Releasing update of base

.github/workflows/bump-version.yml

@@ -11,7 +11,7 @@ jobs:
       with:
         fetch-depth: '0'
     - name: Bump version and push tag
-      uses: anothrNick/github-tag-action@1.46.0
+      uses: anothrNick/github-tag-action@1.61.0
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
         WITH_V: true

ce/Dockerfile

@@ -1,6 +1,6 @@
 # This Dockerfile is used to build an rviz image based on Ubuntu
 ARG DOCKER_REGISTRY="pubregistry.aws.cloud.mov.ai"
-FROM ${DOCKER_REGISTRY}/ce/movai-base-focal:v1.4.11
+FROM ${DOCKER_REGISTRY}/ce/movai-base-focal:v2.4.0
 
 LABEL description="MOV.AI Graphical Tools"
 LABEL maintainer="devops@mov.ai"

files/bin/rviz.sh

@@ -2,6 +2,4 @@
 # File: rviz.sh
 set -e
 
-source "/opt/ros/${ROS_DISTRO}/setup.bash"
-
-ROS_MASTER_URI="http://${ROS_MASTER}:${ROS_MASTER_PORT}" "/opt/ros/${ROS_DISTRO}/bin/rviz"
+ROS_MASTER_URI="http://${ROS_MASTER}:${ROS_MASTER_PORT}" "/usr/bin/rviz"

files/common/install/ros-tools.sh

@@ -2,7 +2,12 @@
 ### every exit != 0 fails the script
 set -e
 
-echo "Install IceWM UI components"
+echo "Setup ROS-Tools repo"
+sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+
+echo "Install ROS-Tools components"
 apt-get update
-apt-get install -y terminator
+apt-get install --no-install-recommends -y rviz \
+    "ros-$ROS_DISTRO-rqt" "ros-$ROS_DISTRO-rqt-common-plugins"
 apt-get clean -y

files/docker-entrypoint.sh

@@ -22,42 +22,5 @@ ln -sf /proc/1/fd/1 ${APP_LOGS}/stdout
 
 [ -f ${MOVAI_HOME}/.welcome ] && cat ${MOVAI_HOME}/.welcome
 
-# Code from https://stackoverflow.com/questions/4023830/how-to-compare-two-strings-in-dot-separated-version-format-in-bash
-
-function compare_version() {
-
-    if [ "${1}" == "${2}" ]; then
-        return 0
-    fi
-
-    local IFS=.
-    local i ver1=(${1}) ver2=(${2})
-    # fill empty fields in ver1 with zeros
-    for ((i = ${#ver1[@]}; i < ${#ver2[@]}; i++)); do
-        ver1[i]=0
-    done
-
-    for ((i = 0; i < ${#ver1[@]}; i++)); do
-        if [[ -z ${ver2[i]} ]]; then
-            # fill empty fields in ver2 with zeros
-            ver2[i]=0
-        fi
-        if ((10#${ver1[i]} > 10#${ver2[i]})); then
-            return 1
-        fi
-        if ((10#${ver1[i]} < 10#${ver2[i]})); then
-            return 2
-        fi
-    done
-
-    return 0
-}
-
-# If we have updates on our update folder we do the update
-if [ $(ls ${APP_UPDATES}/movai-*_latest_*.deb 2>/dev/null) ]; then
-    # Run the update procedure and exit if everything goes well
-    update.sh && exit
-fi
-
 # Run command
 exec /usr/local/bin/movai-entrypoint.sh ${@}

files/home/.bashrc

@@ -113,6 +113,8 @@ if [ "$TERM" != "linux" ] && [ -f "/usr/local/bin/powerline-go" ]; then
     PROMPT_COMMAND="_update_ps1; $PROMPT_COMMAND"
 fi
 
