From f15058dddabab6835759f7f354e02fdc57dc83b2 Mon Sep 17 00:00:00 2001
From: Paul Tunison <paul.tunison@kitware.com>
Date: Mon, 18 Dec 2023 14:52:09 -0500
Subject: [PATCH] Reinstate bash code to generate xauth file for sharing with
 the container

For some reason this was removed in an earlier commit relating to adding
jupyter notebook runtime mounting with no indication as to why.
Interpreting this as a mistake as I can confirm that X-pass through
graphics tools no longer work with the current setup, but renew working
when adding back in proper temporary xauth files for the containers to
use.

Added a note that we currently only support a pip-installed
docker-compose tool.
---
 README.md                                                | 7 ++++++-
 angel-workspace-shell.sh                                 | 3 +++
 tmux/demos/cooking/cooking-angel-system_from-old-bag.yml | 5 +++++
 3 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index e720bb661..4f1a10402 100644
--- a/README.md
+++ b/README.md
@@ -78,13 +78,18 @@ Workspace root: `./ros/`
 System requirements
 * ansible
 * docker
-* docker-compose
+* (pip-installed) docker-compose
 
 Some files required from the `https://data.kitware.com` Girder service require
 authentication due to their protected nature.
 The environment variable `GIRDER_API_KEY` must be defined with a valid API key,
 otherwise an authentication token cannot be retrieved.
 
+We currently require a pip-installed `docker-compose` tool, as opposed to a
+system package-manager installed `docker-compose-plugin` package.
+The package manager docker plugin behaves a little differently that our current
+docker-compose configuration and scripting does not yet handle.
+
 ## Provision Files
 External large files should be provisioned by running the ansible tool:
 
diff --git a/angel-workspace-shell.sh b/angel-workspace-shell.sh
index 0c8912456..e42c2318c 100755
--- a/angel-workspace-shell.sh
+++ b/angel-workspace-shell.sh
@@ -77,6 +77,9 @@ mkdir -p "${XAUTH_DIR}"
 # Exporting to be used in replacement in docker-compose file.
 XAUTH_FILEPATH="$(mktemp "${XAUTH_DIR}/local-XXXXXX.xauth")"
 export XAUTH_FILEPATH
+log "[INFO] Creating local xauth file: $XAUTH_FILEPATH"
+touch "$XAUTH_FILEPATH"
+xauth nlist "$DISPLAY" | sed -e 's/^..../ffff/' | xauth -f "$XAUTH_FILEPATH" nmerge -
 
 # Conditionally gather if jupyter is available in the current
 # environment and parameterize mounting it's runtime dir
diff --git a/tmux/demos/cooking/cooking-angel-system_from-old-bag.yml b/tmux/demos/cooking/cooking-angel-system_from-old-bag.yml
index 33dc4d4cd..8b18d2fc0 100644
--- a/tmux/demos/cooking/cooking-angel-system_from-old-bag.yml
+++ b/tmux/demos/cooking/cooking-angel-system_from-old-bag.yml
@@ -69,6 +69,11 @@ windows:
             -p image_topic:=PVFramesRGB
             -p output_topic:=PVFramesRGB_TS
 
+        # # Visualize RGB Images being output from the headset
+        # - rqt_rgb_images: rqt -s rqt_image_view/ImageView
+        #     --args ${ROS_NAMESPACE}/PVFramesBGR
+        #     --ros-args -p _image_transport:=raw
+
   - object_detector:
       layout: even-vertical
       panes: