Disable Startup Programs

Since our image is factory-configured to start with a startup program, running other examples without disabling it will result in some abnormal errors!

The method for disabling startup programs on Raspberry Pi and Jetson motherboards using Dofbot is the same!

Raspberry Pi

Temporarily Disable Startup Programs

Docker Basics

This section only introduces some Docker commands; for more detailed information, please refer to the Docker chapter tutorial.

Entering the Same Container from Multiple Terminals

Since our system automatically starts a specific container upon boot, we need to enter the same container to run the script that disables startup programs.

docker ps

Used to list currently running containers.

docker run

Used to create and start a new container instance.

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#Start a container in interactive mode and execute the `/bin/bash` command inside the container
docker exec -it 820a4376b538 /bin/bash

Running the script

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cd /root/APP_DOFBOT/
sh kill_app.sh

Temporarily stopping a large program only takes effect in the currently running container. If you restart the container yourself using a script, Docker will rerun the large program at startup!

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The script that starts the large program is added to the .bashrc file inside Docker. Therefore, every time a new container starts, the large program runs at startup. If multiple containers are started and not properly shut down, the large program will display a message indicating that the port is in use!

Permanently Disable the Startup Program

Since our large-scale startup program is configured within the .bashrc file, we need to either comment out or delete the lines in .bashrc that relate to YahboomArm.pyc. This content is located at the very bottom of the file.

Once the modifications are complete, we need to commit a new version of the Docker image:

First, check the currently running containers:

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docker ps

docker commit

This command is used to save the current state of a container as a new image. Since tags such as 1.0 and dofbot already exist within the Docker environment, I will demonstrate this process using the tag dofbot_v1.0.

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# docker commit [OPTIONS] CONTAINER [REPOSITORY[:TAG]]
docker commit 820a4376b538   192.168.2.51:5000/dofbot_ai:V1

Exiting the Container

Running in the Foreground

If the container is currently running in the foreground, you can simply type exit in the terminal to quit!

Running in the Background

docker stop

This command is used to stop a specified container.

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# docker stop [OPTIONS] CONTAINER
docker stop 632bb2472420

Startup Script

Modifying the Startup Script

The startup script for automatic execution upon boot: Docker_Ros.sh

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#!/bin/bash

# Wait for the Docker service to start
while true; do
    if systemctl is-active --quiet docker; then
        echo "Docker service has been started"
        break
    else
        echo "The Docker service has not started, waiting..."
        sleep 1
    fi
done

# Docker start
xhost +

docker run -it --rm \
--privileged=true \
--net=host \
--env="DISPLAY" \
--env="QT_X11_NO_MITSHM=1" \
-v /tmp/.X11-unix:/tmp/.X11-unix \
--security-opt apparmor:unconfined \
-v /home/pi/Temp:/root/Temp \
--device=/dev/video0 \
--device=/dev/i2c-1 \
192.168.2.51:5000/dofbot_ai:3.0.1 /bin/bash

Update to the new Docker image we just submitted:

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#!/bin/bash

# Wait for the Docker service to start
while true; do
    if systemctl is-active --quiet docker; then
        echo "Docker service has been started"
        break
    else
        echo "The Docker service has not started, waiting..."
        sleep 1
    fi
done

# Docker start
xhost +

docker run -it --rm \
--privileged=true \
--net=host \
--env="DISPLAY" \
--env="QT_X11_NO_MITSHM=1" \
-v /tmp/.X11-unix:/tmp/.X11-unix \
--security-opt apparmor:unconfined \
-v /home/pi/Temp:/root/Temp \
--device=/dev/video0 \
--device=/dev/i2c-1 \
192.168.2.51:5000/dofbot_ai:V1 /bin/bash

Run the Startup Script

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./Docker_Ros.sh

This prevents the large startup application from launching. If you do need to launch the large startup application, simply modify the specified container within the Docker_Ros.sh script to use the factory default image.

That's all there is to it!

Disable the Docker Autostart Script

Enter the following command to restart:

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#RaspberryPi5
sudo rm -rf /home/pi/.config/autostart/Docker_Ros.desktop
#jetson—nano
sudo rm -rf /home/jetson/.config/autostart/Docker_Ros.desktop

Restore Docker Startup Script

Enter the command below to restart:

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#RaspberryPi5
sudo cp Docker_Ros.desktop /home/pi/.config/autostart/
#jetson-nano
sudo cp Docker_Ros.desktop /home/jetson/.config/autostart/