Ocean waves and WAM-V

.clang-format

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+---
+Language:        Cpp
+BasedOnStyle:  Google
+
+ColumnLimit: 100
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BreakBeforeBraces: Allman
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeBlocks: Preserve
+InsertBraces: true
+...

.codespellrc

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+[codespell]
+skip = *.json
+ignore-words-list = parm,ned,sitl

.docker/README.md

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+# ROS2 Control Docker Containers
+
+Meant to provide basic docker containers for CI or development purposes. To use them, make sure you have [Docker](https://docs.docker.com/get-docker/) installed. You then can pull the latest source or build image or build any version and run the image by following tag specific commands as described below:
+
+## Source folder and tag
+Downloads and builds daves into a workspace for development use exactly as is found [here](https://control.ros.org/master/doc/getting_started/getting_started.html#building-from-source). This is primarily used for development and CI of dave and related packages.
+
+You can pull a prebuilt image with this docker tag: `ghcr.io/ros-controls/dave_source`.
+
+To build and run the container, execute the following code in a terminal:
+```
+docker build --tag dave:source --file .docker/jazzy.dockerfile .
+docker run -it dave:source
+```
+
+If you are not familiar with docker, you'll want to consider how you want to maintain persistent data across container sessions. The above commands with start a **new** container and that container will persist as long as you don't remove it. If you want to return to it, you'll have to use the `docker start` command with the container id.
+
+A better way to maintain your code changes across coding sessions is to use docker volumes or bind mounts. Web search those terms for more documentation but a simple example is provided below. First, you must build the container as shown in the first command above, then:
+
+Bind mount example:
+```
+docker run -it --mount type=bind,source=/local/path/to/repo,destination=/root/ws_dave/src/<path to repo you want replaced> dave:source
+```
+Note: the above example replaces the containers contents with whatever you mount.
+
+Volume example:
+```
+docker run -it --mount type=volume,source=name-of-volume,destination=/root/ws_dave/src/ dave:source
+```
+Note: this is probably the preferred solution as changes persist across rebuilds of container and doesn't require you to pull all repositories that you want to edit as they'll already be in the container.

