From 080ef2ffa51cbd18d49ed85f58be69514cb6234c Mon Sep 17 00:00:00 2001 From: Alex Fernandes Date: Mon, 26 Sep 2022 16:24:14 +0100 Subject: [PATCH 01/14] align cicd and dockerfiles --- .github/workflows/bump-version.yml | 2 +- .github/workflows/docker-ci.yml | 29 +++++++++++++++++++++++++---- ce/Dockerfile | 6 +++--- melodic/Dockerfile | 2 +- noetic/Dockerfile | 2 +- 5 files changed, 31 insertions(+), 10 deletions(-) diff --git a/.github/workflows/bump-version.yml b/.github/workflows/bump-version.yml index 7c2cca1..e7e0d0c 100644 --- a/.github/workflows/bump-version.yml +++ b/.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@1.39.0 + uses: anothrNick/github-tag-action@1.46.0 env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} WITH_V: true diff --git a/.github/workflows/docker-ci.yml b/.github/workflows/docker-ci.yml index 7586393..bb7d326 100644 --- a/.github/workflows/docker-ci.yml +++ b/.github/workflows/docker-ci.yml @@ -18,31 +18,52 @@ on: types: [released] jobs: ros-tools-melodic: - uses: MOV-AI/.github/.github/workflows/docker-workflow.yml@main + uses: MOV-AI/.github/.github/workflows/docker-workflow.yml@v1 with: docker_file: melodic/Dockerfile docker_image: devops/ros-tools-melodic github_ref: ${{ github.ref }} + deploy: ${{ contains(github.ref, 'refs/heads/main') || contains(github.ref, 'refs/tags/v')}} + version: ${GITHUB_REF##*/} + push_latest: ${{ contains(github.ref, 'refs/heads/main') || contains(github.ref, 'refs/tags/v') }} + snyk_check: true secrets: registry_user: ${{ secrets.PORTUS_APP_USER }} registry_password: ${{ secrets.PORTUS_APP_TOKEN }} + pub_registry_user: ${{ secrets.PORTUS_APP_USER }} + pub_registry_password: ${{ secrets.PORTUS_APP_TOKEN }} + snyk_token: ${{ secrets.SNYK_TOKEN }} ros-tools-noetic: - uses: MOV-AI/.github/.github/workflows/docker-workflow.yml@main + uses: MOV-AI/.github/.github/workflows/docker-workflow.yml@v1 with: docker_file: noetic/Dockerfile docker_image: devops/ros-tools-noetic github_ref: ${{ github.ref }} + deploy: ${{ contains(github.ref, 'refs/heads/main') || contains(github.ref, 'refs/tags/v')}} + version: ${GITHUB_REF##*/} + push_latest: ${{ contains(github.ref, 'refs/heads/main') || contains(github.ref, 'refs/tags/v') }} + snyk_check: true secrets: registry_user: ${{ secrets.PORTUS_APP_USER }} registry_password: ${{ secrets.PORTUS_APP_TOKEN }} + pub_registry_user: ${{ secrets.PORTUS_APP_USER }} + pub_registry_password: ${{ secrets.PORTUS_APP_TOKEN }} + snyk_token: ${{ secrets.SNYK_TOKEN }} ros-tools-ce: - uses: MOV-AI/.github/.github/workflows/docker-workflow.yml@main + uses: MOV-AI/.github/.github/workflows/docker-workflow.yml@v1 with: docker_file: ce/Dockerfile docker_image: devops/ros-tools-ce - github_ref: ${{ github.ref }} public: true public_image: ce/ros-tools-ce + github_ref: ${{ github.ref }} + deploy: ${{ contains(github.ref, 'refs/heads/main') || contains(github.ref, 'refs/tags/v')}} + version: ${GITHUB_REF##*/} + push_latest: ${{ contains(github.ref, 'refs/heads/main') || contains(github.ref, 'refs/tags/v') }} + snyk_check: true secrets: registry_user: ${{ secrets.PORTUS_APP_USER }} registry_password: ${{ secrets.PORTUS_APP_TOKEN }} + pub_registry_user: ${{ secrets.PORTUS_APP_USER }} + pub_registry_password: ${{ secrets.PORTUS_APP_TOKEN }} + snyk_token: ${{ secrets.SNYK_TOKEN }} diff --git a/ce/Dockerfile b/ce/Dockerfile index b22c176..600a1d4 100644 --- a/ce/Dockerfile +++ b/ce/Dockerfile @@ -1,9 +1,9 @@ # This Dockerfile is used to build an rviz image based on Ubuntu -ARG DOCKER_REGISTRY="registry.aws.cloud.mov.ai" -FROM ${DOCKER_REGISTRY}/devops/movai-base-focal:v1.2.0 +ARG DOCKER_REGISTRY="pubregistry.aws.cloud.mov.ai" +FROM ${DOCKER_REGISTRY}/ce/movai-base-focal:v1.4.11 LABEL description="MOV.AI Graphical Tools" -LABEL maintainer="devop@mov.ai" +LABEL maintainer="devops@mov.ai" LABEL movai="ros-tools" LABEL environment="develop" diff --git a/melodic/Dockerfile b/melodic/Dockerfile index 45b79b1..0ada8ac 100644 --- a/melodic/Dockerfile +++ b/melodic/Dockerfile @@ -3,7 +3,7 @@ FROM osrf/ros:melodic-desktop-full LABEL description="MOV.AI Graphical Tools" -LABEL maintainer="devop@mov.ai" +LABEL maintainer="devops@mov.ai" LABEL movai="ros-tools" LABEL environment="develop" diff --git a/noetic/Dockerfile b/noetic/Dockerfile index cacdf49..9235ab5 100644 --- a/noetic/Dockerfile +++ b/noetic/Dockerfile @@ -3,7 +3,7 @@ FROM osrf/ros:noetic-desktop-full LABEL description="MOV.AI Graphical Tools" -LABEL maintainer="devop@mov.ai" +LABEL maintainer="devops@mov.ai" LABEL movai="ros-tools" LABEL environment="develop" From fe176528f31de831efbb82937719c5d49dd67a8c Mon Sep 17 00:00:00 2001 From: Alex Fernandes Date: Mon, 26 Sep 2022 16:26:11 +0100 Subject: [PATCH 02/14] clean secrets --- .github/workflows/docker-ci.yml | 4 ---- 1 file changed, 4 deletions(-) diff --git a/.github/workflows/docker-ci.yml b/.github/workflows/docker-ci.yml index bb7d326..b96ae65 100644 --- a/.github/workflows/docker-ci.yml +++ b/.github/workflows/docker-ci.yml @@ -30,8 +30,6 @@ jobs: secrets: registry_user: ${{ secrets.PORTUS_APP_USER }} registry_password: ${{ secrets.PORTUS_APP_TOKEN }} - pub_registry_user: ${{ secrets.PORTUS_APP_USER }} - pub_registry_password: ${{ secrets.PORTUS_APP_TOKEN }} snyk_token: ${{ secrets.SNYK_TOKEN }} ros-tools-noetic: uses: MOV-AI/.github/.github/workflows/docker-workflow.yml@v1 @@ -46,8 +44,6 @@ jobs: secrets: registry_user: ${{ secrets.PORTUS_APP_USER }} registry_password: ${{ secrets.PORTUS_APP_TOKEN }} - pub_registry_user: ${{ secrets.PORTUS_APP_USER }} - pub_registry_password: ${{ secrets.PORTUS_APP_TOKEN }} snyk_token: ${{ secrets.SNYK_TOKEN }} ros-tools-ce: uses: MOV-AI/.github/.github/workflows/docker-workflow.yml@v1 From 0c11efac673df5509bfdc2066dcb8432a62fd2a0 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 26 Sep 2022 17:09:13 +0100 Subject: [PATCH 03/14] Bump anothrNick/github-tag-action from 1.39.0 to 1.46.0 (#14) Bumps [anothrNick/github-tag-action](https://github.com/anothrNick/github-tag-action) from 1.39.0 to 1.46.0. - [Release notes](https://github.com/anothrNick/github-tag-action/releases) - [Commits](https://github.com/anothrNick/github-tag-action/compare/1.39.0...1.46.0) --- updated-dependencies: - dependency-name: anothrNick/github-tag-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> From ab2b1dbb10bd86379f2d808a18c3f1b36c46bb1b Mon Sep 17 00:00:00 2001 From: Alex Fernandes Date: Mon, 26 Sep 2022 17:30:52 +0100 Subject: [PATCH 04/14] fix tigervnc install --- files/ubuntu/install/tigervnc.