Support host networking for start_ursim.sh

[acmorrow]

Feature summary

On macOS, docker containers run in a virtual machine. That means that the default 192.168.56.101 IP that the ursim container starts on is not reachable from the docker host.

If the script offered a mode that skipped creating ursim_net and ran with:

-      --net ursim_net --ip $IP_ADDRESS \
+      --net host \

Then it would be possible to run ursim on macos and access the simulated robot at localhost.

I did this by hacking up start_ursim.sh. It isn't ideal because it runs under emulation (there doesn't appear to be an arm64 image of universalrobots/ursim_e-series, but it was enough for me to get the integration tests building and passing locally on my mac by adding a INTEGRATION_TESTS_ROBOT_IP to tests/CMakeLists.txt, plumbing that through as part of EXTRA_ARGS, and then configuring with that set to 127.0.0.1.

[urfeex]

I think, this is a very valid request. Would you be interested in implementing this @acmorrow?
Out of curiosity: From my point of view, setting a port forwarding should usually be sufficient to reach the robot (by default all necessary ports should be forwarded anyway). Why was that not sufficient for your use case?

Also, adding the robot IP to the tests is something I wanted to do for a while, but never got to it / it was never important enough to tackle it.

And last: If you're running the docker container in a virtualbox, anyway, you could also use the URSim VM that is downloadable on UR's Download page. Also, for PolyScope X there is an arm64 image to be used on Mac. I don't know, however, how well that integrates with the start script.

[acmorrow]

I think, this is a very valid request. Would you be interested in implementing this @acmorrow?

Let's see how the other answers / suggestions you made land and then if this still seems important I may put together a PR.

Out of curiosity: From my point of view, setting a port forwarding should usually be sufficient to reach the robot (by default all necessary ports should be forwarded anyway). Why was that not sufficient for your use case?

I am not sure. I will try it again. I did spend some time a few months back attempting this (I assume you are referring here to the -f argument to start_ursim.sh), so this time when I had reason to want to run the simulator on my mac, I just bypassed it with the host networking hack.

Also, adding the robot IP to the tests is something I wanted to do for a while, but never got to it / it was never important enough to tackle it.

This got handled in #530 and #531 .

And last: If you're running the docker container in a virtualbox, anyway, you could also use the URSim VM that is downloadable on UR's Download page.

I was not aware of that at all, I'l also give that a try and see if it work.

Also, for PolyScope X there is an arm64 image to be used on Mac. I don't know, however, how well that integrates with the start script.

I think, for the time being, that we are stuck on PolyScope 5, as I don't think our tele-op stuff works with a PolyScope X robot due to changes in the dashboard interface? But perhaps my information is out of date.

Anyway, I'll try again the port forwarding and the VM. If either of those works, I'll close this.