.docker/jazzy.amd64.dockerfile

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+ARG ROS_DISTRO="jazzy"
+FROM osrf/ros:$ROS_DISTRO-desktop-full
+ARG BRANCH="ros2"
+
+# Install Utilities
+# hadolint ignore=DL3008
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    sudo xterm init systemd snapd vim net-tools \
+    curl wget git build-essential cmake cppcheck \
+    gnupg libeigen3-dev libgles2-mesa-dev \
+    lsb-release pkg-config protobuf-compiler \
+    python3-dbg python3-pip python3-venv python3-pexpect \
+    python-is-python3 python3-future python3-wxgtk4.0 \
+    qtbase5-dev ruby dirmngr gnupg2 nano xauth \
+    software-properties-common htop libtool \
+    x11-apps mesa-utils bison flex automake \
+    && rm -rf /var/lib/apt/lists/
+
+# Prereqs for Ardupilot - Ardusub
+ADD --chown=root:root --chmod=0644 https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list /etc/ros/rosdep/sources.list.d/00-gazebo.list
+RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" |  tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
+    && apt-get update && apt-get install -y --no-install-recommends \
+    libgz-sim8-dev rapidjson-dev libopencv-dev \
+    libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev \
+    gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl \
+    && rm -rf /var/lib/apt/lists/
+
+# Locale for UTF-8
+RUN truncate -s0 /tmp/preseed.cfg && \
+   (echo "tzdata tzdata/Areas select Etc" >> /tmp/preseed.cfg) && \
+   (echo "tzdata tzdata/Zones/Etc select UTC" >> /tmp/preseed.cfg) && \
+   debconf-set-selections /tmp/preseed.cfg && \
+   rm -f /etc/timezone && \
+   dpkg-reconfigure -f noninteractive tzdata
+# hadolint ignore=DL3008
+RUN apt-get update && \
+    apt-get -y install --no-install-recommends locales tzdata \
+    && rm -rf /tmp/*
+RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
+    export LANG=en_US.UTF-8
+
+# Make user (assume host user has 1000:1000 permission)
+ARG USER=docker
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+RUN adduser --shell /bin/bash --disabled-password --gecos '' $USER \
+    && echo "$USER:$USER" | chpasswd && adduser $USER sudo \
+    && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+
+# Install ROS-Gazebo framework
+ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/ros-jazzy-binary-gz-harmonic-source-install.sh install.sh
+RUN bash install.sh
+
+# Install Ardupilot - Ardusub
+ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/ardusub-ubuntu-install.sh install.sh
+RUN bash install.sh
+# Install mavros
+ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/mavros-ubuntu-install.sh install.sh
+RUN bash install.sh
+
+# Set up Dave workspace
+ENV DAVE_WS=/opt/dave_ws
+WORKDIR $DAVE_WS/src
+
+ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/repos/dave.$ROS_DISTRO.repos $DAVE_WS/dave.repos
+RUN vcs import --shallow --input $DAVE_WS/dave.repos
+
+# Install dave dependencies
+RUN apt-get update && rosdep update && \
+    rosdep install -iy --from-paths . && \
+    rm -rf /var/lib/apt/lists/
+
+# Compile Dave
+WORKDIR $DAVE_WS
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
+    colcon build
+
+# source entrypoint setup
+RUN touch /ros_entrypoint.sh && sed --in-place --expression \
+    '$i source "/opt/dave_ws/install/setup.bash"' /ros_entrypoint.sh \
+    && sed --in-place --expression \
+    '$i cd /root' /ros_entrypoint.sh
+
+RUN cp /home/docker/.bashrc ~/.bashrc
+
+# Source ROS and Gazebo
+RUN sed --in-place --expression \
+'$i source "/opt/ros/jazzy/setup.bash"' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i source "/opt/gazebo/install/setup.bash"' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i source "/opt/mavros/install/setup.bash"' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export GEOGRAPHICLIB_GEOID_PATH=/usr/local/share/GeographicLib/geoids' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export PYTHONPATH=\$PYTHONPATH:/opt/gazebo/install/lib/python' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export PATH=/opt/ardupilot_dave/ardupilot/build/sitl/bin:\$PATH' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export PATH=/opt/ardupilot_dave/ardupilot/Tools/autotest:\$PATH' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/ardupilot_dave/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export GZ_SIM_RESOURCE_PATH=/opt/ardupilot_dave/ardupilot_gazebo/models:/opt/ardupilot_dave/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''\\033[1;37m \n=====\n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''  ____    ___     _______      _                     _   _      \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\'' |  _ \\  / \\ \\   / | ____|    / \\   __ _ _   _  __ _| |_(_) ___ \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\'' | | | |/ _ \\ \\ / /|  _|     / _ \\ / _` | | | |/ _` | __| |/ __|\n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\'' | |_| / ___ \\ V / | |___   / ___ \\ (_| | |_| | (_| | |_| | (__ \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\'' |____/_/   \\_\\_/  |_____| /_/   \\_\\__, |\\__,_|\\__,_|\\__|_|\\___|\n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\'' __     ___      _               _     _____            _       \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\'' \\ \\   / (_)_ __| |_ _   _  __ _| |   | ____|_ ____   _(_)_ __  \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''  \\ \\ / /| | `__| __| | | |/ _` | |   |  _| | `_ \\ \\ / | | `__| \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''   \\ V / | | |  | |_| |_| | (_| | |   | |___| | | \\ V /| | |_   \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''    \\_/  |_|_|   \\__|\\__,_|\\__,_|_|   |_____|_| |_|\\_/ |_|_(_)  \n\\033[0m'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''\\033[1;32m\n =====\\033[0m\n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''\\033[1;32m 👋 Hi! This is Docker virtual environment for DAVE\n\\033[0m'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''\\033[1;33m\tROS2 Jazzy - Gazebo Harmonic (w ardupilot(ardusub) + mavros)\n\n\\033[0m'\'' ' /ros_entrypoint.sh

