Support services

.clangd

@@ -0,0 +1,10 @@
+CompileFlags:
+  Add:
+    - -Iros-deps-for-development/rmw/rmw/include
+    - -Iros-deps-for-development/rosidl/rosidl_runtime_c/include
+    - -Iros-deps-for-development/rosidl/rosidl_typesupport_introspection_c/include
+    - -Iros-deps-for-development/rosidl/rosidl_typesupport_interface/include
+    - -Iros-deps-for-development/rosidl/rosidl_typesupport_interface/include
+    - -Iros-deps-for-development/rmw_fastrtps/rmw_fastrtps_dynamic_cpp/include
+    - -Iros-deps-for-development/rmw_fastrtps/rmw_fastrtps_shared_cpp/include
+    - -Iros-deps-for-development/rmw_fastrtps/rmw_fastrtps_cpp/include

.dockerignore

@@ -0,0 +1,2 @@
+**/target
+ros-deps-for-development

.github/workflows/ci.yml

@@ -7,7 +7,12 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
-      - uses: moonrepo/setup-rust@v0
+
+      - name: Install stable rust toolchain
+        uses: dtolnay/rust-toolchain@stable
+        with:
+          components: rustfmt, clippy
+          toolchain: stable
 
       - name: Clippy
         working-directory: modality-ros-hook
@@ -25,21 +30,27 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
-      - uses: moonrepo/setup-rust@v0
+
+      - name: Install stable rust toolchain
+        uses: dtolnay/rust-toolchain@stable
+        with:
+          toolchain: stable
 
       - name: Debug build
-        working-directory: modality-ros-hook
-        run: cargo build
+        run: ./build-debug.sh
 
       - name: Release build
-        working-directory: modality-ros-hook
-        run: cargo build --release
+        run: ./build-release.sh
 
   test:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
-      - uses: moonrepo/setup-rust@v0
+
+      - name: Install stable rust toolchain
+        uses: dtolnay/rust-toolchain@stable
+        with:
+          toolchain: stable
 
       - name: Test
         working-directory: modality-ros-hook

.gitignore

@@ -1 +1,2 @@
 /target/
+/ros-deps-for-development/

Dockerfile.builder

@@ -0,0 +1,12 @@
+FROM ros:humble
+
+RUN apt-get update
+RUN apt-get install libssl-dev libclang-dev curl pkg-config -y
+
+RUN curl https://sh.rustup.rs -sSf | bash -s -- -y
+ENV PATH="/root/.cargo/bin:${PATH}"
+
+COPY . /src
+WORKDIR /src
+ENV BINDGEN_EXTRA_CLANG_ARGS="-I/opt/ros/humble/include/rcutils -I/opt/ros/humble/include/rcpputils -I/opt/ros/humble/include/rosidl_runtime_c -I/opt/ros/humble/include/rosidl_typesupport_interface -I/opt/ros/humble/include/rosidl_typesupport_introspection_c  -I/opt/ros/humble/include/rmw -I/opt/ros/humble/include/rmw_fastrtps_shared_cpp -I/opt/ros/humble/include/fastrtps -I/opt/ros/humble/include/fastcdr"
+RUN ./build-release.sh

README.md

@@ -1,5 +1,4 @@
 # modality-ros2
-
 Observability ([Modality](https://docs.auxon.io/modality/)) and Mutation ([Deviant](https://docs.auxon.io/deviant/)) support for [ROS 2](https://www.ros.org/).
 
 Supports the following ROS versions:
@@ -18,22 +17,61 @@ publisher and subscriber tracing.
   cargo build --release
   target/release/libmodality_ros_hook.so
   ```
+
   * Download the latest artifact from github releases
   ```bash
   wget -O libmodality_ros_hook.so https://github.com/auxoncorp/modality-ros2/releases/latest/download/libmodality_ros_hook_22.04_amd64.so
+  wget -O ros_deps https://github.com/auxoncorp/modality-ros2/releases/latest/download/ros_deps_22.04
   ```
-2. Install and use the cyclonedds rmw
-  ```bash
-  sudo apt install ros-humble-rmw-cyclonedds-cpp
 
-  export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-  ```
-3. Set `LD_PRELOAD` environment variable prior to running ROS nodes
+3. Set `LD_PRELOAD` environment variable prior to running ROS nodes.
   ```bash
   export LD_PRELOAD=/path/to/libmodality_ros_hook.so:/opt/ros/humble/lib/librmw_fastrtps_cpp.so
   ```
 
