install code server

Dockerfile

@@ -129,6 +129,8 @@ RUN . /opt/ros/lcas/install/setup.sh && \
 RUN cd /opt/ros/lcas && colcon build && \
     rm -rf /opt/ros/lcas/src/ /opt/ros/lcas/build/ /opt/ros/lcas/log/
 
+RUN curl -fsSL https://code-server.dev/install.sh | sh
+
 USER ros
 WORKDIR /home/ros
 ENV SHELL=/bin/bash

configs/docker-compose-dev.yaml

@@ -0,0 +1,140 @@
+name: limo_platform
+services:
+  filebrowser:
+    image: filebrowser/filebrowser
+    pull_policy: always
+    networks:
+      - rosnet
+    ports:
+      - 8080:8080
+    volumes:
+      - ${HOME}:/srv
+    command: -r /srv --noauth -b "${HOME}" -d /tmp/database.db -p 8080 --disable-exec
+
+  zenoh_router: 
+    image: eclipse/zenoh-bridge-ros2dds:latest
+    pull_policy: always
+    networks:
+      - rosnet
+    # expose REST API, and Zenoh API
+    ports:
+      - 7447:7447
+      - 8000:8000
+
+    # start the Zenoh router to allow remote access on port 8888
+    # also allows REST API access via Zenoh on port 8080
+    #command: "-r 8000 -l tcp/0.0.0.0:7447 router"
+    command: "-c /etc/zenoh/zenoh.json5 router"
+    volumes:
+      - /etc/localtime:/etc/localtime:ro
+      - /etc/timezone:/etc/timezone:ro
+      - ./zenoh.json5:/etc/zenoh/zenoh.json5:ro
+    links:
+      - limo_drivers
+
+    # need to set ROS_DISTRO to the correct version for the bridge to work correctly
+    environment:
+    - ROS_DISTRO=humble
+
+  limo_drivers:
+    image: lcas.lincoln.ac.uk/lcas/limo_platform:staging
+    pull_policy: always
+    build:
+      context: ..
+      cache_from:
+        - lcas.lincoln.ac.uk/lcas/ros-docker-images:westonrobot-humble-2
+        - lcas.lincoln.ac.uk/cache/lcas/limo_platform:latest
+        - lcas.lincoln.ac.uk/lcas/limo_platform:staging
+        - lcas.lincoln.ac.uk/lcas/limo_platform:2
+    user: "ros"
+
+    # expose desktop access
+    ports:
+      # port for novnc
+      - 5801:5801
+      - 5901:5901
+      # port for code-serer
+      - 9999:9999
+
+    # NOTE: We expect the environment varibable ROBOT_NAME to be set, e.g. in `.env`
+    hostname: "${ROBOT_NAME}"
+    # nned privileged mode to access the camera and hardware
+    privileged: true
+    ipc: host
+    #command: bash -c "while true; do sleep 10; done"
+    #command: bash -c "zenoh-bridge-ros2dds -r 8080 -l tcp/0.0.0.0:8888"
+    command: bash -c "source /opt/ros/lcas/install/setup.bash; echo $$CYCLONEDDS_URI; (code-server --auth none -an ${ROBOT_NAME} --bind-addr 0.0.0.0:9999 &);(ros2 launch astra_camera dabai.launch.py &); ros2 launch limo_bringup limo_start.launch.py"
+    volumes:
+      - /dev:/dev
+      - ${HOME}:/home/ros/robot_home
+      - /etc/localtime:/etc/localtime:ro
+      - /etc/timezone:/etc/timezone:ro
+    runtime: nvidia
+    shm_size: '2gb' 
+    environment:
+      # always use virtual desktop
+      - DISPLAY:1
+
+      # - >
+      #   CYCLONEDDS_URI=
+      #   <CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
+      #     <Domain id="0">
+      #       <General>
+      #         <AllowMulticast>true</AllowMulticast>
+      #         <MaxMessageSize>65500B</MaxMessageSize>
+      #         <FragmentSize>4000B</FragmentSize> 
+      #         <Transport>udp</Transport>
+      #         <Interfaces>
+      #             <NetworkInterface name="eth0"/>
+      #         </Interfaces>
+      #       </General>
+      #       <Discovery>
+      #         <Peers>
+      #           <!--<Peer address="limo_drivers"/>-->
+      #           <!--<Peer address="LIMO-1522"/>-->
+      #           <!--<Peer address="[IPV6-address]"/>--> 
+      #         </Peers>
+      #         <ParticipantIndex>auto</ParticipantIndex>
+      #         <MaxAutoParticipantIndex>100</MaxAutoParticipantIndex>
+      #       </Discovery>
+      #       <Internal>
+      #         <Watermarks>
+      #           <WhcHigh>500kB</WhcHigh>
+      #         </Watermarks>
+      #       </Internal>
+      #       <Tracing>
+      #         <Verbosity>info</Verbosity>
+      #         <OutputFile>stderr</OutputFile>
+      #       </Tracing>
+      #     </Domain>
+      #   </CycloneDDS>
+      # - 'LIBGL_ALWAYS_SOFTWARE=1'
+      # - 'ROS_DOMAIN_ID=0'
+      # - 'NVIDIA_VISIBLE_DEVICES=all'
+    #network_mode: host
+    networks:
+      - rosnet
+    cap_add:
+        - NET_ADMIN
+        - SYS_PTRACE
+    security_opt:
+      - seccomp:unconfined
+      - apparmor:unconfined
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [gpu]
+
+
+networks:
+  rosnet:
+    driver: bridge
+    ipam:
+     driver: default
+     config:
+       - subnet: 172.100.0.0/16
+    driver_opts:
+      com.docker.network.container_iface_prefix: eth

