Enable Visualizations for Dev Container (ros-navigation#3523)

* Add visualizer stage
to install demo dependencies

* Install foxglove

* Install gzweb

* Add hack for resolvable mesh URIs
located by the aws SDL model files
- aws-robotics/aws-robomaker-small-warehouse-world#24

* Revert hack and use fork
that fixes issues with deploy.sh
- osrf/gzweb#248

* Update target stage to visualizer

* Comment out gzclient and rviz for debugging

* Add hack for resolvable mesh URIs
as migrating the python3 scripts still hasn't resolved the issue

* Reorder stages for readability
by keeping sequential builder and tester stages adjacent
while keeping tester stage the default exported target

* fix typo

* Install gdb for launching ros launch files
using the ROS VS Code extension
- ms-iot/vscode-ros#588

* Add vscode tasks file

* Add Start Gzweb task

* Add Start Foxglove tasks
for bridge and studio

* Add Start Foxglove compound task
using dependsOn

* Set default problemMatcher to empty
to avoid nagging the user to select one
as currently none really support our use case

* Source overlay before running foxglove_bridge
to ensure nav2 message types are defined
by inlining all args into command
and sourcing workspace setup

* Formatting

* Generalize and simplify hack

* Generalize gazebo model discovery

* Patch gzserver to run headless using xvfb
to avoid host/platform specific x11 quirks
exposed by vscode automatic x11 forwarding

This is needed to provide gazebo a virtual frame buffer
as it still need one after all these years.
This also avoids the need modifying launch files to call xvfb-run

- microsoft/vscode-remote-release#8031
- gazebosim/gazebo-classic#1602

* Set isBackground for start tasks

* Add stop tasks

* Add restart foxglove task

* Switch to shell for commanding pkill
to gracefully return 0 when process is not running
allowing sequence of dependsOn tasks to run
such as for the restart tasks

* Add icons to tasks
for readability

* Add restart gzweb task

* Add global start, stop, and restart tasks
for all background visualization tasks

* Formatting

* Hide tasks users need not run manually
to avoid cluttering up the run task quick pick

* Shorten label for background tasks
so they succinctly show from the running task list

* Show global start and stop visualizations tasks
as they may be too helpful to hide

* Revert "Comment out gzclient and rviz for debugging"

This reverts commit 0addae2.

* Add --ipc=host to runArgs
to enable shared memory transport
- https://community.rti.com/kb/communicate-between-two-docker-containers-using-rti-connext-dds-and-shared-memory

* Add --pid=host to runArgs
to simplify discovery
- https://community.rti.com/kb/communicate-between-two-docker-containers-using-rti-connext-dds-and-shared-memory

* Add to runArgs
to simplify debugging
- https://code.visualstudio.com/docs/devcontainers/create-dev-container#_use-docker-compose

* Add comments

* Comment out runArgs unintended side effects
or cross talk between containers by default
also avoids interfering with vscode's X11 forwarding

.devcontainer/devcontainer.json

@@ -3,12 +3,16 @@
     "build": {
         "dockerfile": "../Dockerfile",
         "context": "..",
-        "target": "dever",
+        "target": "visualizer",
         "cacheFrom": "ghcr.io/ros-planning/navigation2:main"
     },
     "runArgs": [
-        "--privileged",
-        "--network=host"
+        // "--cap-add=SYS_PTRACE", // enable debugging, e.g. gdb
+        // "--ipc=host", // shared memory transport with host, e.g. rviz GUIs
+        // "--network=host", // network access to host interfaces, e.g. eth0
+        // "--pid=host", // DDS discovery with host, without --network=host
+        // "--privileged", // device access to host peripherals, e.g. USB
+        // "--security-opt=seccomp=unconfined", // enable debugging, e.g. gdb
     ],
     "workspaceMount": "source=${localWorkspaceFolder},target=/opt/overlay_ws/src/navigation2,type=bind",
     "workspaceFolder": "/opt/overlay_ws/src/navigation2",