+  NB: You must be *100% sure* that the .so library you're using was
+  built against *exactly* the same version of ROS that you're
+  running. This instrumentation relies on the layout of some internal
+  structs, which may change between versions. We build against the
+  `ros:humble` docker image, but even that is a moving target; check
+  the versions in the `ros_deps` file against your system to make sure
+  everything lines up.
+
+  Note that we've also appended 'librmw_fastrtps_cpp.so' to LD_PRELOAD
+  as well. This is because, ROS uses a middleware-dispatch library
+  that `dlopen`s the appropriate middlware library on the fly,
+  depending on configuration. Unfortunately, this mechanism is not
+  compatible with `LD_PRELOAD`. By including the specific middleware
+  implementation in `LD_PRELOAD` here, the dispatch library isn't
+  loaded at all, which allows our `LD_PRELOAD` hooks to work.
+
 ### Configuration
 
-See the [`modality-reflector` Configuration File documentation](https://docs.auxon.io/modality/ingest/modality-reflector-configuration-file.html) for more information
-about the reflector or reflector-plugin configuration.
+These environment variables configure the behavior of the ROS LD_PRELOAD library:
+
+* `MODALITY_ROS_CONNECT_TIMEOUT`: How long to wait, in seconds, for a
+  connection to `modalityd`, before giving up. During this time,
+  messages are queued in memory. Defaults to 20 seconds.
+
+* `MODALITY_ROS_IGNORED_TOPICS`: A comma-separated list of ROS topics
+   which should be completely ignored when relaying data to
+   Modality. Be sure to include the '/' at the beginning of the
+   topic. Defaults to "/parameter_events". If you want to explicitly
+   include ALL topics (with no default ignores), set this to the empty
+   string `""`.
+
+* `MODALITY_ROS_MAX_ARRAY_LEN`: When transcribing ROS messages into
+   Modality format, what is the largest array that should be allowed?
+   Any array longer than this will be ignored. This is meant to allow
+   things like vectors and coordinates to be passed into Modality,
+   while excluding things like camera frames and LIDAR point
+   clouds. Defaults to 12.
+
+* `MODALITY_AUTH_TOKEN`: The content of the auth token to use when
+   connecting to Modality. If this is not set, the auth token used by
+   the Modality CLI is read from `~/.config/modality_cli/.user_auth_token`.
+
+This uses the same connection and configuration infrastructure as
+reflector plugins; see the [`modality-reflector` Configuration File
+documentation](https://docs.auxon.io/modality/ingest/modality-reflector-configuration-file.html)
+for more information.

build-in-docker.sh

@@ -0,0 +1,13 @@
+set -e
+
+if ! docker image exists ros:humble; then
+   docker pull docker.io/ros:humble
+fi
+
+docker build -f Dockerfile.builder -t modality-ros2-build
+
+mkdir -p target/docker-release/
+id=$(docker create modality-ros2-build)
+docker cp $id:/src/target/release/libmodality_ros_hook.so target/docker-release/
+docker cp $id:/src/target/release/ros_deps target/docker-release/
+docker rm -v $id

build-release.sh

@@ -3,7 +3,6 @@ set -e
 (
     cd modality-ros-hook
     cargo build --profile=release-with-debug
-
 )
 
 mkdir -p target/release
@@ -12,10 +11,31 @@ gcc -Wall -fPIC -shared \
     -Os \
     -o target/release/libmodality_ros_hook.so \
     ld_preload_shim.c \
-    -Irmw/rmw/include \
-    -Ircutils/include \
-    -Irosidl/rosidl_runtime_c/include \
-    -Irosidl/rosidl_typesupport_introspection_c/include \
-    -Irosidl/rosidl_typesupport_interface/include \
+    ${BINDGEN_EXTRA_CLANG_ARGS} \
     -L modality-ros-hook/target/release-with-debug/ \
     -ldl -lmodality_ros_hook_rust
+
+record_package_version () {
+    local package=$1
+    echo "${package}" >> target/release/ros_deps
+    dpkg -s "${package}" | grep '^Version:' >> target/release/ros_deps
+    echo >> target/release/ros_deps
+}
+
+lsb_release -a >> target/release/ros_deps
+echo >> target/release/ros_deps
+
+uname -a >> target/release/ros_deps
+echo >> target/release/ros_deps
+
+record_package_version "libc-bin"
+record_package_version "libc6-dev"
+record_package_version "ros-humble-rcutils"
+record_package_version "ros-humble-rcpputils"
+record_package_version "ros-humble-rosidl-runtime-c"
+record_package_version "ros-humble-rosidl-typesupport-interface"
+record_package_version "ros-humble-rosidl-typesupport-introspection-c"
+record_package_version "ros-humble-rmw"
+record_package_version "ros-humble-fastrtps"
+record_package_version "ros-humble-rmw-fastrtps-shared-cpp"
+record_package_version "ros-humble-fastcdr"

