Merge pull request #1 from duckietown/daffy

update from master

.bumpversion.cfg

@@ -1,5 +1,6 @@
 [bumpversion]
-current_version = 0.0.0
+current_version = 4.0.0
 files = .dtproject
 commit = True
 tag = True
+

.dockerignore

@@ -5,7 +5,6 @@
 !assets
 !packages
 !dependencies-apt.txt
-!dependencies-py.txt
 !dependencies-py3.txt
 !launchers
 

.dtproject

@@ -1,3 +1,3 @@
-VERSION=0.0.0
-TYPE=template-ros
+VERSION=4.0.0
+TYPE=template-core
 TYPE_VERSION=2

Dockerfile

@@ -1,12 +1,12 @@
 # parameters
 ARG REPO_NAME="dt-gui-tools"
-ARG DESCRIPTION="Provides access to GUI-based ROS tools (e.g., rviz, rqt_image_view)"
+ARG DESCRIPTION="Provides access to GUI-based tools (e.g., rviz, rqt_image_view)"
 ARG MAINTAINER="Andrea F. Daniele ([email protected])"
 # pick an icon from: https://fontawesome.com/v4.7.0/icons/
 ARG ICON="desktop"
 
 # novnc and websockify versions to use
-ARG NOVNC_VERSION="35dd3c2"
+ARG NOVNC_VERSION="9fe2fd0"
 ARG WEBSOCKIFY_VERSION="3646575"
 
 # ==================================================>
@@ -18,7 +18,7 @@ ARG BASE_IMAGE=dt-core
 ARG LAUNCHER=default
 
 # define base image
-FROM duckietown/${BASE_IMAGE}:${BASE_TAG} as base
+FROM duckietown/${BASE_IMAGE}:${BASE_TAG} as BASE
 
 # recall all arguments
 ARG ARCH
@@ -54,13 +54,9 @@ ENV DT_LAUNCHER "${LAUNCHER}"
 COPY ./dependencies-apt.txt "${REPO_PATH}/"
 RUN dt-apt-install ${REPO_PATH}/dependencies-apt.txt
 
-# install python dependencies
-COPY ./dependencies-py.txt "${REPO_PATH}/"
-RUN pip install -r ${REPO_PATH}/dependencies-py.txt
-
 # install python3 dependencies
 COPY ./dependencies-py3.txt "${REPO_PATH}/"
-RUN pip3 install -r ${REPO_PATH}/dependencies-py3.txt
+RUN pip3 install --use-feature=2020-resolver -r ${REPO_PATH}/dependencies-py3.txt
 
 # copy the source code
 COPY ./packages "${REPO_PATH}/packages"
@@ -95,9 +91,9 @@ LABEL org.duckietown.label.module.type="${REPO_NAME}" \
 ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
 ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
 
-# install ffmpeg
-COPY assets/vnc/install-ffmpeg /tmp/
-RUN /tmp/install-ffmpeg ${ARCH}
+# configure ffmpeg
+RUN mkdir /usr/local/ffmpeg \
+    && ln -s /usr/bin/ffmpeg /usr/local/ffmpeg/ffmpeg
 
 # install backend dependencies
 COPY assets/vnc/install-backend-deps /tmp/
@@ -111,20 +107,22 @@ COPY assets/vnc/image /
 #### => Substep: Frontend builder
 ##
 ##  NOTE:   This substep always runs in an amd64 image regardless of the architecture of
-##          final image. As a result, this Dockerfile can be run only on amd64 machines
+##          the final image. As a result, this Dockerfile can be run only on amd64 machines
 ##          with QEMU enabled.
 ##
 ##
-FROM ubuntu:xenial as builder
+FROM ubuntu:focal as builder
 
 RUN apt-get update \
     && apt-get install -y --no-install-recommends \
         curl \
+        git \
         ca-certificates \
-        git
+        gnupg \
+        patch
 
 # nodejs
-RUN curl -sL https://deb.nodesource.com/setup_9.x | bash - \
+RUN curl -sL https://deb.nodesource.com/setup_12.x | bash - \
     && apt-get install -y \
         nodejs
 
@@ -148,15 +146,29 @@ RUN git clone https://github.com/novnc/websockify /src/web/static/websockify \
 COPY assets/vnc/web /src/web
 RUN cd /src/web \
     && yarn \
-    && npm run build
+    && yarn build
+RUN sed -i 's#app/locale/#novnc/app/locale/#' /src/web/dist/static/novnc/app/ui.js
 ##
 ##
 #### <= Substep: Frontend builder
 