.vscode/tasks.json

@@ -0,0 +1,174 @@
+{
+    // See https://go.microsoft.com/fwlink/?LinkId=733558
+    // for the documentation about the tasks.json format
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "Gzweb",
+            "icon": {
+                "id": "debug-start"
+            },
+            "type": "process",
+            "command": "npm",
+            "args": [
+                "start"
+            ],
+            "options": {
+                "cwd": "/opt/gzweb",
+                "env": {
+                    "npm_config_port": "9090"
+                }
+            },
+            "hide": true,
+            "isBackground": true,
+            "problemMatcher": []
+        },
+        {
+            "label": "Stop Gzweb",
+            "icon": {
+                "id": "debug-stop"
+            },
+            "type": "shell",
+            "command": "pkill -SIGTERM -f 'npm start' || true",
+            "hide": true,
+            "problemMatcher": []
+        },
+        {
+            "label": "Restart Gzweb",
+            "icon": {
+                "id": "debug-restart"
+            },
+            "dependsOn": [
+                "Stop Gzweb",
+                "Gzweb"
+            ],
+            "dependsOrder": "sequence",
+            "problemMatcher": []
+        },
+        {
+            "label": "Foxglove Bridge",
+            "icon": {
+                "id": "debug-start"
+            },
+            "type": "shell",
+            "command": "source ./install/setup.bash && ros2 run foxglove_bridge foxglove_bridge",
+            "options": {
+                "cwd": "/opt/overlay_ws",
+            },
+            "isBackground": true,
+            "hide": true,
+            "problemMatcher": []
+        },
+        {
+            "label": "Stop Foxglove Bridge",
+            "icon": {
+                "id": "debug-stop"
+            },
+            "type": "shell",
+            "command": "pkill -SIGTERM -f 'ros2 run foxglove_bridge foxglove_bridge' || true",
+            "hide": true,
+            "problemMatcher": []
+        },
+        {
+            "label": "Foxglove Studio",
+            "icon": {
+                "id": "debug-start"
+            },
+            "type": "process",
+            "command": "caddy",
+            "args": [
+                "file-server",
+                "--listen",
+                ":8080"
+            ],
+            "options": {
+                "cwd": "/opt/foxglove",
+            },
+            "isBackground": true,
+            "hide": true,
+            "problemMatcher": []
+        },
+        {
+            "label": "Stop Foxglove Studio",
+            "icon": {
+                "id": "debug-stop"
+            },
+            "type": "shell",
+            "command": "pkill -SIGTERM -f 'caddy file-server --listen :8080' || true",
+            "hide": true,
+            "problemMatcher": []
+        },
+        {
+            "label": "Foxglove",
+            "icon": {
+                "id": "debug-start"
+            },
+            "dependsOn": [
+                "Foxglove Bridge",
+                "Foxglove Studio"
+            ],
+            "hide": true,
+            "problemMatcher": []
+        },
+        {
+            "label": "Stop Foxglove",
+            "icon": {
+                "id": "debug-stop"
+            },
+            "dependsOn": [
+                "Stop Foxglove Bridge",
+                "Stop Foxglove Studio"
+            ],
+            "hide": true,
+            "problemMatcher": []
+        },
+        {
+            "label": "Restart Foxglove",
+            "icon": {
+                "id": "debug-restart"
+            },
+            "dependsOn": [
+                "Stop Foxglove",
+                "Foxglove"
+            ],
+            "dependsOrder": "sequence",
+            "problemMatcher": []
+        },
+        {
+            "label": "Start Visualizations",
+            "icon": {
+                "id": "debug-start"
+            },
+            "dependsOn": [
+                "Gzweb",
+                "Foxglove"
+            ],
+            // "hide": true,
+            "problemMatcher": []
+        },
+        {
+            "label": "Stop Visualizations",
+            "icon": {
+                "id": "debug-stop"
+            },
+            "dependsOn": [
+                "Stop Gzweb",
+                "Stop Foxglove"
+            ],
+            // "hide": true,
+            "problemMatcher": []
+        },
+        {
+            "label": "Restart Visualizations",
+            "icon": {
+                "id": "debug-restart"
+            },
+            "dependsOn": [
+                "Stop Visualizations",
+                "Start Visualizations"
+            ],
+            "dependsOrder": "sequence",
+            "problemMatcher": []
+        }
+    ]
+}