.docker/jazzy.arm64v8.dockerfile

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+# FROM arm64v8/ubuntu:24.04
+# # Set RDP and SSH environments
+# ARG X11Forwarding=true
+# # hadolint ignore=DL3008,DL3015,DL3009
+# RUN DEBIAN_FRONTEND=noninteractive apt-get update && \
+#         apt-get install -y ubuntu-desktop-minimal dbus-x11 xrdp sudo; \
+#     [ $X11Forwarding = 'true' ] && apt-get install -y openssh-server; \
+#     apt-get autoremove --purge; \
+#     apt-get clean; \
+#     rm /run/reboot-required*
+
+# ARG USER=docker
+# ARG PASS=docker
+
+# RUN useradd -s /bin/bash -m $USER -p "$(openssl passwd "$PASS")"; \
+#     usermod -aG sudo $USER; echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers; \
+#     adduser xrdp ssl-cert; \
+#     # Setting the required environment variables
+#     echo 'LANG=en_US.UTF-8' >> /etc/default/locale; \
+#     echo 'export GNOME_SHELL_SESSION_MODE=ubuntu' > /home/$USER/.xsessionrc; \
+#     echo 'export XDG_CURRENT_DESKTOP=ubuntu:GNOME' >> /home/$USER/.xsessionrc; \
+#     echo 'export XDG_SESSION_TYPE=x11' >> /home/$USER/.xsessionrc; \
+#     # Enabling log to the stdout
+#     sed -i "s/#EnableConsole=false/EnableConsole=true/g" /etc/xrdp/xrdp.ini; \
+#     # Disabling system animations and reducing the
+#     # image quality to improve the performance
+#     sed -i 's/max_bpp=32/max_bpp=16/g' /etc/xrdp/xrdp.ini; \
+#     gsettings set org.gnome.desktop.interface enable-animations true; \
+#     # Listening on wildcard address for X forwarding
+#     [ $X11Forwarding = 'true' ] && \
+#         sed -i 's/#X11UseLocalhost yes/X11UseLocalhost no/g' /etc/ssh/sshd_config || \
+#         sed -i 's/#PasswordAuthentication yes/PasswordAuthentication yes/g' /etc/ssh/sshd_config || \
+#         :;
+
+# # Disable initial welcome window
+# RUN echo "X-GNOME-Autostart-enabled=false" >> /etc/xdg/autostart/gnome-initial-setup-first-login.desktop
+
+# # Install basics
+# ENV DEBIAN_FRONTEND noninteractive
+# ENV DEBCONF_NONINTERACTIVE_SEEN=true
+# # hadolint ignore=DL3008
+# RUN apt-get update && \
+#     apt-get install -y --no-install-recommends \
+#     sudo xterm init systemd snapd vim net-tools \
+#     curl wget git build-essential cmake cppcheck \
+#     gnupg libeigen3-dev libgles2-mesa-dev \
+#     lsb-release pkg-config protobuf-compiler \
+#     python3-dbg python3-pip python3-venv \
+#     qtbase5-dev ruby dirmngr gnupg2 nano xauth \
+#     software-properties-common htop libtool \
+#     x11-apps mesa-utils bison flex automake && \
+#     rm -rf /var/lib/apt/lists/
+
+# Locale for UTF-8
+# RUN truncate -s0 /tmp/preseed.cfg && \
+#    (echo "tzdata tzdata/Areas select Etc" >> /tmp/preseed.cfg) && \
+#    (echo "tzdata tzdata/Zones/Etc select UTC" >> /tmp/preseed.cfg) && \
+#    debconf-set-selections /tmp/preseed.cfg && \
+#    rm -f /etc/timezone && \
+#    dpkg-reconfigure -f noninteractive tzdata
+# # hadolint ignore=DL3008
+# RUN apt-get update && \
+#     apt-get -y install --no-install-recommends locales tzdata \
+#     && rm -rf /tmp/*
+# RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
+#     export LANG=en_US.UTF-8
+
+# # Run
+# EXPOSE 3389/tcp
+# EXPOSE 22/tcp
