如何在奇点配方中使用更改目录CD和源命令

Question

我正在尝试创建一个奇点容器来模拟Emika Franka机器人。为此，我需要使用catkin来构建来自GitHub存储库的moveit examples和panda_config。但是，由于我了解奇点如何相对于我的主系统文件夹安装容器，我一直遇到麻烦。我使用下面的配方使用sudo singularity build --sandbox ros-kinetic-pandasim-xenial/ recipes/ros_kinetic_pandasim_xenial/ros_kinetic_pandasim_xenial.def命令构建容器。

ros_kinetic_pandasim_xenial recipe

# 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

Expected behaviour

我希望配方可以进入〜/ pandasim_ws /文件夹，这样我就可以执行catkin构建了。

Current behaviour

目前，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

Main question

有人可能会给出一个解释或一些关于奇点如何相对于我的系统目录安装其容器的文档？看起来它使用用户工作区，因此cd ~/指向在主机系统内启动容器的用户的主目录。以下/看起来是根目录。有没有办法cd相对于奇点沙盒文件夹？例如，$SINGULARITY_PATH变量或构建参数。

Answer 1

我找到了解决方案。由于奇点使用sh shell，你必须使用bash -c命令来运行bash命令。因为在沙箱中你确实在主工作区中，最好安装在根文件夹而不是主文件夹下，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