chore: dev container and tmux layouts for HotDog on Foxy

.github/workflows/ci.yml

@@ -41,7 +41,7 @@ jobs:
       - name: Scripts tests
         run: if [ -d scripts/test ]; then python -m pytest -q scripts/test; fi
       - name: Compose file
-        run: docker compose --profile foxy --profile humble --profile jazzy config -q
+        run: docker compose --profile foxy config -q
 
   docs:
     runs-on: ubuntu-22.04
@@ -87,8 +87,7 @@ jobs:
     container: ros:${{ matrix.distro }}-ros-base
     env:
       BRANCH: ${{ github.head_ref || github.ref_name }}
-      ROS_LOCALHOST_ONLY: "1" # foxy, humble
-      ROS_AUTOMATIC_DISCOVERY_RANGE: LOCALHOST # jazzy
+      ROS_LOCALHOST_ONLY: "1"
       PYTHONUNBUFFERED: "1"
     defaults:
       run:

compose.yaml

@@ -1,6 +1,6 @@
-# Dev containers, one per ROS distro: scripts/dev.sh up --distro foxy|humble|jazzy
-# (or docker compose --profile jazzy up -d --build). Build artefacts live in per-distro volumes:
-# the build/ of one distro must never mix with another's.
+# The dev container: ROS 2 Foxy on Ubuntu 20.04, as on the robot. scripts/dev.sh up
+# (or docker compose --profile foxy up -d --build). Build artefacts live in named volumes, so the
+# macOS bind mount only carries the sources.
 name: hotdog
 
 x-dev: &dev
@@ -40,55 +40,7 @@ services:
       - install-foxy:/home/robot/ws/install
       - log-foxy:/home/robot/ws/log
 
-  dev-humble:
-    <<: *dev
-    profiles: [humble]
-    build:
-      <<: *build
-      args:
-        ROS_DISTRO: humble
-        USER_UID: ${USER_UID:-1000}
-        USER_GID: ${USER_GID:-1000}
-    image: hotdog-dev:humble
-    container_name: hotdog-dev-humble
-    hostname: hotdog-humble
-    ports:
-      - "127.0.0.1:5901:5901" # VNC (vnc://localhost:5901)
-      - "127.0.0.1:6080:6080" # noVNC (http://localhost:6080/vnc.html)
-    volumes:
-      - .:/home/robot/ws
-      - build-humble:/home/robot/ws/build
-      - install-humble:/home/robot/ws/install
-      - log-humble:/home/robot/ws/log
-
-  dev-jazzy:
-    <<: *dev
-    profiles: [jazzy]
-    build:
-      <<: *build
-      args:
-        ROS_DISTRO: jazzy
-        USER_UID: ${USER_UID:-1000}
-        USER_GID: ${USER_GID:-1000}
-    image: hotdog-dev:jazzy
-    container_name: hotdog-dev-jazzy
-    hostname: hotdog-jazzy
-    ports:
-      - "127.0.0.1:5902:5901" # VNC (vnc://localhost:5902)
-      - "127.0.0.1:6081:6080" # noVNC (http://localhost:6081/vnc.html)
-    volumes:
-      - .:/home/robot/ws
-      - build-jazzy:/home/robot/ws/build
-      - install-jazzy:/home/robot/ws/install
-      - log-jazzy:/home/robot/ws/log
-
 volumes:
   build-foxy:
   install-foxy:
   log-foxy:
-  build-humble:
-  install-humble:
-  log-humble:
-  build-jazzy:
-  install-jazzy:
-  log-jazzy:

docker/Dockerfile

@@ -62,12 +62,13 @@ RUN case "${ROS_DISTRO}" in \
 RUN pipx install --python "$(command -v python3.9 || command -v python3)" "pre-commit>=3.5" \
     && pipx install "ruff==0.16.9"
 