+# # hadolint ignore=DL3025
+# CMD sudo rm -f /var/run/xrdp/xrdp*.pid >/dev/null 2>&1; \
+#     sudo service dbus restart >/dev/null 2>&1; \
+#     sudo /usr/lib/systemd/systemd-logind >/dev/null 2>&1 & \
+#     [ -f /usr/sbin/sshd ] && sudo /usr/sbin/sshd; \
+#     sudo xrdp-sesman --config /etc/xrdp/sesman.ini; \
+#     sudo xrdp --nodaemon --config /etc/xrdp/xrdp.ini
+
+# Using the pre-built image for above commented out dockerfile code lines
+# hadolint ignore=DL3007
+FROM woensugchoi/ubuntu-arm-rdp-base:latest
+ARG USER=docker
+
+# ROS-Gazebo arg
+ARG BRANCH="ros2"
+ARG ROS_DISTRO="jazzy"
+
+# Install ROS-Gazebo framework
+ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/ros-jazzy-binary-gz-harmonic-source-install.sh install.sh
+RUN bash install.sh
+
+# Prereqs for Ardupilot - Ardusub
+ENV DEBIAN_FRONTEND=noninteractive
+ENV DEBCONF_NONINTERACTIVE_SEEN=true
+# hadolint ignore=DL3008
+ADD --chown=root:root --chmod=0644 https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list /etc/ros/rosdep/sources.list.d/00-gazebo.list
+RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" |  tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
+    && apt-get -q update && \
+    apt-get install -y --no-install-recommends \
+    python-is-python3 python3-future python3-wxgtk4.0 python3-pexpect \
+    libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev \
+    libgz-sim8-dev rapidjson-dev libopencv-dev libasio-dev \
+    gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl \
+    && rm -rf /var/lib/apt/lists/
+# Install mavros
+ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/mavros-ubuntu-install.sh install.sh
+RUN bash install.sh
+
+# Download the background image from GitHub raw content URL
+# hadolint ignore=DL3047
+RUN wget -O /usr/share/backgrounds/custom-background.png -q \
+    https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/background.png && \
+    mv /usr/share/backgrounds/warty-final-ubuntu.png \
+        /usr/share/backgrounds/warty-final-ubuntu.png.bak && \
+    mv /usr/share/backgrounds/custom-background.png \
+        /usr/share/backgrounds/warty-final-ubuntu.png && \
+    cp /usr/share/backgrounds/warty-final-ubuntu.png \
+        /usr/share/backgrounds/ubuntu-wallpaper-d.png
+
+# Install Ardupilot - Ardusub
+USER docker
+RUN wget -O /tmp/install.sh https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/extras/ardusub-ubuntu-install-local.sh
+RUN chmod +x /tmp/install.sh && bash /tmp/install.sh
+
+# Set up Dave workspace
+ENV DAVE_UNDERLAY=/home/$USER/dave_ws
+WORKDIR $DAVE_UNDERLAY/src
+RUN wget -O /home/$USER/dave_ws/dave.repos -q https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/repos/dave.$ROS_DISTRO.repos
+RUN vcs import --shallow --input "/home/$USER/dave_ws/dave.repos"
+
+USER root
+# hadolint ignore=DL3027
+RUN apt update && apt --fix-broken install && \
+    rosdep init && rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install --rosdistro $ROS_DISTRO -iy --from-paths . && \
+    rm -rf /var/lib/apt/lists/
+USER docker
+
+# Build dave workspace
+WORKDIR $DAVE_UNDERLAY
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && colcon build
+
+# Set User as user
