALE_ARG="-e QT_SCALE_FACTOR=${SCALE_FACTOR}"
    print_msg "UI scale factor: ${SCALE_FACTOR}"
fi

# Run the container
docker run -it --rm \
    ${NVIDIA_ARGS} \
    ${DRI_ARGS} \
    -e DISPLAY="${DISPLAY}" \
    -e QT_X11_NO_MITSHM=1 \
    ${SCALE_ARG} \
    -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
    -v "${HOME}/.Xauthority:/root/.Xauthority:ro" \
    -v "${DATA_PATH}:/mbari/LRAUV:ro" \
    --network host \
    "$FULL_IMAGE" \
    $DOCKER_CMD

# Cleanup
print_msg "Revoking X11 access..."
xhost -local:docker 2>/dev/null || true

print_msg "Done!"