 
 # jump back to the base image and copy frontend from builder stage
-FROM base
+FROM BASE
 COPY --from=builder /src/web/dist/ /usr/local/lib/web/frontend/
 
+# make websockify executable
+RUN ln -sf /usr/local/lib/web/frontend/static/websockify \
+        /usr/local/lib/web/frontend/static/novnc/utils/websockify \
+    && chmod +x /usr/local/lib/web/frontend/static/websockify/run
+
 # configure novnc
-ENV HTTP_PORT 8087
+ENV HTTP_PORT 8087
+
+# get the image_pipeline (this is needed to avoid issues with python2 shebang)
+RUN git clone https://github.com/ros-perception/image_pipeline.git
+
+# build packages
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
+  catkin build \
+    --workspace ${CATKIN_WS_DIR}/

README.md

@@ -24,7 +24,7 @@ a template for your new repository.
 ### 3. Define dependencies
 
 List the dependencies in the files `dependencies-apt.txt` and
-`dependencies-py.txt` (apt packages and pip packages respectively).
+`dependencies-py3.txt` (apt packages and pip packages respectively).
 
 
 ### 4. Place your code

assets/vnc/README.md

@@ -0,0 +1,4 @@
+# noVNC
+
+The original project this directory is taken from
+is https://github.com/fcwu/docker-ubuntu-vnc-desktop.

assets/vnc/image/etc/nginx/sites-enabled/default

@@ -1,42 +1,52 @@
 server {
 	listen 80 default_server;
-    # listen [::]:80 default_server ipv6only=on;
+	# listen [::]:80 default_server ipv6only=on;
 
-    #_SSL_PORT_#listen 443 ssl default_server;
-    #_SSL_PORT_#listen [::]:443 ssl default_server ipv6only=on;
-    #_SSL_PORT_#ssl_certificate /etc/nginx/ssl/nginx.crt;
-    #_SSL_PORT_#ssl_certificate_key /etc/nginx/ssl/nginx.key;
+	#_SSL_PORT_#listen 443 ssl default_server;
+	#_SSL_PORT_#listen [::]:443 ssl default_server ipv6only=on;
+	#_SSL_PORT_#ssl_certificate /etc/nginx/ssl/nginx.crt;
+	#_SSL_PORT_#ssl_certificate_key /etc/nginx/ssl/nginx.key;
 
-    #_HTTP_PASSWORD_#auth_basic "Private Property";
-    #_HTTP_PASSWORD_#auth_basic_user_file /etc/nginx/.htpasswd;
+	#_HTTP_PASSWORD_#auth_basic "Private Property";
+	#_HTTP_PASSWORD_#auth_basic_user_file /etc/nginx/.htpasswd;
 
 	root /usr/local/lib/web/frontend/;
 	index index.html index.htm;
 
-    location ~ ^/api {
-        try_files $uri @api;
-    }
-
-    location = /websockify {
-        proxy_http_version 1.1;
-        proxy_set_header Upgrade $http_upgrade;
-        proxy_set_header Connection "upgrade";
-        proxy_pass http://127.0.0.1:6081;
-    }
-
-    location @api {
-        proxy_set_header X-Real-IP  $remote_addr;
-        proxy_set_header X-Forwarded-For $remote_addr;
-        proxy_set_header Host $host;
-        proxy_pass http://127.0.0.1:6079;
-        max_ranges 0;
-    }
-
-    location @proxy {
-        proxy_set_header X-Real-IP  $remote_addr;
-        proxy_set_header X-Forwarded-For $remote_addr;
-        proxy_set_header Host $host;
-        proxy_pass http://127.0.0.1:6081;
-        max_ranges 0;
-    }
+	#_RELATIVE_URL_ROOT_location /_RELATIVE_URL_ROOT_/ {
+	#_RELATIVE_URL_ROOT_	rewrite /_RELATIVE_URL_ROOT_/(.*) /$1 break;
+	#_RELATIVE_URL_ROOT_	root /usr/local/lib/web/frontend/;
+	#_RELATIVE_URL_ROOT_}
+
+	location ~ .*/(api/.*|websockify) {
+		try_files $uri @api$http_upgrade;
+	}
+
+	location / {
+		rewrite /approot/(.*) /$1 break;
+		root /usr/local/lib/web/frontend/;
+	}
+
+	location @apiwebsocket {
+		#_RELATIVE_URL_ROOT_rewrite /_RELATIVE_URL_ROOT_/(.*) $1 break;
+		proxy_connect_timeout       7d;
+		proxy_send_timeout          7d;
+		proxy_read_timeout          7d;
+		proxy_buffering                         off;
+
+		proxy_http_version 1.1;
+		proxy_set_header Upgrade $http_upgrade;
+		proxy_set_header Connection "upgrade";
+		proxy_pass http://127.0.0.1:6081;
+	}
+
+	location @api {
+		#_RELATIVE_URL_ROOT_rewrite /_RELATIVE_URL_ROOT_/(.*) $1 break;
+		proxy_set_header X-Real-IP  $remote_addr;
+		proxy_set_header X-Forwarded-For $remote_addr;
+		proxy_set_header Host $host;
+		max_ranges 0;
+		proxy_pass http://127.0.0.1:6079;
+	}
 }
+

