From a9468357c6e9e7e4a9e8178537ddd8f5ef896b95 Mon Sep 17 00:00:00 2001
From: Kuba Kaflik <jakub@kaflik.pl>
Date: Thu, 29 Aug 2024 19:44:14 +0000
Subject: [PATCH] run Xvnc as a default entrypoint for dev container

This is an alternative approach to run a VNC with xorg apps to expose Gazebo UI outside. VNC client app is required.
---
 .devcontainer/Dockerfile                     | 25 +++++++++++++-------
 .devcontainer/devcontainer.json              |  3 ---
 .devcontainer/openmower_config.env           |  2 +-
 .devcontainer/scripts/entrypoint.sh          | 15 ++++++++++++
 .devcontainer/scripts/post_create_command.sh |  2 ++
 Makefile                                     |  5 +---
 6 files changed, 35 insertions(+), 17 deletions(-)
 create mode 100755 .devcontainer/scripts/entrypoint.sh

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 0773965..716685f 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -3,20 +3,24 @@ ARG USERNAME=dev
 ARG USER_UID=1001
 ARG USER_GID=$USER_UID
 
+ENV DISPLAY=:0
+
+RUN apt-get update && apt-get install --no-install-recommends -y \
+  xfonts-base \
+  xauth \
+  x11-xkb-utils \
+  xkb-data \
+  dbus-x11 \
+  tigervnc-standalone-server
+
+COPY scripts/entrypoint.sh /entrypoint.sh
+
 RUN groupadd --gid $USER_GID $USERNAME \
     && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
     && yes $USERNAME | passwd $USERNAME \
     && usermod --shell /bin/bash $USERNAME \
     && usermod -aG dialout $USERNAME
 
-RUN apt-get update \
-  && apt-get install -y ssh \
-    python3-pip \
-    curl \
-    rsync \
-    psmisc \
-  && rm -rf /var/lib/apt/lists/*
-
 RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
   && chmod 0440 /etc/sudoers.d/$USERNAME
 
@@ -24,4 +28,7 @@ ENV SHELL /bin/bash
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc
 
 USER $USERNAME
-CMD ["/bin/bash"]
+
+EXPOSE 5900
+
+CMD ["/entrypoint.sh"]
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 96f99f9..12275fa 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -14,12 +14,9 @@
   "workspaceMount": "source=${localWorkspaceFolder},target=/opt/ws,type=bind",
   "containerEnv": {
     "DISPLAY": ":0",
-    "ROS_LOCALHOST_ONLY": "1",
-    "ROS_DOMAIN_ID": "42"
   },
   "runArgs": [
     "--net=host",
-    "-e", "DISPLAY=${env:DISPLAY}"
   ],
   "customizations": {
     "vscode": {
diff --git a/.devcontainer/openmower_config.env b/.devcontainer/openmower_config.env
index bae3796..17d7e23 100644
--- a/.devcontainer/openmower_config.env
+++ b/.devcontainer/openmower_config.env
@@ -1,3 +1,3 @@
 export OM_DATUM_LAT=-22.9
 export OM_DATUM_LONG=-43.2
-export OM_MAP_PATH=/home/ws/.devcontainer/home/map.geojson
\ No newline at end of file
+export OM_MAP_PATH=/opt/ws/.devcontainer/home/map.geojson
\ No newline at end of file
diff --git a/.devcontainer/scripts/entrypoint.sh b/.devcontainer/scripts/entrypoint.sh
new file mode 100755
index 0000000..e56510f
--- /dev/null
+++ b/.devcontainer/scripts/entrypoint.sh
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+
+terminate_script() {
+    echo "Termination signal received, exiting..."
+    exit 1
+}
+
+trap terminate_script SIGINT
+
+if [ -z "$DISPLAY" ]; then
+    echo "DISPLAY not set, setting to :0"
+    DISPLAY=:0
+fi
+
+Xvnc -ac -pn -depth 24 $DISPLAY -rfbport=5900 -SecurityTypes=None -desktop=OpenMowerNext
diff --git a/.devcontainer/scripts/post_create_command.sh b/.devcontainer/scripts/post_create_command.sh
index ccd395f..2a3bec3 100644
--- a/.devcontainer/scripts/post_create_command.sh
+++ b/.devcontainer/scripts/post_create_command.sh
@@ -2,6 +2,8 @@
 
 set -e
 
+echo "Installing ROS packages..."
+
 sudo apt update
 rosdep update
 make custom-deps deps
diff --git a/Makefile b/Makefile
index d4f0b6c..d2a7698 100644
--- a/Makefile
+++ b/Makefile
@@ -6,9 +6,6 @@ all: custom-deps deps build
 
 .PHONY: deps build
 
-dev-containers:
-	cd .devcontainer && docker-compose up -d
-
 # turtlebot3_gazebo does not have a build on iron arm64
 deps:
 	rosdep install --from-paths ./ -i -y -r
@@ -24,7 +21,7 @@ build:
 
 sim:
 	killall -9 ruby || true
-	ros2 launch -d launch/sim.launch.py
+	ros2 launch launch/sim.launch.py
 
 run:
 	ros2 launch launch/openmower.launch.py