Add simulator and visualizer containers

Signed-off-by: Oguz Ozturk <[email protected]>

.github/actions/docker-build-and-push/action.yaml

@@ -181,6 +181,32 @@ runs:
         flavor: |
           latest=false
 
+    - name: Docker meta for autoware:universe-visualizer
+      id: meta-universe-visualizer
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
+        tags: |
+          type=raw,value=universe-visualizer-${{ inputs.platform }}
+          type=raw,value=universe-visualizer-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=universe-visualizer-,suffix=-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-visualizer
+        flavor: |
+          latest=false
+
+    - name: Docker meta for autoware:universe-simulator
+      id: meta-universe-simulator
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
+        tags: |
+          type=raw,value=universe-simulator-${{ inputs.platform }}
+          type=raw,value=universe-simulator-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=universe-simulator-,suffix=-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-simulator
+        flavor: |
+          latest=false
+
     - name: Docker meta for autoware:universe-devel
       id: meta-universe-devel
       uses: docker/metadata-action@v5
@@ -220,6 +246,7 @@ runs:
         push: true
         files: |
           docker/docker-bake.hcl
+          docker/docker-bake-tools.hcl
           ${{ steps.meta-core-devel.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception-devel.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception.outputs.bake-file }}
@@ -231,6 +258,8 @@ runs:
           ${{ steps.meta-universe-vehicle-system.outputs.bake-file }}
           ${{ steps.meta-universe-devel.outputs.bake-file }}
           ${{ steps.meta-universe.outputs.bake-file }}
+          ${{ steps.meta-simulator.outputs.bake-file }}
+          ${{ steps.meta-visualizer.outputs.bake-file }}
         provenance: false
         set: |
           ${{ inputs.build-args }}

docker/docker-bake-tools.hcl

@@ -0,0 +1,22 @@
+group "default" {
+  targets = [
+    "simulator",
+    "visualizer"
+  ]
+}
+
+// For docker/metadata-action
+target "docker-metadata-action-simulator" {}
+target "docker-metadata-action-visualizer" {}
+
+target "simulator" {
+  inherits = ["docker-metadata-action-simulator"]
+  dockerfile = "docker/tools/Dockerfile"
+  target = "simulator"
+}
+
+target "visualizer" {
+  inherits = ["docker-metadata-action-visualizer"]
+  dockerfile = "docker/tools/Dockerfile"
+  target = "visualizer"
+}

docker/tools/Dockerfile

@@ -0,0 +1,101 @@
+ARG ROS_DISTRO
+
+### Builder
+FROM ghcr.io/autowarefoundation/autoware:universe-devel AS builder
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ENV CCACHE_DIR="/root/.ccache"
+WORKDIR /autoware
+COPY src /autoware/src
+COPY simulator.repos /autoware/simulator.repos
+COPY docker/scripts/resolve_rosdep_keys.sh /autoware/resolve_rosdep_keys.sh
+RUN chmod +x /autoware/resolve_rosdep_keys.sh
+
+# Install dependencies and build the simulator
+RUN --mount=type=ssh \
+    --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    vcs import src < simulator.repos \
+    && apt-get update \
+    && rosdep update && rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO \
+    && source /opt/ros/"$ROS_DISTRO"/setup.bash && source /opt/autoware/setup.bash \
+    && colcon build --cmake-args \
+      "-Wno-dev" \
+      "--no-warn-unused-cli" \
+      --install-base /opt/autoware \
+      --merge-install \
+      --mixin release compile-commands ccache \
+      --base-paths /autoware/src/simulator \
+    && find /opt/autoware/lib -type f -name "*.py" -exec chmod +x {} \; \
+    && find /opt/autoware/share -type f -name "*.py" -exec chmod +x {} \; \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+
+# Extract rosdep dependencies for simulator
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src/simulator ${ROS_DISTRO} \
+    > /rosdep-simulator-depend-packages.txt \
+    && cat /rosdep-simulator-depend-packages.txt
+
+### Simulator
+FROM ghcr.io/autowarefoundation/autoware:universe AS simulator
+WORKDIR /autoware
+COPY --from=builder /opt/autoware /opt/autoware
+COPY --from=builder /rosdep-simulator-depend-packages.txt /tmp/rosdep-simulator-depend-packages.txt
+
+RUN --mount=type=ssh \
+    --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    apt-get update && apt-get install -y curl unzip \
+    && source /opt/ros/"$ROS_DISTRO"/setup.bash && source /opt/autoware/setup.bash \
+    && rosdep update \
+    && cat /tmp/rosdep-simulator-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/* "$HOME"/.cache && \
+    echo "source /opt/autoware/setup.bash" > /etc/bash.bashrc
+
+COPY docker/tools/etc/entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["/bin/bash"]
+
+### Visualizer
+FROM simulator AS visualizer
+WORKDIR /autoware
+
+# Install openbox and VNC requirements
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+    curl unzip openbox tigervnc-standalone-server tigervnc-common \
+    novnc websockify python3-numpy python3-xdg \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+# Set up VNC password
+RUN mkdir -p ~/.vnc && \
+    echo "openadkit" | vncpasswd -f > ~/.vnc/passwd && \
+    chmod 600 ~/.vnc/passwd
+
+# Create SSL certificate for NoVNC
+RUN openssl req -x509 -nodes -newkey rsa:2048 \
+    -keyout /etc/ssl/private/novnc.key \
+    -out /etc/ssl/certs/novnc.crt \
+    -days 365 \
+    -subj "/O=Autoware-OpenADKit/CN=localhost"
+
+# Install ngrok for optional public access if no public ip available
+RUN curl -sSL https://ngrok-agent.s3.amazonaws.com/ngrok.asc \
+    | tee /etc/apt/trusted.gpg.d/ngrok.asc >/dev/null && \
+    echo "deb https://ngrok-agent.s3.amazonaws.com buster main" \
+    | tee /etc/apt/sources.list.d/ngrok.list && \
+    apt update && \
+    apt install ngrok
+
+# Need to expose VNC and NoVNC ports when running the container
+EXPOSE 5900 6080
+
+# Add source commands to bash startup
+RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /root/.bashrc && \
+    echo "source /opt/autoware/setup.bash" >> /root/.bashrc
+
+# Copy startup scripts
+COPY docker/tools/etc/xstartup /root/.vnc/xstartup
+COPY docker/tools/etc/entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh && chmod +x /root/.vnc/xstartup
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["/bin/bash"]

