From 393e62276129a0960ae34be4685d142761d99071 Mon Sep 17 00:00:00 2001
From: Vimarsh <vimarsh244@gmail.com>
Date: Wed, 2 Jul 2025 11:26:16 +0530
Subject: [PATCH] working on support and testing functionality with ros2 jazzy

---
 bash_into_container.sh |  6 ++++++
 start_container.sh     | 32 ++++++++++++++++++++++++++++++++
 2 files changed, 38 insertions(+)
 create mode 100755 bash_into_container.sh
 create mode 100755 start_container.sh

diff --git a/bash_into_container.sh b/bash_into_container.sh
new file mode 100755
index 0000000..654f1e9
--- /dev/null
+++ b/bash_into_container.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+xhost +local:root
+
+docker exec -it --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" -e "ROS_DOMAIN_ID=0" bcr_arm_container /bin/bash -c "cd /bcr_ws && colcon build && source install/setup.bash && exec bash"
+
+xhost -local:root
\ No newline at end of file
diff --git a/start_container.sh b/start_container.sh
new file mode 100755
index 0000000..ef17899
--- /dev/null
+++ b/start_container.sh
@@ -0,0 +1,32 @@
+#!/bin/bash
+
+# Start a new BCR ARM container if not already running
+if [ ! "$(docker ps -q -f name=bcr_arm_container)" ]; then
+    if [ "$(docker ps -aq -f status=exited -f name=bcr_arm_container)" ]; then
+        # Container exists but is stopped, remove it
+        docker rm bcr_arm_container
+    fi
+    
+    # Enable X11 forwarding
+    xhost +local:docker
+    
+    # Start new container
+    docker run -it \
+        --name bcr_arm_container \
+        --network host \
+        -e DISPLAY=$DISPLAY \
+        -e QT_X11_NO_MITSHM=1 \
+        -e CYCLONEDX_URI=/ddsconfig.xml \
+        -e ROS_DOMAIN_ID=0 \
+        -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+        -v /dev/dri:/dev/dri \
+        -v "$(dirname "$0")/../../docker/ddsconfig.xml":/ddsconfig.xml \
+        -v "$(dirname "$0")":/bcr_ws/src/bcr_bot \
+        --privileged \
+        bcr_arm:jazzy-harmonic \
+        /bin/bash -c "cd /bcr_ws && rosdep install -i --from-path src --rosdistro jazzy -y && . /opt/ros/jazzy/setup.bash && colcon build && exec bash"
+        
+    echo "BCR ARM container started."
+else
+    echo "BCR ARM container is already running."
+fi