From 519a0f103f732b34a2d51329da40d386e6273465 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Wed, 3 Aug 2022 19:51:02 +0900
Subject: [PATCH] [jsk_unitree_startup/cross] Add OPTIONS to passthrough user
 id for mac compatibility

---
 jsk_unitree_robot/cross/build_ros1.sh             | 15 +++++++++++++--
 .../cross/build_ros1_dependencies.sh              | 12 ++++++++++--
 jsk_unitree_robot/cross/build_user.sh             | 11 ++++++++++-
 jsk_unitree_robot/cross/run_user.sh               | 11 ++++++++++-
 4 files changed, 43 insertions(+), 6 deletions(-)

diff --git a/jsk_unitree_robot/cross/build_ros1.sh b/jsk_unitree_robot/cross/build_ros1.sh
index c5ee076c54..b95e48029b 100755
--- a/jsk_unitree_robot/cross/build_ros1.sh
+++ b/jsk_unitree_robot/cross/build_ros1.sh
@@ -33,7 +33,9 @@ mkdir -p ${HOST_INSTALL_ROOT}/ros1_inst
 if [ ${UPDATE_SOURCE_ROOT} -eq 1 ]; then
     vcs import --force --retry 3 --shallow ${SOURCE_ROOT}/src < repos/roseus_no_window.repos
     for dir in euslisp jskeus; do ls ${SOURCE_ROOT}/src/$dir/patches/; rsync -avz ${SOURCE_ROOT}/src/$dir/patches/ ${SOURCE_ROOT}/src/$dir; done
-    sed -i s@:{version}@0.0.0@ ${SOURCE_ROOT}/src/euslisp/package.xml ${SOURCE_ROOT}/src/jskeus/package.xml
+    # linux can use sed -i'.bak' and latest mac also supports same syntax.
+    # https://stackoverflow.com/questions/4247068/sed-command-with-i-option-failing-on-mac-but-works-on-linux/14813278#14813278
+    sed -i.bak s@:{version}@0.0.0@ ${SOURCE_ROOT}/src/euslisp/package.xml ${SOURCE_ROOT}/src/jskeus/package.xml
 fi
 wget https://patch-diff.githubusercontent.com/raw/PR2/pr2_mechanism/pull/346.diff -O ${SOURCE_ROOT}/pr2_mechanism-346.diff
 
@@ -46,8 +48,17 @@ JSK_ROBOT_UTILS="jsk_network_tools"
 DIAGNOSTIC_AGGREGATOR="diagnostic_aggregator"  # jsk_XXX_startup usually depends on diagnostic_aggregator
 PR2EUS="pr2eus"
 
+case ${OSTYPE} in
+    linux*)
+        OPTIONS="-u $(id -u $USER)"
+        ;;
+    darwin*)
+        OPTIONS=""
+        ;;
+esac
+
 docker run -it --rm \
-  -u $(id -u $USER) \
+  ${OPTIONS} \
   -e INSTALL_ROOT=${INSTALL_ROOT} \
   -e MAKEFLAGS=${MAKEFLAGS} \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies:ro \
diff --git a/jsk_unitree_robot/cross/build_ros1_dependencies.sh b/jsk_unitree_robot/cross/build_ros1_dependencies.sh
index 14c084d737..fa77182b0f 100755
--- a/jsk_unitree_robot/cross/build_ros1_dependencies.sh
+++ b/jsk_unitree_robot/cross/build_ros1_dependencies.sh
@@ -26,8 +26,17 @@ cp repos/ros1_dependencies.repos ${SOURCE_ROOT}/
 mkdir -p ${HOST_INSTALL_ROOT}/Python
 cp repos/go1_requirements.txt ${SOURCE_ROOT}/go1_requirements.txt
 
+case ${OSTYPE} in
+    linux*)
+        OPTIONS="-u $(id -u $USER)"
+    ;;
+    darwin*)
+        OPTIONS=""
+    ;;
+esac
+
 docker run -it --rm \
-  -u $(id -u $USER) \
+  ${OPTIONS} \
   -e INSTALL_ROOT=${INSTALL_ROOT} \
   -e MAKEFLAGS=${MAKEFLAGS} \
   -v ${PWD}/ros1_dependencies_build_scripts:/home/user/ros1_dependencies_build_scripts:ro \
@@ -43,7 +52,6 @@ docker run -it --rm \
       /home/user/ros1_dependencies_build_scripts/\$script_file || exit 1;
     done && \
     pip install -U --user pip && \
-    export PYTHONPATH=\"/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages\" && \
     export PKG_CONFIG_PATH=\"/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/pkgconfig\" && \
     ~/.local/bin/pip install --prefix=/opt/jsk/${INSTALL_ROOT}/Python -r /home/user/ros1_dependencies_sources/go1_requirements.txt \
     " 2>&1 | tee ${TARGET_MACHINE}_build_ros1_dependencies.log
diff --git a/jsk_unitree_robot/cross/build_user.sh b/jsk_unitree_robot/cross/build_user.sh
index f18831c411..956147f133 100755
--- a/jsk_unitree_robot/cross/build_user.sh
+++ b/jsk_unitree_robot/cross/build_user.sh
@@ -41,9 +41,18 @@ done
 # See https://github.com/k-okada/jsk_robot/issues/61
 docker run -it --rm ros1-unitree:${TARGET_MACHINE} bash -c 'exit' ||  docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
 
+case ${OSTYPE} in
+    linux*)
+        OPTIONS="-u $(id -u $USER)"
+        ;;
+    darwin*)
+        OPTIONS=""
+        ;;
+esac
+
 # run on docker
 docker run -it --rm \
-  -u $(id -u $USER) \
+  ${OPTIONS} \
   -e INSTALL_ROOT=${INSTALL_ROOT} \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies:ro \
   -v ${HOST_INSTALL_ROOT}/Python:/opt/jsk/${INSTALL_ROOT}/Python:ro \
diff --git a/jsk_unitree_robot/cross/run_user.sh b/jsk_unitree_robot/cross/run_user.sh
index 07c9f39652..b4c80ed932 100755
--- a/jsk_unitree_robot/cross/run_user.sh
+++ b/jsk_unitree_robot/cross/run_user.sh
@@ -7,10 +7,19 @@ SOURCE_ROOT=${TARGET_MACHINE}_User
 
 set -xeuf -o pipefail
 
+case ${OSTYPE} in
+    linux*)
+        OPTIONS="-u $(id -u $USER)"
+        ;;
+    darwin*)
+        OPTIONS=""
+        ;;
+esac
+
 #  -v ${PWD}/${TARGET_MACHINE}_ws_system:/home/user/${TARGET_MACHINE}_ws_system:rw \
 # run on docker
 docker run -it --rm \
-  -u $(id -u $USER) \
+  ${OPTIONS} \
   -e INSTALL_ROOT=${INSTALL_ROOT} \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies:ro \
   -v ${HOST_INSTALL_ROOT}/Python:/opt/jsk/${INSTALL_ROOT}/Python:ro \