+USER docker
+RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && \
+    echo "source /opt/gazebo/install/setup.bash" >> ~/.bashrc && \
+    echo "source /opt/mavros/install/setup.bash" >> ~/.bashrc && \
+    echo "source $DAVE_UNDERLAY/install/setup.bash" >> ~/.bashrc && \
+    echo "export GEOGRAPHICLIB_GEOID_PATH=/usr/local/share/GeographicLib/geoids" >> ~/.bashrc && \
+    echo "export PYTHONPATH=\$PYTHONPATH:/opt/gazebo/install/lib/python" >> ~/.bashrc && \
+    echo "export PATH=/home/$USER/ardupilot_dave/ardupilot/Tools/autotest:\$PATH" >> ~/.bashrc && \
+    echo "export PATH=/home/$USER/ardupilot_dave/ardupilot/build/sitl/bin:\$PATH" >> ~/.bashrc && \
+    echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=/home/$USER/ardupilot_dave/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH" >> ~/.bashrc && \
+    echo "export GZ_SIM_RESOURCE_PATH=/home/$USER/ardupilot_dave/ardupilot_gazebo/models:/home/$USER/ardupilot_dave/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH" >> ~/.bashrc && \
+    echo "\n\n" >> ~/.bashrc && echo "if [ -d ~/HOST ]; then chown $USER:$USER ~/HOST; fi" >> ~/.bashrc  && \
+    echo "\n\n" >> ~/.bashrc
+
+# Other environment variables
+RUN echo "export XDG_RUNTIME_DIR=~/.xdg_log" >> ~/.bashrc && \
+    echo "unset SESSION_MANAGER" >> ~/.bashrc
+
+# Create and write the welcome message to a new file
+RUN mkdir -p /home/docker/.config/autostart && \
+    printf '\033[1;37m =====\n' >> ~/.hi && \
+    printf '  ____    ___     _______      _                     _   _      \n' >> ~/.hi && \
+    printf ' |  _ \  / \ \   / | ____|    / \   __ _ _   _  __ _| |_(_) ___ \n' >> ~/.hi && \
+    printf ' | | | |/ _ \ \ / /|  _|     / _ \ / _` | | | |/ _` | __| |/ __|\n' >> ~/.hi && \
+    printf ' | |_| / ___ \ V / | |___   / ___ | (_| | |_| | (_| | |_| | (__ \n' >> ~/.hi && \
+    printf ' |____/_/   \_\_/  |_____| /_/   \_\__, |\__,_|\__,_|\__|_|\___|\n' >> ~/.hi && \
+    printf ' __     ___      _               _     _____            _       \n' >> ~/.hi && \
+    printf ' \ \   / (_)_ __| |_ _   _  __ _| |   | ____|_ ____   _(_)_ __  \n' >> ~/.hi && \
+    printf '  \ \ / /| | `__| __| | | |/ _` | |   |  _| | `_ \ \ / | | `__| \n' >> ~/.hi && \
+    printf '   \ V / | | |  | |_| |_| | (_| | |   | |___| | | \ V /| | |_   \n' >> ~/.hi && \
+    printf '    \_/  |_|_|   \__|\__,_|\__,_|_|   |_____|_| |_|\_/ |_|_(_)  \n\033[0m' >> ~/.hi && \
+    printf '\033[1;32m\n =====\n\033[0m' >> ~/.hi && \
+    printf "\\033[1;32m 👋 Hi! This is Docker virtual environment for DAVE\n\\033[0m" \
+    >> ~/.hi && \
+    printf "\\033[1;33m\tROS2 Jazzy - Gazebo Harmonic (w ardupilot(ardusub) + mavros)\n\n\n\\033[0m" \
+    >> ~/.hi
+
+    # Remove sudo message
+RUN touch /home/docker/.sudo_as_admin_successful
+
+# Autostart terminal
+# hadolint ignore=SC3037
+RUN echo "[Desktop Entry]\nType=Application" \
+    > /home/docker/.config/autostart/terminal.desktop && \
+    echo "Exec=gnome-terminal -- bash -c 'cat ~/.hi; cd ~/HOST; exec bash'" \
+    >> /home/docker/.config/autostart/terminal.desktop && \
+    echo -e "X-GNOME-Autostart-enabled=true" \
+    >> /home/docker/.config/autostart/terminal.desktop