docker/tools/etc/entrypoint.sh

@@ -0,0 +1,82 @@
+#!/usr/bin/env bash
+
+configure_vnc() {
+    # Create Openbox application configuration
+    mkdir -p /etc/xdg/openbox
+    cat > /etc/xdg/openbox/rc.xml << 'EOF'
+<?xml version="1.0" encoding="UTF-8"?>
+<openbox_config xmlns="http://openbox.org/3.4/rc"
+                xmlns:xi="http://www.w3.org/2001/XInclude">
+  <applications>
+    <application name="rviz2">
+      <maximized>yes</maximized>
+      <position force="yes">
+        <x>center</x>
+        <y>center</y>
+      </position>
+      <focus>yes</focus>
+      <desktop>1</desktop>
+    </application>
+  </applications>
+</openbox_config>
+EOF
+    # Create rviz2 start script
+    cat > /usr/local/bin/start-rviz2.sh << 'EOF'
+#!/bin/bash
+source /opt/ros/humble/setup.bash
+source /opt/autoware/setup.bash
+if [ -n "$RVIZ_CONFIG" ]; then
+    exec rviz2 -d "$RVIZ_CONFIG"
+else
+    exec rviz2
+fi
+EOF
+    chmod +x /usr/local/bin/start-rviz2.sh
+    echo "echo 'Autostart executed at $(date)' >> /tmp/autostart.log" >> /etc/xdg/openbox/autostart
+    echo "/usr/local/bin/start-rviz2.sh" >> /etc/xdg/openbox/autostart
+
+    # Start VNC server with Openbox
+    echo "Starting VNC server with Openbox..."
+    vncserver :99 -geometry 1024x768 -depth 16 -pixelformat rgb565
+    VNC_RESULT=$?
+
+    if [ $VNC_RESULT -ne 0 ]; then
+        echo "Failed to start VNC server (exit code: $VNC_RESULT)"
+        exit $VNC_RESULT
+    fi
+
+    # Set the DISPLAY variable to match VNC server
+    echo "Setting DISPLAY to :99"
+    echo "export DISPLAY=:99" >> ~/.bashrc
+    sleep 2
+
+    # Start NoVNC
+    echo "Starting NoVNC..."
+    websockify --daemon --web=/usr/share/novnc/ --cert=/etc/ssl/certs/novnc.crt --key=/etc/ssl/private/novnc.key 6080 localhost:5999
+
+    # Configure ngrok if set
+    if [ -n "$NGROK_AUTHTOKEN" ]; then
+        ngrok config add-authtoken "$NGROK_AUTHTOKEN"
+
+        if [ -n "$NGROK_URL" ]; then
+            ngrok http --url="$NGROK_URL" 6080 --log=stdout >ngrok.log &
+        else
+            ngrok http 6080 --log=stdout >ngrok.log &
+            sleep 2
+            NGROK_URL=$(grep -oP 'url=\K[^\s]+' ngrok.log)
+        fi
+    fi
+
+    # Print info
+    echo -e "\033[32m-------------------------------------------------------------------------\033[0m"
+    echo -e "\033[32mBrowser interface available at local address http://$(hostname -I | cut -d' ' -f1):6080/vnc.html?resize=scale&password=openadkit&autoconnect=true\033[0m"
+    [ -z "$NGROK_AUTHTOKEN" ] && echo -e "\033[32mIf you have a static public ip you can access it on WEB at http://$(curl -s ifconfig.me):6080/vnc.html?resize=scale&password=openadkit&autoconnect=true\033[0m"
+    [ -n "$NGROK_AUTHTOKEN" ] && echo -e "\033[32mBrowser interface available at WEB address $NGROK_URL/vnc.html?resize=scale&password=openadkit&autoconnect=true\033[0m"
+    echo -e "\033[32m-------------------------------------------------------------------------\033[0m"
+}
+
+# shellcheck disable=SC1090
+[ "$VNC_ENABLED" == "true" ] && configure_vnc
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source "/opt/autoware/setup.bash"
+exec "$@"

docker/tools/etc/xstartup

@@ -0,0 +1,15 @@
+#!/bin/sh
+
+unset SESSION_MANAGER
+unset DBUS_SESSION_BUS_ADDRESS
+export DISPLAY=:99
+
+[ -x /etc/vnc/xstartup ] && exec /etc/vnc/xstartup
+[ -r "$HOME/.Xresources" ] && xrdb "$HOME/.Xresources"
+
+# Start Openbox window manager
+echo "Starting Openbox window manager..."
+openbox-session &
+
+# Keep the session alive
+sleep infinity