example/.vagrant/bundler/global.sol

@@ -0,0 +1 @@
+{"dependencies":[["racc",["~> 1.4"]],["nokogiri",["~> 1.6"]],["diffy",[">= 0"]],["rexml",[">= 0"]],["xml-simple",[">= 0"]],["mime-types-data",["~> 3.2015"]],["mime-types",[">= 0"]],["formatador",[">= 0.2","< 2.0"]],["excon",["~> 0.71"]],["builder",[">= 2.1.2"]],["fog-core",["~> 2"]],["json",[">= 0"]],["ruby-libvirt",[">= 0.7.0"]],["fog-xml",["~> 0.1.1"]],["multi_json",["~> 1.14"]],["fog-json",[">= 0"]],["fog-libvirt",[">= 0.6.0"]],["vagrant-libvirt",["= 0.12.2"]],["rubyntlm",["~> 0.6.0",">= 0.6.3"]],["nori",["~> 2.0"]],["little-plugger",["~> 1.1"]],["logging",[">= 1.6.1","< 3.0"]],["httpclient",["~> 2.2",">= 2.2.0.2"]],["gyoku",["~> 1.0"]],["ffi",[">= 1.0.1"]],["gssapi",["~> 1.2"]],["erubi",["~> 1.8"]],["winrm",["= 2.3.6"]],["rubyzip",["~> 2.0"]],["winrm-fs",["= 1.3.5"]],["winrm-elevated",["= 1.2.3"]]],"checksum":"4cadc14fadbdf591c69ed73b0f547abcd37c91c0223f8122682438aac7c3e94b","vagrant_version":"2.4.1"}

example/.vagrant/machines/default/libvirt/action_provision

@@ -0,0 +1 @@
+1.5:f6788d93-bb81-4e14-a06f-08cdb92983ca

example/.vagrant/machines/default/libvirt/box_meta

@@ -0,0 +1 @@
+{"name":"generic/ubuntu2204","version":"4.3.12","provider":"libvirt","directory":"boxes/generic-VAGRANTSLASH-ubuntu2204/4.3.12/amd64/libvirt"}

example/.vagrant/machines/default/libvirt/created_networks

@@ -0,0 +1 @@
+73ca022a-b7e4-4386-9b0b-f45ba1862a03

example/.vagrant/machines/default/libvirt/creator_uid

@@ -0,0 +1 @@
+1000

example/.vagrant/machines/default/libvirt/id

@@ -0,0 +1 @@
+f6788d93-bb81-4e14-a06f-08cdb92983ca

example/.vagrant/machines/default/libvirt/index_uuid

@@ -0,0 +1 @@
+8926bfed4fd544c0acd5f238e2f81718

example/.vagrant/machines/default/libvirt/private_key

@@ -0,0 +1,8 @@
+-----BEGIN OPENSSH PRIVATE KEY-----
+b3BlbnNzaC1rZXktdjEAAAAABG5vbmUAAAAEbm9uZQAAAAAAAAABAAAAMwAA
+AAtzc2gtZWQyNTUxOQAAACA9fOlEFeuZAJxESa87IeALdO5wyy9xwaV8tpr+
+AG5sAAAAAJC3AyCytwMgsgAAAAtzc2gtZWQyNTUxOQAAACA9fOlEFeuZAJxE
+Sa87IeALdO5wyy9xwaV8tpr+AG5sAAAAAECmzz3lbDPaJSwYjRuUEQU5X1eq
+0aoshxoJYJ8EaHqZ+D186UQV65kAnERJrzsh4At07nDLL3HBpXy2mv4AbmwA
+AAAAB3ZhZ3JhbnQBAgMEBQY=
+-----END OPENSSH PRIVATE KEY-----

example/.vagrant/machines/default/libvirt/synced_folders

@@ -0,0 +1 @@
+{}

example/.vagrant/machines/default/libvirt/vagrant_cwd

@@ -0,0 +1 @@
+/home/mullr/devel/modality-ros2/example

example/.vagrant/rgloader/loader.rb

@@ -0,0 +1,12 @@
+# Copyright (c) HashiCorp, Inc.
+# SPDX-License-Identifier: BUSL-1.1
+
+# This file loads the proper rgloader/loader.rb file that comes packaged
+# with Vagrant so that encoded files can properly run with Vagrant.
+
+if ENV["VAGRANT_INSTALLER_EMBEDDED_DIR"]
+  require File.expand_path(
+    "rgloader/loader", ENV["VAGRANT_INSTALLER_EMBEDDED_DIR"])
+else
+  raise "Encoded files can't be read outside of the Vagrant installer."
+end