Dockerfile

@@ -105,20 +105,6 @@ RUN . $UNDERLAY_WS/install/setup.sh && \
       --ignore-src \
     && rm -rf /var/lib/apt/lists/*
 
-# multi-stage for developing
-FROM builder AS dever
-
-# edit apt for caching
-RUN mv /etc/apt/apt.conf.d/docker-clean /etc/apt/
-
-# install developer dependencies
-RUN apt-get update && \
-    apt-get install -y \
-      bash-completion
-
-# source underlay for shell
-RUN echo 'source "$UNDERLAY_WS/install/setup.bash"' >> /etc/bash.bashrc
-
 # multi-stage for testing
 FROM builder AS tester
 
@@ -146,3 +132,74 @@ RUN if [ -n "$RUN_TESTS" ]; then \
         colcon test-result \
           || ([ -z "$FAIL_ON_TEST_FAILURE" ] || exit 1) \
     fi
+
+# multi-stage for developing
+FROM builder AS dever
+
+# edit apt for caching
+RUN mv /etc/apt/apt.conf.d/docker-clean /etc/apt/
+
+# install developer dependencies
+RUN apt-get update && \
+    apt-get install -y \
+      bash-completion \
+      gdb
+
+# source underlay for shell
+RUN echo 'source "$UNDERLAY_WS/install/setup.bash"' >> /etc/bash.bashrc
+
+# multi-stage for visualizing
+FROM dever AS visualizer
+
+# install foxglove dependacies
+RUN echo "deb https://dl.cloudsmith.io/public/caddy/stable/deb/debian any-version main" > /etc/apt/sources.list.d/caddy-stable.list
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 65760c51edea2017cea2ca15155b6d79ca56ea34
+
+# install demo dependencies
+RUN apt-get update && apt-get install -y \
+      ros-$ROS_DISTRO-aws-robomaker-small-warehouse-world \
+      ros-$ROS_DISTRO-rviz2 \
+      ros-$ROS_DISTRO-turtlebot3-simulations
+
+# install gzweb dependacies
+RUN apt-get install -y --no-install-recommends \
+      imagemagick \
+      libboost-all-dev \
+      libgazebo-dev \
+      libgts-dev \
+      libjansson-dev \
+      libtinyxml-dev \
+      nodejs \
+      npm \
+      psmisc \
+      xvfb
+
+# clone gzweb
+ENV GZWEB_WS /opt/gzweb
+RUN git clone --branch python3 https://github.com/ruffsl/gzweb.git $GZWEB_WS
+
+# build gzweb
+RUN cd $GZWEB_WS && . /usr/share/gazebo/setup.sh && \
+    GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(find /opt/ros/$ROS_DISTRO/share \
+      -mindepth 1 -maxdepth 2 -type d -name "models" | paste -s -d: -) && \
+    xvfb-run -s "-screen 0 1280x1024x24" ./deploy.sh -m local && \
+    ln -s $GZWEB_WS/http/client/assets http/client/assets/models
+
+# patch gzsever
+RUN GZSERVER=$(which gzserver) && \
+    mv $GZSERVER $GZSERVER.orig && \
+    echo '#!/bin/bash' > $GZSERVER && \
+    echo 'xvfb-run -s "-screen 0 1280x1024x24" gzserver.orig "$@"' >> $GZSERVER && \
+    chmod +x $GZSERVER
+
+# install foxglove dependacies
+RUN apt-get install -y --no-install-recommends \
+      caddy \
+      ros-$ROS_DISTRO-foxglove-bridge
+
+# copy foxglove
+ENV FOXGLOVE_WS /opt/foxglove
+COPY --from=ghcr.io/foxglove/studio /src $FOXGLOVE_WS
+
+# multi-stage for exporting
+FROM tester AS exporter