From b984ebf9dc414d397fd2f7370984144f45b116a7 Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Wed, 19 Jan 2022 16:40:44 +0000
Subject: [PATCH] Added usb cam and volume for docker container ws_linux

---
 .gitmodules                 | 3 +++
 Legacy/Dockerfile           | 3 +--
 Legacy/entrypoint.sh        | 1 +
 Legacy/ws_linux/src/usb_cam | 1 +
 install.sh                  | 3 +++
 run.sh                      | 5 +++--
 6 files changed, 12 insertions(+), 4 deletions(-)
 create mode 100644 .gitmodules
 create mode 160000 Legacy/ws_linux/src/usb_cam

diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..2723ee4
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "Legacy/ws_linux/src/usb_cam"]
+	path = Legacy/ws_linux/src/usb_cam
+	url = https://github.com/ros-drivers/usb_cam
diff --git a/Legacy/Dockerfile b/Legacy/Dockerfile
index 82c92a3..3e5d53d 100644
--- a/Legacy/Dockerfile
+++ b/Legacy/Dockerfile
@@ -1,8 +1,7 @@
 FROM irth7/ros:hydro as build
 
 RUN sed -i 's/archive.ubuntu.com/old-releases.ubuntu.com/g' /etc/apt/sources.list && cat /etc/apt/sources.list
-RUN apt-get update && apt-get install -y ros-hydro-tf ros-hydro-dynamic-reconfigure ros-hydro-nav-msgs ros-hydro-hokuyo-node 
-COPY ws_linux /home/lab1_5/ws/ws_linux
+RUN apt-get update && apt-get install -y ros-hydro-tf ros-hydro-dynamic-reconfigure ros-hydro-nav-msgs ros-hydro-hokuyo-node v4l-utils python-catkin-tools ffmpeg
 ADD Aria /usr/local/Aria
 COPY entrypoint.sh /entrypoint.sh 
 
diff --git a/Legacy/entrypoint.sh b/Legacy/entrypoint.sh
index 8bd2904..ed8dcc1 100755
--- a/Legacy/entrypoint.sh
+++ b/Legacy/entrypoint.sh
@@ -24,3 +24,4 @@ set -x
 
 rosrun rosaria RosAria _port:=$ARIA_PORT  _tf_prefix:=PIONIER${PIONIER_ID} &
 rosrun hokuyo_node hokuyo_node _frame_id:="${ROS_NAMESPACE}/laser"
+rosrun usb_cam usb_cam_node
diff --git a/Legacy/ws_linux/src/usb_cam b/Legacy/ws_linux/src/usb_cam
new file mode 160000
index 0000000..3ce8ee1
--- /dev/null
+++ b/Legacy/ws_linux/src/usb_cam
@@ -0,0 +1 @@
+Subproject commit 3ce8ee1c47c03be37229bf5857ae9a309d8eb1e8
diff --git a/install.sh b/install.sh
index 599dfbb..6cbd1b6 100755
--- a/install.sh
+++ b/install.sh
@@ -7,6 +7,9 @@ fi
 
 cp rosaria-docker.service /etc/systemd/system/
 chmod g+w /etc/systemd/system/rosaria-docker.service
+
+git submodule init
+git submodule update
 systemctl daemon-reload
 systemctl enable rosaria-docker.service
 systemctl start rosaria-docker.service
diff --git a/run.sh b/run.sh
index 0d02c4b..898d02f 100755
--- a/run.sh
+++ b/run.sh
@@ -2,5 +2,6 @@
 # Script running rosaria inside docker container
 echo "ID: $PIONIER_ID"
 
-docker run --privileged --network=host --device=/dev/ttyS0 -i -e ROS_IP=$(hostname -I | awk '{print $1}') -e PIONIER_ID=$(hostname | sed 's/[^0-9]//g'
-) irth7/rosaria-legacy
+docker run --privileged --network=host --device=/dev/ttyS0 -i -e ROS_IP=$(hostname -I | awk '{print $1}') -e PIONIER_ID=$(hostname | sed 's/[^0-9]//g')\
+         --mount type=bind,source=/home/lab1_5/rosaria/Legacy/ws_linux,target=/home/lab1_5/ws/ws_linux  irth7/rosaria-legacy
+