assets/vnc/image/etc/supervisor/conf.d/supervisord.conf

@@ -20,33 +20,34 @@ stderr_logfile_maxbytes=0
 [group:x]
 programs=xvfb,wm,lxpanel,pcmanfm,x11vnc,novnc
 
-[program:xvfb]
-priority=10
-command=/usr/local/bin/xvfb.sh
-stopsignal=KILL
-
 [program:wm]
 priority=15
 command=/usr/bin/openbox
-environment=DISPLAY=":1",HOME="/root",USER="root"
+environment=DISPLAY=":99",HOME="/root",USER="root"
 
 [program:lxpanel]
 priority=15
 directory=%HOME%
 command=/usr/bin/lxpanel --profile LXDE
 user=%USER%
-environment=DISPLAY=":1",HOME="%HOME%",USER="%USER%"
+environment=DISPLAY=":99",HOME="%HOME%",USER="%USER%"
 
 [program:pcmanfm]
 priority=15
 directory=%HOME%
 command=/usr/bin/pcmanfm --desktop --profile LXDE
 user=%USER%
-environment=DISPLAY=":1",HOME="%HOME%",USER="%USER%"
+stopwaitsecs=3
+environment=DISPLAY=":99",HOME="%HOME%",USER="%USER%"
+
+[program:xvfb]
+priority=10
+command=/usr/local/bin/xvfb.sh
+stopsignal=KILL
 
 [program:x11vnc]
 priority=20
-command=x11vnc -display :1 -xkb -forever -shared -repeat
+command=x11vnc -display :99 -xkb -forever -shared -repeat -capslock
 
 [program:novnc]
 priority=25

assets/vnc/image/root/.config/libfm/libfm.conf

@@ -0,0 +1,46 @@
+# Configuration file for the libfm version 1.3.1.
+# Autogenerated file, don't edit, your changes will be overwritten.
+
+[config]
+single_click=0
+use_trash=1
+confirm_del=1
+confirm_trash=1
+advanced_mode=0
+si_unit=0
+force_startup_notify=1
+backup_as_hidden=1
+no_usb_trash=1
+no_child_non_expandable=0
+show_full_names=0
+only_user_templates=0
+template_run_app=0
+template_type_once=0
+auto_selection_delay=600
+drop_default_action=auto
+defer_content_test=0
+quick_exec=1
+show_internal_volumes=0
+terminal=x-terminal-emulator %s
+archiver=xarchiver
+thumbnail_local=1
+thumbnail_max=2048
+smart_desktop_autodrop=1
+
+[ui]
+big_icon_size=48
+small_icon_size=24
+pane_icon_size=24
+thumbnail_size=128
+show_thumbnail=1
+shadow_hidden=0
+
+[places]
+places_home=1
+places_desktop=1
+places_root=0
+places_computer=0
+places_trash=1
+places_applications=1
+places_network=0
+places_unmounted=1

assets/vnc/image/root/Desktop/intrinsic_calibration.desktop

@@ -0,0 +1,10 @@
+[Desktop Entry]
+Version=1.0
+Type=Application
+Exec=dt-launcher-intrinsic-calibration
+Icon=gnome-network-properties
+Terminal=false
+StartupNotify=true
+Name=Calibration - Intrinsic
+Comment=Calibration for Intrinsic Camera parameters
+GenericName=Calibration for Intrinsic Camera parameters