-source "/opt/ros/$ROS_DISTRO/setup.bash"
+if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then
+    source "/opt/ros/$ROS_DISTRO/setup.bash"
+fi
 
 export ROS_MASTER_URI="http://${ROS_MASTER}:${ROS_MASTER_PORT}"

files/home/default.rviz

@@ -199,7 +199,7 @@ Visualization Manager:
           Use Fixed Frame: true
           Use rainbow: true
           Value: false
-      Enabled: true
+      Enabled: false
       Name: Laser Scans
     - Class: rviz/Group
       Displays:
@@ -285,6 +285,26 @@ Visualization Manager:
           Value: false
       Enabled: false
       Name: Cameras
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /obstacle_protection_footprint
+          Name: protection_area
+          Namespaces:
+            footprint: true
+          Queue Size: 100
+          Value: true
+        - Class: rviz/Marker
+          Enabled: false
+          Marker Topic: /obstacle_warning_footprint
+          Name: warning_area
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: false
+      Enabled: true
+      Name: Obstacle_Detection
     - Class: rviz/Group
       Displays:
         - Class: rviz/Group
@@ -713,7 +733,7 @@ Visualization Manager:
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
       Theta std deviation: 0.2617993950843811
-      Topic: /initialpose  
+      Topic: /initialpose
       X std deviation: 0.5
       Y std deviation: 0.5
     - Class: rviz/SetGoal
@@ -731,6 +751,13 @@ Visualization Manager:
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: -0.4448740482330322
+        Y: -0.15840429067611694
+        Z: -0.26984840631484985
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582

files/ubuntu/install/icewm_ui.sh

@@ -3,7 +3,7 @@
 set -e
 
 echo "Install IceWM UI components"
-apt-get update 
-apt-get install -y supervisor icewm xterm xfonts-base xauth xinit
+apt-get update
+apt-get install --no-install-recommends -y supervisor icewm xterm xfonts-base xauth xinit
 apt-get purge -y pm-utils xscreensaver*
 apt-get clean -y

files/ubuntu/install/install_custom_fonts.sh

@@ -3,4 +3,4 @@
 set -e
 
 echo "Installing ttf-wqy-zenhei"
-apt-get install -y ttf-wqy-zenhei
+apt-get install --no-install-recommends -y ttf-wqy-zenhei

files/ubuntu/install/tools.sh

@@ -3,10 +3,12 @@
 set -e
 
 echo "Install some common tools for further installation"
-apt-get update 
-apt-get install -y vim wget net-tools locales bzip2 \
+apt-get update
+apt-get install --no-install-recommends -y terminator vim wget net-tools locales bzip2 \
     python-numpy #used for websockify/novnc
 apt-get clean -y
 
-echo "generate locales für en_US.UTF-8"
-locale-gen en_US.UTF-8
+echo "generate locales for $LANG"
+locale-gen "$LANG"
+dpkg-reconfigure locales
+

melodic/Dockerfile

@@ -1,6 +1,6 @@
 # This Dockerfile is used to build an headless vnc image based on Ubuntu
-
-FROM osrf/ros:melodic-desktop-full
+ARG DOCKER_REGISTRY="registry.cloud.mov.ai"
+FROM ${DOCKER_REGISTRY}/devops/movai-base-bionic:v2.4.0
 
 LABEL description="MOV.AI Graphical Tools"
 LABEL maintainer="devops@mov.ai"
@@ -31,7 +31,8 @@ ENV DISPLAY=:1 \
     VNC_VIEW_ONLY=false \
     ROS_VERSION=${ROS_VERSION} \
     ROS_MASTER=${ROS_MASTER} \
-    ROS_MASTER_PORT=${ROS_MASTER_PORT}
+    ROS_MASTER_PORT=${ROS_MASTER_PORT} \
+    ROS_DISTRO=melodic
 
 ### Environment config
 ENV HOME=${USER_HOME} \
@@ -44,9 +45,6 @@ ENV HOME=${USER_HOME} \
 ### ROS Config
 ENV ROS_MASTER_URI="http://${ROS_MASTER}:${ROS_MASTER_PORT}"
 
-RUN adduser --uid ${USER_ID} --home ${HOME} --disabled-password --gecos '' ${USER_NAME} && \
-    apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key "${ROS_GPG_KEY}"
-
 WORKDIR ${HOME}
 
 ### Add all install scripts for further steps