fixed integration of VNC with Ubuntu 20.04

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"
 
 # ==================================================>
@@ -61,9 +61,6 @@ RUN pip3 install --use-feature=2020-resolver -r ${REPO_PATH}/dependencies-py3.tx
 # copy the source code
 COPY ./packages "${REPO_PATH}/packages"
 
-# get the image_pipeline
-RUN git clone https://github.com/ros-perception/image_pipeline.git
-
 # build packages
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
   catkin build \
@@ -90,18 +87,13 @@ LABEL org.duckietown.label.module.type="${REPO_NAME}" \
 # <== Do not change the code above this line
 # <==================================================
 
-## Python2 pip
-RUN curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py &&\
-  python get-pip.py &&\
-  rm get-pip.py
-
 ## nvidia-container-runtime
 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/
@@ -119,16 +111,18 @@ COPY assets/vnc/image /
 ##          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
 
@@ -152,7 +146,8 @@ 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
@@ -162,5 +157,18 @@ RUN cd /src/web \
 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
+
+# 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}/

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

assets/vnc/image/usr/local/bin/xvfb.sh

@@ -1,3 +1,3 @@
 #!/bin/sh
 
-exec /usr/bin/Xvfb :99 -screen 0 1024x768x16
+exec /usr/bin/Xvfb :1 -screen 0 1024x768x24

assets/vnc/image/usr/local/lib/web/backend/requirements.txt

@@ -1,20 +1,19 @@
-backports.ssl-match-hostname==3.5.0.1
-certifi==2018.1.18
+backports.ssl-match-hostname==3.7.0.1
+certifi==2019.9.11
 chardet==3.0.4
-click==6.7
-Flask==0.12.2
+Click==7.0
+Flask==1.1.1
 Flask-Login==0.4.1
-gevent==1.2.2
+gevent==1.4.0
 gevent-websocket==0.10.1
-greenlet==0.4.13
-idna==2.6
-itsdangerous==0.24
-Jinja2==2.10
-MarkupSafe==1.0
-meld3==1.0.2
-requests==2.18.4
-six==1.11.0
-supervisor==3.2.0
-urllib3==1.22
+greenlet==0.4.15
+idna==2.8
+itsdangerous==1.1.0
+Jinja2==2.10.3
+MarkupSafe==1.1.1
+meld3==2.0.0
+requests==2.22.0
+six==1.12.0
+urllib3==1.25.6
 websocket-client==0.47.0
-Werkzeug==0.14.1
+Werkzeug==0.16.0

assets/vnc/image/usr/local/lib/web/backend/run.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 from __future__ import (
     absolute_import, division, print_function, with_statement
 )
@@ -74,7 +74,7 @@ def find_files(directory="./"):
 
     def run_server():
         import socket
-        from gevent.wsgi import WSGIServer
+        from gevent.pywsgi import WSGIServer
         from vnc.app import app
 
         # websocket conflict: WebSocketHandler
@@ -114,6 +114,7 @@ def run_server():
     )
     logging.getLogger("werkzeug").setLevel(logging.WARNING)
     log = logging.getLogger('novnc2')
+
     entrypoint()