configs/docker-compose.yaml

@@ -2,7 +2,7 @@ name: limo_platform
 services:
   filebrowser:
     image: filebrowser/filebrowser
-    restart: "unless-stopped"
+    pull_policy: always
     networks:
       - rosnet
     ports:
@@ -13,7 +13,7 @@ services:
 
   zenoh_router: 
     image: eclipse/zenoh-bridge-ros2dds:latest
-    restart: "unless-stopped"
+    pull_policy: always
     networks:
       - rosnet
     # expose REST API, and Zenoh API
@@ -38,14 +38,16 @@ services:
 
   limo_drivers:
     image: lcas.lincoln.ac.uk/lcas/limo_platform:2
-            #lcas.lincoln.ac.uk/lcas/limo_platform:staging
-
+    pull_policy: always
     user: "ros"
 
     # expose desktop access
     ports:
+      # port for novnc
       - 5801:5801
       - 5901:5901
+      # port for code-serer
+      - 9999:9999
 
     # NOTE: We expect the environment varibable ROBOT_NAME to be set, e.g. in `.env`
     hostname: "${ROBOT_NAME}"
@@ -54,14 +56,13 @@ services:
     ipc: host
     #command: bash -c "while true; do sleep 10; done"
     #command: bash -c "zenoh-bridge-ros2dds -r 8080 -l tcp/0.0.0.0:8888"
-    command: bash -c "source /opt/ros/lcas/install/setup.bash; echo $$CYCLONEDDS_URI; (ros2 launch astra_camera dabai.launch.py &); ros2 launch limo_bringup limo_start.launch.py"
+    command: bash -c "source /opt/ros/lcas/install/setup.bash; echo $$CYCLONEDDS_URI; (code-server --auth none -an ${ROBOT_NAME} --bind-addr 0.0.0.0:9999 &);(ros2 launch astra_camera dabai.launch.py &); ros2 launch limo_bringup limo_start.launch.py"
     volumes:
       - /dev:/dev
       - ${HOME}:/home/ros/robot_home
       - /etc/localtime:/etc/localtime:ro
       - /etc/timezone:/etc/timezone:ro
     runtime: nvidia
-    restart: unless-stopped
     shm_size: '2gb' 
     environment:
       # always use virtual desktop
@@ -129,4 +130,4 @@ networks:
      config:
        - subnet: 172.100.0.0/16
     driver_opts:
-      com.docker.network.container_iface_prefix: eth
+      com.docker.network.container_iface_prefix: eth