启动docker镜像时:
-
--privileged 添加特权
-
--network=host 与本地通讯
-
-v 访问硬件设备并挂载本地目录
#!/bin/bash
docker run --privileged -it --network=host \ #特权和本地通讯
-v /run/dbus/system_bus_socket:/run/dbus/system_bus_socket:ro \ #网络时间同步
-v /home/cti:/home \ #容器卷
-v /dev/front_lidar:/dev/front_lidar \
-v /dev/rear_lidar:/dev/rear_lidar \
-v /dev/rfid:/dev/rfid \
-v /dev/robot_base:/dev/robot_base \
-v /dev/ttyACM0:/dev/ttyACM0 \
-v /dev/ttyACM1:/dev/ttyACM1 \
-v /dev/v4l/by-id/usb-KINGSEN_KS2A418-60-video-index0:/dev/v4l/by-id/usb-KINGSEN_KS2A418-60-video-index0 \
-v /dev/lora:/dev/lora \
-v /dev/snd:/dev/snd \ #音频
ros:1124 bash
#-v /dev/snd:/dev/snd \
#--lxc-conf='lxc.cgroup.devices.allow = c 116:* rwm' \
#ros:1124 bash
~