如何在奇异配方中使用更改目录CD和源命令

Question

我正在尝试创建一个用于模拟Emika Franka机器人的奇异容器。为此，我需要使用catkin从GitHub存储库中构建moveit examples和panda_config。但是，由于我对容器相对于主系统文件夹的奇异安装方式的理解，使我一直遇到一些麻烦。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命令来构建容器。

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

预期的行为

我希望将食谱CD放入〜/ pandasim_ws /文件夹中，以便我可以执行柳絮。

当前行为

当前，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

有人可以给出关于其容器相对于我的系统目录的奇异安装方式的解释或文档吗？看起来它使用了用户工作区，因此cd ~/指向在主机系统内启动容器的用户的主目录。 /之后的目录看起来是根目录。有没有一种方法可以相对于奇点沙箱文件夹进行cd？例如$SINGULARITY_PATH变量或构建参数。

Answer 1

我找到了解决方案。由于奇异性使用sh shell，因此您必须使用bash -c命令来运行bash命令。此外，由于在沙箱中您确实位于主工作区中，因此最好将其安装在根文件夹下而不是主文件夹下，请参见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