-# ROS dependencies of every package in src/ (vendor packages that are not checked out: skipped)
+# ROS dependencies of every package in src/ (vendor packages that are not checked out: skipped;
+# FAST-LIO, legKILO and Livox: HotDog runs on the M20's own odometry)
 COPY --from=manifests /src /tmp/src
 RUN apt-get update \
     && rosdep update --rosdistro "${ROS_DISTRO}" --include-eol-distros \
     && rosdep install --from-paths /tmp/src --ignore-src -r -y --rosdistro "${ROS_DISTRO}" \
-        --skip-keys "python3-loguru" \
+        --skip-keys "python3-loguru fast_lio legkilo livox_ros_driver2" \
     && rm -rf /var/lib/apt/lists/* /tmp/src
 
 # User with the host's uid (the noble images already have uid 1000: ubuntu). A gid the image

scripts/dev.sh

@@ -1,20 +1,20 @@
 #!/usr/bin/env bash
-# Dev container helper (Linux / macOS): one container per ROS distro, see compose.yaml.
+# Dev container helper (Linux / macOS): ROS 2 Foxy as on the robot, see compose.yaml.
 #
-#   scripts/dev.sh [--distro foxy|humble|jazzy] <command> [args]
+#   scripts/dev.sh <command> [args]
 #
 #   up             import the stack if missing, build the image if needed, start the container
 #   shell          interactive shell inside (ROS and the workspace sourced)
 #   build [args]   colcon build inside (args go to colcon, e.g. --packages-up-to hotdog)
 #   test [args]    colcon test + colcon test-result inside
 #   vnc            print the VNC / noVNC addresses (opens Screen Sharing on macOS)
 #   down           stop and remove the container (build/install/log volumes are kept)
-#   clean          down, then delete this distro's build/install/log volumes
+#   clean          down, then delete the build/install/log volumes
 #   import [--update]  vcs import dharma.repos and external.repos into src/ (--update: move
 #                  existing checkouts to the listed versions too); plain git without vcstool
 #   doctor         check Docker, compose, CPU / memory, the architecture and GitHub access
 #
-# Env: DHARMA_DISTRO (default distro, foxy), VNC_PASSWORD (dharma), VNC=0 (no desktop),
+# Env: VNC_PASSWORD (dharma), VNC=0 (no desktop),
 #      USER_UID / USER_GID (container user; default: yours on Linux, 1000 on macOS, where
 #      Docker Desktop maps file ownership of the bind mount itself)
 # Runs on the bash 3.2 of macOS: no empty "${array[@]}" under set -u, no bash 4 features.
@@ -26,23 +26,11 @@ usage() {
     sed -n '2,/^set -/p' "$0" | sed -e '$d' -e 's/^# \{0,1\}//'
 }
 
-DISTRO="${DHARMA_DISTRO:-foxy}"
-ARGS=()
-while [[ $# -gt 0 ]]; do
-    case "$1" in
-        --distro) DISTRO="${2:-}"; shift 2 || { usage; exit 1; } ;;
-        --distro=*) DISTRO="${1#*=}"; shift ;;
-        -h | --help) usage; exit 0 ;;
-        *) ARGS+=("$1"); shift ;;
-    esac
-done
-set -- "${ARGS[@]+"${ARGS[@]}"}"
-case "$DISTRO" in
-    foxy) VNC_PORT=5903 NOVNC_PORT=6082 ;;
-    humble) VNC_PORT=5901 NOVNC_PORT=6080 ;;
-    jazzy) VNC_PORT=5902 NOVNC_PORT=6081 ;;
-    *) echo "unknown distro '$DISTRO': foxy, humble or jazzy" >&2; exit 1 ;;
+DISTRO=foxy # the robot's: Ubuntu 20.04, ROS 2 Foxy
+case "${1:-}" in
+    -h | --help) usage; exit 0 ;;
 esac
+VNC_PORT=5903 NOVNC_PORT=6082
 SERVICE="dev-$DISTRO"
 if [[ "$(uname -s)" == Linux ]]; then
     # the bind-mounted workspace stays yours: the container user gets your uid / gid