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/files/ubuntu/install/tigervnc.sh b/files/ubuntu/install/tigervnc.sh index e240475..1a1848e 100644 --- a/files/ubuntu/install/tigervnc.sh +++ b/files/ubuntu/install/tigervnc.sh @@ -2,4 +2,4 @@ set -e echo "Install TigerVNC server" -wget -qO- https://deac-ams.dl.sourceforge.net/project/tigervnc/stable/1.8.0/tigervnc-1.8.0.x86_64.tar.gz | tar xz --strip 1 -C / +wget -qO- https://sourceforge.net/projects/tigervnc/files/stable/1.12.0/tigervnc-1.12.0.x86_64.tar.gz/download | tar xz --strip 1 -C / From d69d136caf50d6e5e0afabd347bce41144c117c6 Mon Sep 17 00:00:00 2001 From: Jorge Pais Ribeiro Date: Mon, 17 Oct 2022 16:33:46 +0100 Subject: [PATCH 05/14] add tugbot rviz configuration --- files/home/tugbot.rviz | 798 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 798 insertions(+) create mode 100644 files/home/tugbot.rviz diff --git a/files/home/tugbot.rviz b/files/home/tugbot.rviz new file mode 100644 index 0000000..003de93 --- /dev/null +++ b/files/home/tugbot.rviz @@ -0,0 +1,798 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Mapping1 + - /Localization1/3D1/Slam Odometry1 + Splitter Ratio: 0.5941042900085449 + Tree Height: 668 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Submaps Edges +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 220 + Reference Frame: + Value: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Mapping + Topic: /map_saver/map/in + Unreliable: false + Use Timestamp: false + Value: false + - Class: rviz/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 85; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 0; 0 + Min Color: 0; 0; 0 + Name: Scan Front + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: /laser_front/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0.5264999866485596 + Min Value: 0.5264999866485596 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 170; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 0; 0 + Min Color: 255; 170; 0 + Name: Scan Omni + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: /lidar/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Scan Back + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: /laser_back/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Velodyne Cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /velodyne_points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + Enabled: false + Name: Laser Scans + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: /camera_back/color/image_rect_throttled + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Camera Back Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera_front/color/image_rect_throttled + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Camera Front Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Camera Back Points + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /camera_back/depth/color/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Camera Front Points + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0020000000949949026 + Style: Flat Squares + Topic: /camera_front/depth/color/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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 + Displays: + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/PoseWithCovariance + Color: 255; 25; 0 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.20000000298023224 + Head Radius: 0.10000000149011612 + Name: Pose AMCL + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /tugbot__localization__localization_2d__amcl/amcl_pose/out + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/PoseWithCovariance + Color: 0; 170; 255 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.20000000298023224 + Head Radius: 0.10000000149011612 + Name: Pose AprilTags + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /tugbot__localization__localization_2d__aptags_localization/aptag_pose/out + Unreliable: false + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: PoseArray + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /tugbot__localization__localization_2d__amcl_checker/particlecloud/in + Unreliable: false + Value: true + Enabled: false + Name: 2D + - Class: rviz/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Maps Planes + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /submaps/planes + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Maps Edges + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /submaps/edges + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Submaps Planes + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /submaps/planes + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Submaps Edges + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /submaps/edges + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Registered Points + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /slam_registered_points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Current Edges + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /keypoints/edges + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Current Planes + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /keypoints/planes + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 1 + Name: Slam Odometry + Position Tolerance: 0.10000000149011612 + Queue Size: 10 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Axes + Topic: /tugbot__localization__localization_slam__lidar_slam/slam_odom/out + Unreliable: false + Value: true + Enabled: true + Name: 3D + Enabled: true + Name: Localization + - Class: rviz/Group + Displays: + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 170; 255 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Local Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /tugbot__navigation__core__autonomous__move_base/tugbot__navigation__core__autonomous__move_base/TebLocalPlannerROS/local_plan/out + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Global Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /tugbot__navigation__core__autonomous__move_base/TebLocalPlannerROS/global_plan + Unreliable: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Global Costmap + Topic: /tugbot__navigation__core__autonomous__move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Local Costmap + Topic: /tugbot__navigation__core__autonomous__move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + Enabled: true + Name: Navigation + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /tugbot__msu__scan/scan_markers/out + Name: Pickup Areas + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: visualization_marker_array + Name: Drop Areas + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 1 + Class: rviz_plugin_tutorials/Imu + Color: 204; 51; 204 + Enabled: false + History Length: 1 + Name: Imu + Queue Size: 10 + Topic: /drivers__imu_filter/imu_filtered/out + Unreliable: false + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /tugbot__localization__localization_slam__slam_monitor/external_pose/in + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 10.71345329284668 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + 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 + Pitch: 0.7597967386245728 + Target Frame: base_link + Yaw: 5.013184070587158 + Saved: ~ +Window Geometry: + Camera Back Image: + collapsed: false + Camera Front Image: + collapsed: false + Displays: + collapsed: false + Height: 1154 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001bb000003e8fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000003b000000bd0000005c00fffffffb000000100044006900730070006c00610079007301000000fe00000325000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000253000001200000000000000000fb0000002200430061006d0065007200610020004200610063006b00200049006d00610067006500000002c7000000820000001600fffffffb0000002200430061006d0065007200610020004200610063006b00200049006d00610067006500000002ae000000c50000000000000000fb0000002400430061006d006500720061002000460072006f006e007400200049006d006100670065000000034f000000d40000001600ffffff000000010000010f000003e8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003e8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650100000000000006400000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000036a000003e800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1600 + X: -6 + Y: -6 From bedee59aed2f3ef3f6c452a94978210f4dc0a34b Mon Sep 17 00:00:00 2001 From: Jorge Pais Ribeiro Date: Mon, 17 Oct 2022 16:35:39 +0100 Subject: [PATCH 06/14] use tugbot as default instead --- files/home/default.rviz | 112 +++--- files/home/tugbot.rviz | 798 ---------------------------------------- 2 files changed, 59 insertions(+), 851 deletions(-) delete mode 100644 files/home/tugbot.rviz diff --git a/files/home/default.rviz b/files/home/default.rviz index ea3963a..003de93 100644 --- a/files/home/default.rviz +++ b/files/home/default.rviz @@ -5,11 +5,10 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 - - /Localization1 - - /Localization1/2D1 - - /Localization1/3D1 + - /Mapping1 + - /Localization1/3D1/Slam Odometry1 Splitter Ratio: 0.5941042900085449 - Tree Height: 486 + Tree Height: 668 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -26,7 +25,7 @@ Panels: Experimental: false Name: Time SyncMode: 0 - SyncSource: "" + SyncSource: Submaps Edges Preferences: PromptSaveOnExit: true Toolbars: @@ -57,6 +56,7 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: false + Marker Alpha: 1 Marker Scale: 1 Name: TF Show Arrows: true @@ -103,9 +103,7 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 0; 0 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Scan Front Position Transformer: XYZ Queue Size: 10 @@ -133,9 +131,7 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 0; 0 - Max Intensity: 4096 Min Color: 255; 170; 0 - Min Intensity: 0 Name: Scan Omni Position Transformer: XYZ Queue Size: 10 @@ -143,7 +139,7 @@ Visualization Manager: Size (Pixels): 3 Size (m): 0.05000000074505806 Style: Flat Squares - Topic: /laser_omni/scan + Topic: /lidar/scan Unreliable: false Use Fixed Frame: true Use rainbow: false @@ -163,9 +159,7 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Scan Back Position Transformer: XYZ Queue Size: 10 @@ -193,9 +187,7 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Velodyne Cloud Position Transformer: XYZ Queue Size: 10 @@ -208,13 +200,13 @@ Visualization Manager: Use Fixed Frame: true Use rainbow: true Value: false - Enabled: true + Enabled: false Name: Laser Scans - Class: rviz/Group Displays: - Class: rviz/Image Enabled: true - Image Topic: /camera_back/color/image_rect_color + Image Topic: /camera_back/color/image_rect_throttled Max Value: 1 Median window: 5 Min Value: 0 @@ -226,7 +218,7 @@ Visualization Manager: Value: true - Class: rviz/Image Enabled: true - Image Topic: /camera_front/color/image_rect_color + Image Topic: /camera_front/color/image_rect_throttled Max Value: 1 Median window: 5 Min Value: 0 @@ -251,9 +243,7 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Camera Back Points Position Transformer: XYZ Queue Size: 10 @@ -281,9 +271,7 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Camera Front Points Position Transformer: XYZ Queue Size: 10 @@ -298,6 +286,26 @@ 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 @@ -326,6 +334,7 @@ Visualization Manager: Head Length: 0.20000000298023224 Head Radius: 0.10000000149011612 Name: Pose AMCL + Queue Size: 10 Shaft Length: 1 Shaft Radius: 0.05000000074505806 Shape: Arrow @@ -356,6 +365,7 @@ Visualization Manager: Head Length: 0.20000000298023224 Head Radius: 0.10000000149011612 Name: Pose AprilTags + Queue Size: 10 Shaft Length: 1 Shaft Radius: 0.05000000074505806 Shape: Arrow @@ -372,6 +382,7 @@ Visualization Manager: Head Length: 0.07000000029802322 Head Radius: 0.029999999329447746 Name: PoseArray + Queue Size: 10 Shaft Length: 0.23000000417232513 Shaft Radius: 0.009999999776482582 Shape: Arrow (Flat) @@ -397,9 +408,7 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Maps Planes Position Transformer: XYZ Queue Size: 10 @@ -427,9 +436,7 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Maps Edges Position Transformer: XYZ Queue Size: 10 @@ -457,9 +464,7 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Submaps Planes Position Transformer: XYZ Queue Size: 10 @@ -487,9 +492,7 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Submaps Edges Position Transformer: XYZ Queue Size: 10 @@ -517,9 +520,7 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Registered Points Position Transformer: XYZ Queue Size: 10 @@ -547,9 +548,7 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Current Edges Position Transformer: XYZ Queue Size: 10 @@ -577,9 +576,7 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Current Planes Position Transformer: XYZ Queue Size: 10 @@ -613,6 +610,7 @@ Visualization Manager: Keep: 1 Name: Slam Odometry Position Tolerance: 0.10000000149011612 + Queue Size: 10 Shape: Alpha: 1 Axes Length: 1 @@ -623,7 +621,7 @@ Visualization Manager: Shaft Length: 1 Shaft Radius: 0.05000000074505806 Value: Axes - Topic: /tugbot__localization__localization_slam__slam_monitor/slam_odometry/in + Topic: /tugbot__localization__localization_slam__lidar_slam/slam_odom/out Unreliable: false Value: true Enabled: true @@ -649,10 +647,11 @@ Visualization Manager: Z: 0 Pose Color: 255; 85; 255 Pose Style: None + Queue Size: 10 Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 - Topic: /tugbot__navigation__move_base/tugbot__navigation__move_base/TebLocalPlannerROS/local_plan/out + Topic: /tugbot__navigation__core__autonomous__move_base/tugbot__navigation__core__autonomous__move_base/TebLocalPlannerROS/local_plan/out Unreliable: false Value: true - Alpha: 1 @@ -672,10 +671,11 @@ Visualization Manager: Z: 0 Pose Color: 255; 85; 255 Pose Style: None + Queue Size: 10 Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 - Topic: /tugbot__navigation__navigation_main/trajectory/in + Topic: /tugbot__navigation__core__autonomous__move_base/TebLocalPlannerROS/global_plan Unreliable: false Value: true - Alpha: 0.699999988079071 @@ -684,7 +684,7 @@ Visualization Manager: Draw Behind: false Enabled: true Name: Global Costmap - Topic: /tugbot__navigation__move_base/global_costmap/costmap + Topic: /tugbot__navigation__core__autonomous__move_base/global_costmap/costmap Unreliable: false Use Timestamp: false Value: true @@ -694,7 +694,7 @@ Visualization Manager: Draw Behind: false Enabled: true Name: Local Costmap - Topic: /tugbot__navigation__move_base/local_costmap/costmap + Topic: /tugbot__navigation__core__autonomous__move_base/local_costmap/costmap Unreliable: false Use Timestamp: false Value: true @@ -722,6 +722,7 @@ Visualization Manager: Enabled: false History Length: 1 Name: Imu + Queue Size: 10 Topic: /drivers__imu_filter/imu_filtered/out Unreliable: false Value: false @@ -752,21 +753,26 @@ Visualization Manager: Value: true Views: Current: - Angle: 0.025000112131237984 - Class: rviz/TopDownOrtho + Class: rviz/Orbit + Distance: 10.71345329284668 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 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 - Scale: 20.264244079589844 + Pitch: 0.7597967386245728 Target Frame: base_link - Value: TopDownOrtho (rviz) - X: -4.370036602020264 - Y: -0.1426459699869156 + Yaw: 5.013184070587158 Saved: ~ Window Geometry: Camera Back Image: @@ -775,10 +781,10 @@ Window Geometry: collapsed: false Displays: collapsed: false - Height: 944 + Height: 1154 Hide Left Dock: false - Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000001bb0000030efc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000003f000000940000005d00fffffffb000000100044006900730070006c00610079007301000000d900000274000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000253000001200000000000000000fb0000002200430061006d0065007200610020004200610063006b00200049006d00610067006500000001d8000000ca0000001700fffffffb0000002200430061006d0065007200610020004200610063006b00200049006d00610067006500000002ae000000c50000000000000000fb0000002400430061006d006500720061002000460072006f006e007400200049006d0061006700650000000263000001100000001700ffffff000000010000010f00000316fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000316000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004380000003efc0100000002fb0000000800540069006d0065010000000000000438000002df00fffffffb0000000800540069006d00650100000000000004500000000000000000000002770000030e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001bb000003e8fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000003b000000bd0000005c00fffffffb000000100044006900730070006c00610079007301000000fe00000325000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000253000001200000000000000000fb0000002200430061006d0065007200610020004200610063006b00200049006d00610067006500000002c7000000820000001600fffffffb0000002200430061006d0065007200610020004200610063006b00200049006d00610067006500000002ae000000c50000000000000000fb0000002400430061006d006500720061002000460072006f006e007400200049006d006100670065000000034f000000d40000001600ffffff000000010000010f000003e8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003e8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650100000000000006400000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000036a000003e800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -786,7 +792,7 @@ Window Geometry: Tool Properties: collapsed: false Views: - collapsed: true - Width: 1080 - X: 0 - Y: 34 + collapsed: false + Width: 1600 + X: -6 + Y: -6 diff --git a/files/home/tugbot.rviz b/files/home/tugbot.rviz deleted file mode 100644 index 003de93..0000000 --- a/files/home/tugbot.rviz +++ /dev/null @@ -1,798 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Mapping1 - - /Localization1/3D1/Slam Odometry1 - Splitter Ratio: 0.5941042900085449 - Tree Height: 668 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: Submaps Edges -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 220 - Reference Frame: - Value: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: false - Marker Alpha: 1 - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: false - - Alpha: 0.699999988079071 - Class: rviz/Map - Color Scheme: map - Draw Behind: false - Enabled: true - Name: Map - Topic: /map - Unreliable: false - Use Timestamp: false - Value: true - - Alpha: 0.699999988079071 - Class: rviz/Map - Color Scheme: map - Draw Behind: false - Enabled: false - Name: Mapping - Topic: /map_saver/map/in - Unreliable: false - Use Timestamp: false - Value: false - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 255; 85; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 0; 0 - Min Color: 0; 0; 0 - Name: Scan Front - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.05000000074505806 - Style: Flat Squares - Topic: /laser_front/scan - Unreliable: false - Use Fixed Frame: true - Use rainbow: false - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 0.5264999866485596 - Min Value: 0.5264999866485596 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 170; 0; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 0; 0 - Min Color: 255; 170; 0 - Name: Scan Omni - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.05000000074505806 - Style: Flat Squares - Topic: /lidar/scan - Unreliable: false - Use Fixed Frame: true - Use rainbow: false - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: Scan Back - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.05000000074505806 - Style: Flat Squares - Topic: /laser_back/scan - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: Velodyne Cloud - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Points - Topic: /velodyne_points - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: false - Enabled: false - Name: Laser Scans - - Class: rviz/Group - Displays: - - Class: rviz/Image - Enabled: true - Image Topic: /camera_back/color/image_rect_throttled - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Camera Back Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /camera_front/color/image_rect_throttled - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Camera Front Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: Camera Back Points - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Flat Squares - Topic: /camera_back/depth/color/points - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: Camera Front Points - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.0020000000949949026 - Style: Flat Squares - Topic: /camera_front/depth/color/points - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - 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 - Displays: - - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Class: rviz/PoseWithCovariance - Color: 255; 25; 0 - Covariance: - Orientation: - Alpha: 0.5 - Color: 255; 255; 127 - Color Style: Unique - Frame: Local - Offset: 1 - Scale: 1 - Value: true - Position: - Alpha: 0.30000001192092896 - Color: 204; 51; 204 - Scale: 1 - Value: true - Value: true - Enabled: true - Head Length: 0.20000000298023224 - Head Radius: 0.10000000149011612 - Name: Pose AMCL - Queue Size: 10 - Shaft Length: 1 - Shaft Radius: 0.05000000074505806 - Shape: Arrow - Topic: /tugbot__localization__localization_2d__amcl/amcl_pose/out - Unreliable: false - Value: true - - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Class: rviz/PoseWithCovariance - Color: 0; 170; 255 - Covariance: - Orientation: - Alpha: 0.5 - Color: 255; 255; 127 - Color Style: Unique - Frame: Local - Offset: 1 - Scale: 1 - Value: true - Position: - Alpha: 0.30000001192092896 - Color: 204; 51; 204 - Scale: 1 - Value: true - Value: true - Enabled: true - Head Length: 0.20000000298023224 - Head Radius: 0.10000000149011612 - Name: Pose AprilTags - Queue Size: 10 - Shaft Length: 1 - Shaft Radius: 0.05000000074505806 - Shape: Arrow - Topic: /tugbot__localization__localization_2d__aptags_localization/aptag_pose/out - Unreliable: false - Value: true - - Alpha: 1 - Arrow Length: 0.30000001192092896 - Axes Length: 0.30000001192092896 - Axes Radius: 0.009999999776482582 - Class: rviz/PoseArray - Color: 255; 25; 0 - Enabled: true - Head Length: 0.07000000029802322 - Head Radius: 0.029999999329447746 - Name: PoseArray - Queue Size: 10 - Shaft Length: 0.23000000417232513 - Shaft Radius: 0.009999999776482582 - Shape: Arrow (Flat) - Topic: /tugbot__localization__localization_2d__amcl_checker/particlecloud/in - Unreliable: false - Value: true - Enabled: false - Name: 2D - - Class: rviz/Group - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: Maps Planes - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Points - Topic: /submaps/planes - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: Maps Edges - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Points - Topic: /submaps/edges - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: Submaps Planes - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Points - Topic: /submaps/planes - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: Submaps Edges - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Points - Topic: /submaps/edges - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: Registered Points - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Points - Topic: /slam_registered_points - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: Current Edges - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Points - Topic: /keypoints/edges - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: Current Planes - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Points - Topic: /keypoints/planes - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: false - - Angle Tolerance: 0.10000000149011612 - Class: rviz/Odometry - Covariance: - Orientation: - Alpha: 0.5 - Color: 255; 255; 127 - Color Style: Unique - Frame: Local - Offset: 1 - Scale: 1 - Value: true - Position: - Alpha: 0.30000001192092896 - Color: 204; 51; 204 - Scale: 1 - Value: true - Value: true - Enabled: true - Keep: 1 - Name: Slam Odometry - Position Tolerance: 0.10000000149011612 - Queue Size: 10 - Shape: - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Color: 255; 25; 0 - Head Length: 0.30000001192092896 - Head Radius: 0.10000000149011612 - Shaft Length: 1 - Shaft Radius: 0.05000000074505806 - Value: Axes - Topic: /tugbot__localization__localization_slam__lidar_slam/slam_odom/out - Unreliable: false - Value: true - Enabled: true - Name: 3D - Enabled: true - Name: Localization - - Class: rviz/Group - Displays: - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 170; 255 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Lines - Line Width: 0.029999999329447746 - Name: Local Plan - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /tugbot__navigation__core__autonomous__move_base/tugbot__navigation__core__autonomous__move_base/TebLocalPlannerROS/local_plan/out - Unreliable: false - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 25; 255; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Lines - Line Width: 0.029999999329447746 - Name: Global Plan - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /tugbot__navigation__core__autonomous__move_base/TebLocalPlannerROS/global_plan - Unreliable: false - Value: true - - Alpha: 0.699999988079071 - Class: rviz/Map - Color Scheme: costmap - Draw Behind: false - Enabled: true - Name: Global Costmap - Topic: /tugbot__navigation__core__autonomous__move_base/global_costmap/costmap - Unreliable: false - Use Timestamp: false - Value: true - - Alpha: 0.699999988079071 - Class: rviz/Map - Color Scheme: costmap - Draw Behind: false - Enabled: true - Name: Local Costmap - Topic: /tugbot__navigation__core__autonomous__move_base/local_costmap/costmap - Unreliable: false - Use Timestamp: false - Value: true - Enabled: true - Name: Navigation - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /tugbot__msu__scan/scan_markers/out - Name: Pickup Areas - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: visualization_marker_array - Name: Drop Areas - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Class: rviz_plugin_tutorials/Imu - Color: 204; 51; 204 - Enabled: false - History Length: 1 - Name: Imu - Queue Size: 10 - Topic: /drivers__imu_filter/imu_filtered/out - Unreliable: false - Value: false - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: odom - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /tugbot__localization__localization_slam__slam_monitor/external_pose/in - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 10.71345329284668 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - 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 - Pitch: 0.7597967386245728 - Target Frame: base_link - Yaw: 5.013184070587158 - Saved: ~ -Window Geometry: - Camera Back Image: - collapsed: false - Camera Front Image: - collapsed: false - Displays: - collapsed: false - Height: 1154 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000001bb000003e8fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000003b000000bd0000005c00fffffffb000000100044006900730070006c00610079007301000000fe00000325000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000253000001200000000000000000fb0000002200430061006d0065007200610020004200610063006b00200049006d00610067006500000002c7000000820000001600fffffffb0000002200430061006d0065007200610020004200610063006b00200049006d00610067006500000002ae000000c50000000000000000fb0000002400430061006d006500720061002000460072006f006e007400200049006d006100670065000000034f000000d40000001600ffffff000000010000010f000003e8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003e8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650100000000000006400000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000036a000003e800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1600 - X: -6 - Y: -6 From 0850e7d411433011d870050baa420796877cbb5a Mon Sep 17 00:00:00 2001 From: Jorge Pais Ribeiro Date: Tue, 25 Oct 2022 18:41:31 +0100 Subject: [PATCH 07/14] set initialpose as default initialization topic --- files/home/default.rviz | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/files/home/default.rviz b/files/home/default.rviz index 003de93..2bdfcfe 100644 --- a/files/home/default.rviz +++ b/files/home/default.rviz @@ -742,7 +742,7 @@ Visualization Manager: - Class: rviz/Measure - Class: rviz/SetInitialPose Theta std deviation: 0.2617993950843811 - Topic: /tugbot__localization__localization_slam__slam_monitor/external_pose/in + Topic: /initialpose X std deviation: 0.5 Y std deviation: 0.5 - Class: rviz/SetGoal From 9bbd554e55f32a008d76b113c1ba27e26ce96054 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 9 Jan 2023 15:21:45 +0000 Subject: [PATCH 08/14] Bump anothrNick/github-tag-action from 1.46.0 to 1.61.0 (#30) * DP-860 : align cicd and dockerfiles (#15) * align cicd and dockerfiles * clean secrets * Bump anothrNick/github-tag-action from 1.39.0 to 1.46.0 (#14) Bumps [anothrNick/github-tag-action](https://github.com/anothrNick/github-tag-action) from 1.39.0 to 1.46.0. - [Release notes](https://github.com/anothrNick/github-tag-action/releases) - [Commits](https://github.com/anothrNick/github-tag-action/compare/1.39.0...1.46.0) --- updated-dependencies: - dependency-name: anothrNick/github-tag-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> * fix tigervnc install Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> * Bump anothrNick/github-tag-action from 1.46.0 to 1.61.0 Bumps [anothrNick/github-tag-action](https://github.com/anothrNick/github-tag-action) from 1.46.0 to 1.61.0. - [Release notes](https://github.com/anothrNick/github-tag-action/releases) - [Commits](https://github.com/anothrNick/github-tag-action/compare/1.46.0...1.61.0) --- updated-dependencies: - dependency-name: anothrNick/github-tag-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] Signed-off-by: dependabot[bot] Co-authored-by: Alex Fernandes <84147256+AlexFernandes-MOVAI@users.noreply.github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/bump-version.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/bump-version.yml b/.github/workflows/bump-version.yml index e7e0d0c..37a3b67 100644 --- a/.github/workflows/bump-version.yml +++ b/.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 From 5643fb132b27ef43f61d1373db2a6bddd95eb19f Mon Sep 17 00:00:00 2001 From: Alex Fernandes <84147256+AlexFernandes-MOVAI@users.noreply.github.com> Date: Mon, 9 Jan 2023 18:11:52 +0000 Subject: [PATCH 09/14] 2.4.0 - Feat: update base and slim images like in CE (#9) * change bases * more fixes * fix docker registry * Update Dockerfile * update base images Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> --- ce/Dockerfile | 2 +- files/bin/rviz.sh | 4 +- files/common/install/ros-tools.sh | 9 +- files/deploy.sh | 26 ------ files/docker-entrypoint.sh | 37 -------- files/home/.bashrc | 4 +- files/install-packages.sh | 56 ------------ files/ubuntu/install/icewm_ui.sh | 4 +- files/ubuntu/install/install_custom_fonts.sh | 2 +- files/ubuntu/install/tools.sh | 10 ++- files/update.sh | 94 -------------------- melodic/Dockerfile | 10 +-- noetic/Dockerfile | 10 +-- 13 files changed, 29 insertions(+), 239 deletions(-) delete mode 100755 files/deploy.sh delete mode 100755 files/install-packages.sh delete mode 100755 files/update.sh diff --git a/ce/Dockerfile b/ce/Dockerfile index 600a1d4..fd61049 100644 --- a/ce/Dockerfile +++ b/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 ${DOCKER_REGISTRY}/ce/movai-base-focal:v2.4.0 LABEL description="MOV.AI Graphical Tools" LABEL maintainer="devops@mov.ai" diff --git a/files/bin/rviz.sh b/files/bin/rviz.sh index 4cf5fee..b2e61cb 100755 --- a/files/bin/rviz.sh +++ b/files/bin/rviz.sh @@ -2,6 +2,4 @@ # File: rviz.sh set -e -source "/opt/ros/${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" diff --git a/files/common/install/ros-tools.sh b/files/common/install/ros-tools.sh index 27fdd32..fe6549d 100644 --- a/files/common/install/ros-tools.sh +++ b/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 diff --git a/files/deploy.sh b/files/deploy.sh deleted file mode 100755 index 62ddde3..0000000 --- a/files/deploy.sh +++ /dev/null @@ -1,26 +0,0 @@ -#!/bin/bash -# -# Copyright 2021 MOV.AI (devops@mov.ai) -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# File: deploy.sh -set -e - -if [ -f ${APP_PATH}/requirements.txt ]; then - printf "Installing python dependencies...\n" - pushd ${APP_PATH} > /dev/null - python3 -m pip install pip --user --upgrade - python3 -m pip install --user --no-cache-dir -r requirements.txt - popd > /dev/null -fi diff --git a/files/docker-entrypoint.sh b/files/docker-entrypoint.sh index ba2240e..df6c693 100755 --- a/files/docker-entrypoint.sh +++ b/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 ${@} diff --git a/files/home/.bashrc b/files/home/.bashrc index 104d31a..5727cbf 100644 --- a/files/home/.bashrc +++ b/files/home/.bashrc @@ -113,6 +113,8 @@ if [ "$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}" \ No newline at end of file diff --git a/files/install-packages.sh b/files/install-packages.sh deleted file mode 100755 index 74e7036..0000000 --- a/files/install-packages.sh +++ /dev/null @@ -1,56 +0,0 @@ -#!/bin/bash -# -# Copyright 2021 MOV.AI (devops@mov.ai) -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# File: install-packages.sh -set -eo pipefail - -# Install apt dependencies - -PACKAGE_FILE=/tmp/packages.apt - -# If there is a package definition file, install packages then clean up -if [ -f ${PACKAGE_FILE} ]; then - printf "Installing APT packages from list: %s ...