example/Dockerfile

@@ -0,0 +1,20 @@
+FROM modality-ros2-build
+
+FROM ros:humble
+
+RUN apt update
+RUN apt upgrade -y
+RUN apt install less vim ros-humble-demo-nodes-py psmisc -y
+COPY --from=0 /src/target/release/libmodality_ros_hook.so /
+COPY run.sh /
+
+# RUN apt install xterm -y
+# RUN apt install ros-humble-ros-ign-bridge ros-humble-robot-localization "ros-humble-nav2-*" -y
+# RUN apt install ignition-fortress -y
+# RUN apt install ros-humble-xacro ros-humble-ros-gz-sim ros-humble-rviz2 -y
+#  
+# COPY run.sh /
+# COPY nav2_outdoor_example /nav2_outdoor_example
+# WORKDIR /nav2_outdoor_example
+# RUN bash -c "source /opt/ros/humble/setup.bash && colcon build"
+# WORKDIR /

example/README.md

@@ -0,0 +1,13 @@
+Make podman fast in debian: https://github.com/containers/podman/issues/13226
+Running:
+- source install/setup.bash
+- ros2 launch nav2_outdoor_example bringup.launch.py
+
+/opt/ros/humble/lib/demo_nodes_py/add_two_ints_client
+/opt/ros/humble/lib/demo_nodes_py/add_two_ints_client_async
+/opt/ros/humble/lib/demo_nodes_py/add_two_ints_server
+/opt/ros/humble/lib/demo_nodes_py/listener
+/opt/ros/humble/lib/demo_nodes_py/listener_qos
+/opt/ros/humble/lib/demo_nodes_py/listener_serialized
+/opt/ros/humble/lib/demo_nodes_py/talker
+/opt/ros/humble/lib/demo_nodes_py/talker_qos

example/Vagrantfile

@@ -0,0 +1,64 @@
+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+Vagrant.configure("2") do |config|
+  # Every Vagrant development environment requires a box. You can search for
+  # boxes at https://vagrantcloud.com/search.
+  config.vm.box = "generic/ubuntu2204"
+  config.vagrant.plugins = "vagrant-libvirt"
+
+  config.vm.provider "libvirt" do |lv|
+    lv.memory = "8192"
+    lv.cpus = 16
+  end
+
+  config.vm.provision "shell", inline: <<-SHELL
+    apt-get install -y software-properties-common curl
+
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+    apt-add-repository universe
+
+    apt-get update
+    apt-get upgrade -y
+    apt-get install -y apache2 locales ros-humble-ros-base ros-dev-tools ros-humble-desktop "ros-humble-ament-*" ros-humble-xacro ros-humble-ros-gz-sim ros-humble-ros-gz-bridge -y
+
+    locale-gen en_US en_US.UTF-8
+    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+    LANG=en_US.UTF-8
+  SHELL
+
+  # Create a forwarded port mapping which allows access to a specific port
+  # within the machine from a port on the host machine. In the example below,
+  # accessing "localhost:8080" will access port 80 on the guest machine.
+  # NOTE: This will enable public access to the opened port
+  # config.vm.network "forwarded_port", guest: 80, host: 8080
+
+  # Create a forwarded port mapping which allows access to a specific port
+  # within the machine from a port on the host machine and only allow access
+  # via 127.0.0.1 to disable public access
+  # config.vm.network "forwarded_port", guest: 80, host: 8080, host_ip: "127.0.0.1"
+
+  # Create a private network, which allows host-only access to the machine
+  # using a specific IP.
+  # config.vm.network "private_network", ip: "192.168.33.10"
+
+  # Create a public network, which generally matched to bridged network.
+  # Bridged networks make the machine appear as another physical device on
+  # your network.
+  # config.vm.network "public_network"
+
+  # Share an additional folder to the guest VM. The first argument is
+  # the path on the host to the actual folder. The second argument is
+  # the path on the guest to mount the folder. And the optional third
+  # argument is a set of non-required options.
+  # config.vm.synced_folder "../data", "/vagrant_data"
+
+  # Disable the default share of the current code directory. Doing this
+  # provides improved isolation between the vagrant box and your host
+  # by making sure your Vagrantfile isn't accessible to the vagrant box.
+  # If you use this you may want to enable additional shared subfolders as
+  # shown above.
+  # config.vm.synced_folder ".", "/vagrant", disabled: true
+
+end

example/go.sh

@@ -0,0 +1,16 @@
+set -e
+
+(
+    cd ..
+    ./build-in-docker.sh
+)
+
+if ! docker image exists ros:humble; then
+    docker pull docker.io/ros:humble
+fi
+docker build . -t modality-ros2-example
+docker run -it --rm \
+       --net=host \
+       -v ~/.config/modality_cli:/root/.config/modality_cli \
+       modality-ros2-example  \
+       /run.sh