scripts/timesync.sh

@@ -11,8 +11,9 @@
 #   the distribution's pool) and serves the robot's other computers in TIME_ALLOW (space
 #   separated subnets, e.g. "192.168.123.0/24"). `local stratum 10` keeps serving them without
 #   internet. Replaces systemd-timesyncd.
-# ptp: ptp4l is the PTP master on the network interface of the LiDAR, so a Livox Mid-360 (PTPv2
-#   over UDP) stamps its points with this computer's clock. The interface is PTP_IFACE, else the
+# ptp: ptp4l is the PTP master on the network interface of the LiDAR, so a LiDAR that takes PTPv2
+#   over UDP stamps its points with this computer's clock. HotDog does not need it: its Airy are
+#   stamped on arrival (rslidar.yaml use_lidar_clock: false). The interface is PTP_IFACE, else the
 #   one that routes to LIDAR_IP (or LIVOX_IP); without either, PTP is skipped.
 #   PTP_TIMESTAMPING=software (default, any interface) or hardware (the interface's own clock,
 #   kept on the system clock by phc2sys).
@@ -122,7 +123,7 @@ ptp_config() { # ptp_config <ptp4l major version>
     local only=masterOnly
     [[ "${1:-3}" -ge 4 ]] && only=serverOnly
     cat <<EOF
-# Written by scripts/timesync.sh: PTP master for the LiDAR (Livox Mid-360: PTPv2 over UDP).
+# Written by scripts/timesync.sh: PTP master for the LiDAR (PTPv2 over UDP).
 [global]
 $only 1
 priority1 127

scripts/tmux/robot.yaml

@@ -1,11 +1,14 @@
-# scripts/start_tmux.sh robot: the stack on the robot, one window per subsystem.
+# scripts/start_tmux.sh robot: the stack on the robot, one window per subsystem (for debugging:
+# the service runs the same with `ros2 launch hotdog robot.launch.py`; stop it first).
+# For this robot's settings add params_file:=/etc/hotdog/site.yaml to BRINGUP_ARGS.
 session_name: robot
 environment:
   ROBOT_NS: m20
   ROBOT_DRIVER: m20_bringup
   ROBOT_IP: 10.21.31.103
   SITE: ""
   SITES_DIR: ""
+  POD_IP: 10.21.31.26 # unipod_driver default
 setup: >-
   source /opt/ros/${ROS_DISTRO}/setup.bash && source ${WS}/install/setup.bash &&
   BRINGUP_CONFIG=$(ros2 pkg prefix hotdog)/share/hotdog/config &&
@@ -46,8 +49,25 @@ windows:
   - window_name: health
     panes:
       - shell_command: ros2 launch dharma_health health.launch.py $BRINGUP_ARGS
+  - window_name: inspection
+    layout: even-vertical
+    panes:
+      - shell_command: >-
+          ros2 launch unipod_driver unipod_driver.launch.py namespace:=unipod
+          ip:=${POD_IP}
+      - shell_command: >-
+          ros2 launch hotdog_inspection inspection.launch.py $BRINGUP_ARGS
+          sites_dir:=${SITES_DIR}
+  - window_name: patrol
+    layout: even-vertical
+    panes:
+      - shell_command: >-
+          ros2 launch hotdog_patrol patrol.launch.py $BRINGUP_ARGS robot_ns:=${ROBOT_NS}
+          sites_dir:=${SITES_DIR}
+      - shell_command: ros2 launch hotdog_reports reports.launch.py $BRINGUP_ARGS
+      - shell_command: ros2 launch hotdog_alerts alerts.launch.py $BRINGUP_ARGS
   - window_name: shell
     layout: even-horizontal
     panes:
-      - shell_command: "# ros2 service call /localization/assume_origin std_srvs/srv/Trigger"
-      - shell_command: watch -n 2 ros2 node list
+      - shell_command: "# scripts/hotdog.sh status | patrol | return | estop | teach ..."
+      - shell_command: watch -n 5 scripts/hotdog.sh status

scripts/tmux/sim.yaml

@@ -17,4 +17,4 @@ windows:
       - shell_command: >-
           # ros2 topic pub --once /sim/obstacles geometry_msgs/msg/PoseArray
           "{poses: [{position: {x: 2.0, y: -3.0}}]}"
-      - shell_command: watch -n 2 ros2 topic echo --once /navigation/status
+      - shell_command: watch -n 5 scripts/hotdog.sh status