fix

automatic_solver_experiments.sh

@@ -31,11 +31,31 @@ while [ "$#" -gt 0 ]; do
 
     echo "Starting Docker container..."
 
+    docker_options=(-t \
+        --label="dfki_quad" \
+        --net="host" \
+        --env="DISPLAY" \
+        --env="QT_X11_NO_MITSHM=1" \
+        --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+        --volume="${PWD}/ws/src:/root/ros2_ws/src" \
+        --volume="/home/$USER/.ros_docker_bash_history:/root/.bash_history" \
+	--device="/dev/input:/dev/input" \
+	--device="/dev/ttyACM0:/dev/ttyACM0" \
+	--privileged)
+
+    # when on arm, try to mount the external ssd for data logging
+    if [[ $(uname -i) = "aarch64" ]]; then
+	docker_options+=(--mount type=bind,src=/media/external-drive,dst=/media/external-drive)
+	docker_options+=(--mount type=bind,src=/usr/bin/tegrastats,dst=/usr/bin/tegrastats)
+    elif [[ $(uname -i ) = "x86_64" ]]; then
+	docker_options+=(--mount type=bind,source=/sys/class/powercap,target=/sys/class/powercap)
+    fi
+
     # check, if a container with dfki_quad label is already there
     container_id=$(docker ps -aq --filter "label=dfki_quad")
     xhost +local:
     mkdir ${PWD}/ws/src/solver_experiments/results
-    docker run -t --volume="${PWD}/ws/src:/root/ros2_ws/src" --net="host" --privileged dfki_quad:latest /bin/bash -ci "cbg_onboard && sr && export ROS_DOMAIN_ID=$domain_id && ros2 run solver_experiments solver_experiments --ros-args -p mpc_prediction_horizon:="$number" -p test_preset:="$test_preset""
+    docker run  "${docker_options[@]}" dfki_quad:latest /bin/bash -ci "cbg_onboard && sr && export ROS_DOMAIN_ID=$domain_id && ros2 run solver_experiments solver_experiments --ros-args -p mpc_prediction_horizon:="$number" -p test_preset:="$test_preset""
 
     # Check if the container started successfully
     if [ $? -ne 0 ]; then