\n" "$(basename ${PACKAGE_FILE})" - packages_list=$(sed -e 's/#.*$//' -e '/^$/d' ${PACKAGE_FILE}| sed ':a;N;$!ba;s/\n/ /g') - - printf "APT Packages list: %s\n" "${packages_list}" - apt-get update - DEBIAN_FRONTEND=noninteractive apt-get -y --no-install-recommends install ${packages_list} - apt-get clean -y - rm --preserve-root ${PACKAGE_FILE} - rm -rf /var/cache/apt/* - rm -rf /var/lib/apt/lists/* -fi - -# Install custom dependencies and commands - -PIP_REQUIREMENTS=/tmp/requirements.txt - -# If there is a python requirements script, install packages then clean up -[ -f ${PIP_REQUIREMENTS} ] && { - python3 -m pip install --upgrade pip; - python3 -m pip install --upgrade -r ${PIP_REQUIREMENTS}; - rm --preserve-root ${PIP_REQUIREMENTS}; -} - -PACKAGES_SCRIPT=/tmp/packages.bash - -# If there is a package script, install packages then clean up -[ -f ${PACKAGES_SCRIPT} ] && { chmod 700 ${PACKAGES_SCRIPT}; ${PACKAGES_SCRIPT}; rm --preserve-root ${PACKAGES_SCRIPT}; } - - -printf "Cleaning up ...\n" -rm -rf /tmp/* diff --git a/files/ubuntu/install/icewm_ui.sh b/files/ubuntu/install/icewm_ui.sh index 527ffcc..4cd406e 100644 --- a/files/ubuntu/install/icewm_ui.sh +++ b/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 \ No newline at end of file diff --git a/files/ubuntu/install/install_custom_fonts.sh b/files/ubuntu/install/install_custom_fonts.sh index 14fdb62..4c1b9be 100644 --- a/files/ubuntu/install/install_custom_fonts.sh +++ b/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 diff --git a/files/ubuntu/install/tools.sh b/files/ubuntu/install/tools.sh index 6881096..1fcd0fe 100644 --- a/files/ubuntu/install/tools.sh +++ b/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 \ No newline at end of file +echo "generate locales for $LANG" +locale-gen "$LANG" +dpkg-reconfigure locales + diff --git a/files/update.sh b/files/update.sh deleted file mode 100755 index 9d52b3f..0000000 --- a/files/update.sh +++ /dev/null @@ -1,94 +0,0 @@ -#!/bin/bash -# -# Copyright 2021 MOV.AI (devops@mov.ai) -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# File: update.sh -set -e - -UPDATE_FILE=$(ls ${APP_UPDATES}/movai-*_latest_*.deb) - -# If there is no version file we create one -[ ! -f ${MOVAI_HOME}/version ] && touch ${MOVAI_HOME}/version - -# Get package version -VERSION_UPDATE=$(dpkg-deb -f ${UPDATE_FILE} Version) -VERSION_CURRENT=$(<${MOVAI_HOME}/version) -RETVAL=1 - -compare_version "${VERSION_CURRENT}" "${VERSION_UPDATE}" - -# if the packaged version is greater then the one we have we -# do the installation -if [ ${?} -eq 2 ]; then - - printf "Starting updating to version: %s\n" "${VERSION_UPDATE}" - - # Create working directory - WORKDIR=$(mktemp -d) - pushd ${WORKDIR} >/dev/null - - # Unpack the firmware deb packages - printf "Unpackaging firmware...\n" - dpkg-deb -x ${UPDATE_FILE} ./ - - # Check if we need pre installation actions - if [ -f .${APP_PATH}/pre-installation.bash ]; then - printf "Running pre installation actions!\n" - pushd .${APP_PATH} >/dev/null - bash pre-installation.bash - rm pre-installation.bash - popd >/dev/null - fi - - # clean old application - printf "Cleaning old firmware..\n" - rm -rf ${APP_PATH}/* - - # move new update - printf "Installing new firmware...\n" - mv .${APP_PATH}/* ${APP_PATH} - - # update pip requeriments - if [ -f ${APP_PATH}/requirements.txt ]; then - printf "Installing python dependencies...\n" - pushd ${APP_PATH} >/dev/null - python3 -m pip install pip --user --upgrade - python3 -m pip install --user --no-cache-dir -r requirements.txt - popd >/dev/null - fi - - # Check if we need post installation actions - if [ -f ${APP_PATH}/post-installation.bash ]; then - printf "Running post installation actions!\n" - pushd ${APP_PATH} >/dev/null - bash post-installation.bash - rm post-installation.bash - popd >/dev/null - fi - - popd >/dev/null - - # store current version - echo ${VERSION_UPDATE} > ${MOVAI_HOME}/version - - printf "Cleaning up resources...\n" - rm -rf ${WORKDIR} - - # If update go well we return a 0 code - RETVAL=0 -fi - -rm ${UPDATE_FILE} -exit ${RETVAL} \ No newline at end of file diff --git a/melodic/Dockerfile b/melodic/Dockerfile index 0ada8ac..14c55ac 100644 --- a/melodic/Dockerfile +++ b/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 diff --git a/noetic/Dockerfile b/noetic/Dockerfile index 9235ab5..8230685 100644 --- a/noetic/Dockerfile +++ b/noetic/Dockerfile @@ -1,6 +1,6 @@ # This Dockerfile is used to build an headless vnc image based on Ubuntu - -FROM osrf/ros:noetic-desktop-full +ARG DOCKER_REGISTRY="registry.cloud.mov.ai" +FROM ${DOCKER_REGISTRY}/devops/movai-base-focal:v2.4.0 LABEL description="MOV.AI Graphical Tools" LABEL maintainer="devops@mov.ai" @@ -31,7 +31,8 @@ ENV DISPLAY=:1 \ VNC_VIEW_ONLY=false \ ROS_VERSION=${ROS_VERSION} \ ROS_MASTER=${ROS_MASTER} \ - ROS_MASTER_PORT=${ROS_MASTER_PORT} + ROS_MASTER_PORT=${ROS_MASTER_PORT} \ + ROS_DISTRO=noetic ### Environment config ENV HOME=${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 From a57a76a158710e7e025fd94355ca05a68e117ca0 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Tue, 10 Jan 2023 10:04:53 +0000 Subject: [PATCH 10/14] Bump anothrNick/github-tag-action from 1.46.0 to 1.61.0 (#32) Bumps [anothrNick/github-tag-action](https://github.com/anothrNick/github-tag-action) from 1.46.0 to 1.61.0. - [Release notes](https://github.com/anothrNick/github-tag-action/releases) - [Commits](https://github.com/anothrNick/github-tag-action/compare/1.46.0...1.61.0) --- updated-dependencies: - dependency-name: anothrNick/github-tag-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> From 033455fcd65516edd27ff5fde891c27cc01bd0f0 Mon Sep 17 00:00:00 2001 From: Alex Fernandes Date: Thu, 12 Jan 2023 20:01:55 +0000 Subject: [PATCH 11/14] bump base images --- .github/workflows/docker-ci.yml | 14 ---- README.md | 13 ++-- ce/Dockerfile | 11 ++- files/bashrc.bash | 2 +- files/common/install/no_vnc.sh | 13 +--- files/common/install/set_user_permission.sh | 2 +- files/common/scripts/generate_container_user | 30 ++++++++ files/common/scripts/vnc_startup.sh | 43 +++++++++-- files/home/.bashrc | 2 +- files/{welcome => home/.welcome} | 0 files/ubuntu/icewm/.icewm/menu | 7 +- files/ubuntu/icewm/.icewm/theme | 3 +- files/ubuntu/icewm/.icewm/toolbar | 4 +- files/ubuntu/install/icewm_ui.sh | 6 +- files/ubuntu/install/install_custom_fonts.sh | 1 + files/ubuntu/install/libnss_wrapper.sh | 13 ++++ files/ubuntu/install/tigervnc.sh | 3 +- files/ubuntu/install/tools.sh | 4 +- melodic/Dockerfile | 80 -------------------- noetic/Dockerfile | 20 +++-- 20 files changed, 131 insertions(+), 140 deletions(-) create