Fix/Remove xauth. (#172)

# Description
Remove xauth as it is no longer needed. This shall remove the issue of
the file or folder /tmp/.docker.xauth being present already alltogether.

## Type of change
- Bug fix (non-breaking change which fixes an issue)

## Checklist before requesting a review
- [ ] I have performed a self-review of my code.
- [ ] If it is a core feature, I have added thorough tests.
- [ ] If this is a new component I have added examples.
- [ ] I updated the README and related documentation.

docker/run.sh

@@ -62,22 +62,7 @@ while [ "$1" != "" ]; do
 done
 
 
-
 XSOCK=/tmp/.X11-unix
-XAUTH=/tmp/.docker.xauth
-
-# A fix for the weird xauth issues
-if [ -d $XAUTH ]; then
-   rm -rf $XAUTH
-   touch $XAUTH
-fi
-
-if [ ! -f $XAUTH ]; then
-    touch $XAUTH
-fi
-
-xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
-sudo chown -R "$(whoami)" $XSOCK  $XAUTH
 GPUOPT="--device=/dev/dri/card0:/dev/dri/card0"
 
 if [ -f /usr/bin/nvidia-smi ]; then
@@ -114,10 +99,9 @@ docker run --privileged --shm-size=512m --cap-add=SYS_PTRACE --security-opt secc
        -d \
        --network host  -ti \
        -v $XSOCK:$XSOCK \
-       -v $XAUTH:$XAUTH \
        -v ${PWD}/..:/workdir/hephaestus \
        ${EXTRA_MOUNTS} \
        ${DEVICES} \
        ${DOCKER_EXTRA_FLAGS} \
        --entrypoint ${ENTRYPOINT}  \
-       -e XAUTHORITY=$XAUTH -e DISPLAY=${DISPLAY} ${DEVIMAGE}
+       -e DISPLAY=${DISPLAY} ${DEVIMAGE}

docker/version.sh

@@ -1,5 +1,5 @@
 HOST=ghcr.io/olympus-robotics
-VERSION=1.0.9
+VERSION=1.0.12
 IMAGE=hephaestus-dev
 
 # This is the version of the dep image. Increase this number everytime you change `external/CMakeLists.txt`

toolchains/toolchain_clang.cmake

@@ -1,6 +1,7 @@
 # =================================================================================================
 # Copyright (C) 2023-2024 HEPHAESTUS Contributors MIT License
 # =================================================================================================
+
 if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
   set(LLVM_PATH /opt/homebrew/Cellar/llvm/17.0.6_1/bin)
   set(CMAKE_C_COMPILER ${LLVM_PATH}/clang)
@@ -11,5 +12,4 @@ else()
 endif()
 set(CMAKE_CXX_FLAGS "-stdlib=libc++")
 set(CMAKE_EXE_LINKER_FLAGS "-stdlib=libc++ -lc++abi -fuse-ld=lld")
-set(CMAKE_EXE_LINKER_FLAGS "-stdlib=libc++ -lc++abi -fuse-ld=lld")
 set(CMAKE_CROSSCOMPILING FALSE)