mode 100644 files/common/scripts/generate_container_user rename files/{welcome => home/.welcome} (100%) create mode 100644 files/ubuntu/install/libnss_wrapper.sh delete mode 100644 melodic/Dockerfile diff --git a/.github/workflows/docker-ci.yml b/.github/workflows/docker-ci.yml index b96ae65..a786f11 100644 --- a/.github/workflows/docker-ci.yml +++ b/.github/workflows/docker-ci.yml @@ -17,20 +17,6 @@ on: release: types: [released] jobs: - ros-tools-melodic: - uses: MOV-AI/.github/.github/workflows/docker-workflow.yml@v1 - with: - docker_file: melodic/Dockerfile - docker_image: devops/ros-tools-melodic - github_ref: ${{ github.ref }} - deploy: ${{ contains(github.ref, 'refs/heads/main') || contains(github.ref, 'refs/tags/v')}} - version: ${GITHUB_REF##*/} - push_latest: ${{ contains(github.ref, 'refs/heads/main') || contains(github.ref, 'refs/tags/v') }} - snyk_check: true - secrets: - registry_user: ${{ secrets.PORTUS_APP_USER }} - registry_password: ${{ secrets.PORTUS_APP_TOKEN }} - snyk_token: ${{ secrets.SNYK_TOKEN }} ros-tools-noetic: uses: MOV-AI/.github/.github/workflows/docker-workflow.yml@v1 with: diff --git a/README.md b/README.md index 6f045d6..f977896 100644 --- a/README.md +++ b/README.md @@ -8,18 +8,13 @@ Image is built in 3 flavours: | Flavour | Base Image | Python | | ------------ | ---------- | ------ | -| ros-tools-melodic | ros:melodic-robot | 3.6.9 | -| ros-tools-noetic | ros:noetic-robot | 3.8.10 | -| ros-tools-ce | movai-base-focal:v1.2.0 | 3.8.10 | +| ros-tools-noetic | movai-base-focal:v2.4.0 | 3.8.10 | +| ros-tools-ce | movai-base-focal:v2.4.0 | 3.8.10 | ## About ## Usage -Build ROS TOOLS image based on ROS melodic : - - docker build -t ros-tools:melodic -f melodic/Dockerfile . - Build ROS TOOLS image based on ROS noetic : docker build -t ros-tools:noetic -f noetic/Dockerfile . @@ -27,3 +22,7 @@ Build ROS TOOLS image based on ROS noetic : Build ROS TOOLS image for CE (contains only Rviz and no ROS components) : docker build -t ros-tools:ce -f ce/Dockerfile . + +## License + +Forked from https://github.com/ConSol/docker-headless-vnc-container \ No newline at end of file diff --git a/ce/Dockerfile b/ce/Dockerfile index fd61049..60b15bd 100644 --- a/ce/Dockerfile +++ b/ce/Dockerfile @@ -23,12 +23,6 @@ ENV HOME=${USER_HOME} \ ### ROS Config ENV ROS_MASTER_URI="http://${ROS_MASTER}:${ROS_MASTER_PORT}" -### Install rviz -RUN apt-get update && \ - apt-get install rviz=1.13.7+dfsg-1build2 -y --no-install-recommends && \ - apt-get autoremove -y && \ - rm -rf /var/lib/apt/lists/* - WORKDIR ${HOME} ### Add all install scripts for further steps @@ -36,6 +30,11 @@ COPY files/common/install/set_user_permission.sh files/ubuntu/install/tools.sh $ COPY files/bin /usr/local/bin/ RUN find $INST_SCRIPTS -name '*.sh' -exec chmod a+x {} + && \ + ### Install rviz + apt-get update && \ + apt-get install rviz=1.13.7+dfsg-1build2 -y --no-install-recommends && \ + apt-get autoremove -y && \ + rm -rf /var/lib/apt/lists/* && \ ### Clean apt-get clean && \ rm -rf /var/lib/apt/lists/* && \ diff --git a/files/bashrc.bash b/files/bashrc.bash index 3991994..79a9d65 100644 --- a/files/bashrc.bash +++ b/files/bashrc.bash @@ -59,6 +59,6 @@ fi export PYTHONPATH=${APP_PATH}:${PYTHONPATH} -cat ${MOVAI_HOME}/.welcome +cat ${HOME}/.welcome printf "Welcome! Have fun!\n" \ No newline at end of file diff --git a/files/common/install/no_vnc.sh b/files/common/install/no_vnc.sh index 2446ac4..3642ab1 100644 --- a/files/common/install/no_vnc.sh +++ b/files/common/install/no_vnc.sh @@ -5,14 +5,9 @@ set -u echo "Install noVNC - HTML5 based VNC viewer" mkdir -p $NO_VNC_HOME/utils/websockify -wget -qO- https://github.com/novnc/noVNC/archive/v1.0.0.tar.gz | tar xz --strip 1 -C $NO_VNC_HOME +wget -qO- https://github.com/novnc/noVNC/archive/refs/tags/v1.3.0.tar.gz | tar xz --strip 1 -C $NO_VNC_HOME # use older version of websockify to prevent hanging connections on offline containers, see https://github.com/ConSol/docker-headless-vnc-container/issues/50 -wget -qO- https://github.com/novnc/websockify/archive/v0.6.1.tar.gz | tar xz --strip 1 -C $NO_VNC_HOME/utils/websockify -chmod +x -v $NO_VNC_HOME/utils/*.sh +wget -qO- https://github.com/novnc/websockify/archive/refs/tags/v0.10.0.tar.gz | tar xz --strip 1 -C $NO_VNC_HOME/utils/websockify +#chmod +x -v $NO_VNC_HOME/utils/*.sh ## create index.html to forward automatically to `vnc_lite.html` -ln -s $NO_VNC_HOME/vnc_lite.html $NO_VNC_HOME/index.html -touch $NO_VNC_HOME/core/index.html -touch $NO_VNC_HOME/utils/index.html -touch $NO_VNC_HOME/tests/index.html -touch $NO_VNC_HOME/vendor/index.html -touch $NO_VNC_HOME/app/index.html +ln -s $NO_VNC_HOME/vnc.html $NO_VNC_HOME/index.html diff --git a/files/common/install/set_user_permission.sh b/files/common/install/set_user_permission.sh index 13f9e1e..9258fd9 100644 --- a/files/common/install/set_user_permission.sh +++ b/files/common/install/set_user_permission.sh @@ -11,4 +11,4 @@ do find "$var"/ -name '*.sh' -exec chmod $verbose a+x {} + find "$var"/ -name '*.desktop' -exec chmod $verbose a+x {} + chgrp -R 0 "$var" && chmod -R $verbose a+rw "$var" && find "$var" -type d -exec chmod $verbose a+x {} + -done \ No newline at end of file +done diff --git a/files/common/scripts/generate_container_user b/files/common/scripts/generate_container_user new file mode 100644 index 0000000..1a8636b --- /dev/null +++ b/files/common/scripts/generate_container_user @@ -0,0 +1,30 @@ +# Set current user in nss_wrapper +USER_ID=$(id -u) +GROUP_ID=$(id -g) +echo "USER_ID: $USER_ID, GROUP_ID: $GROUP_ID" + +if [ x"$USER_ID" != x"0" ]; then + + NSS_WRAPPER_PASSWD=/tmp/passwd + NSS_WRAPPER_GROUP=/etc/group + + cat /etc/passwd > $NSS_WRAPPER_PASSWD + + echo "default:x:${USER_ID}:${GROUP_ID}:Default Application User:${HOME}:/bin/bash" >> $NSS_WRAPPER_PASSWD + + export NSS_WRAPPER_PASSWD + export NSS_WRAPPER_GROUP + + if [ -r /usr/lib/libnss_wrapper.so ]; then + LD_PRELOAD=/usr/lib/libnss_wrapper.so + elif [ -r /usr/lib64/libnss_wrapper.so ]; then + LD_PRELOAD=/usr/lib64/libnss_wrapper.so + elif [ -r /usr/lib/x86_64-linux-gnu/libnss_wrapper.so ]; then + LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libnss_wrapper.so + else + echo "no libnss_wrapper.so installed!" + exit 1 + fi + echo "nss_wrapper location: $LD_PRELOAD" + export LD_PRELOAD +fi diff --git a/files/common/scripts/vnc_startup.sh b/files/common/scripts/vnc_startup.sh index 104876d..114b945 100755 --- a/files/common/scripts/vnc_startup.sh +++ b/files/common/scripts/vnc_startup.sh @@ -2,6 +2,28 @@ ### every exit != 0 fails the script set -e +## print out help +help (){ +echo " +USAGE: +docker run -it -p 6901:6901 -p 5901:5901 rost-tools: