Added novnc proxy

.gitattributes

@@ -0,0 +1 @@
+*.sh    text    eol=lf 

.github/workflows/build.yaml

@@ -10,4 +10,4 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v1
-      - run: docker build .
+      - run: docker compose build

Dockerfile

@@ -1,26 +1,13 @@
 # pull container from https://hub.docker.com/_/ros, choosing the melodic-robot-bionic version
-FROM ros:melodic-robot-bionic
-
+FROM ros:noetic
 # install dependencies for the F1Tenth simulator and wget (and now pip)
-RUN sudo apt-get update
-
-RUN sudo apt-get -y install ros-melodic-ackermann-msgs ros-melodic-tf2-geometry-msgs ros-melodic-interactive-markers ros-melodic-cv-bridge ros-melodic-image-transport ros-melodic-rviz ros-melodic-joy ros-melodic-map-server wget vim python3-pip
-# switch to bash for running commands
-
-# mightn't be necessary
-RUN pip3 install -U pip
-
-RUN rm /bin/sh && ln -s /bin/bash /bin/sh
-# initialise ROS, pull useful scripts from our repo and clone the F1Tenth simulator into a new catkin workspace
-RUN source /ros_entrypoint.sh && \
-    source /opt/ros/melodic/setup.bash && \
-    git clone https://github.com/FT-Autonomous/f1tenth-ros-setup.git && \
-    mv f1tenth-ros-setup/utils /utils && \
-    rm -rf f1tenth-ros-setup && \
-    mkdir -p f1tenth_workspace/src && \
-    cd f1tenth_workspace/src && \
-    git clone https://github.com/f1tenth/f1tenth_simulator.git && \
-    cd f1tenth_simulator/maps && \
-    git init && \
-    git remote add racetracks https://github.com/f1tenth/f1tenth_racetracks && \
-    git pull racetracks main
+RUN apt update && apt install -y ros-noetic-xacro ros-noetic-ackermann-msgs ros-noetic-tf2-geometry-msgs ros-noetic-interactive-markers ros-noetic-cv-bridge ros-noetic-image-transport ros-noetic-rviz ros-noetic-joy ros-noetic-map-server wget neovim python3-pip x11vnc xvfb xorg-dev git python3-numpy
+# Initialise code for geting graphical output from the docker container
+RUN git clone https://git.suckless.org/st/ && cd st && make clean install ; \
+    git clone https://github.com/FT-Autonomous/dwm && cd dwm && make clean install ; \
+    git clone https://github.com/novnc/noVNC.git /noVNC ; \
+    git clone https://github.com/novnc/websockify /noVNC/utils/websockify
+# Pull in utility scripts
+COPY ./utils /utils
+RUN cp -f /bin/bash /bin/sh
+RUN /utils/setup-workspace.sh /f1tenth_workspace

README.md

@@ -5,39 +5,47 @@ A simplified setup and workspace for using F1Tenth with ROS and Docker.
 ## Prerequisites
 
 ### Windows/Mac
+
 * [git](https://www.atlassian.com/git/tutorials/install-git)
 * [Docker Desktop](https://www.docker.com/products/docker-desktop)
+* [Docker Compose](https://docs.docker.com/compose/install/)
 
 ### Editor 
+
 * [Visual Studio Code](https://www.toolsqa.com/blogs/install-visual-studio-code/) (unless you have some other preference)
 
 ### Linux
-* Make sure to sync packages before installing new packages
-* [git](https://www.atlassian.com/git/tutorials/install-git)
-    * Debian based
-        * `sudo apt update` (syncing packages)
-        * `sudo apt install git`
-    * Arch based
-        * `sudo pacman -Sy` (syncing packages)
-        * `sudo pacman -S git` 
-    * Gentoo based
-        * `sudo emerge --sync` (syncing packages)
-        * `sudo emerge git`
+
+Make sure to sync packages before installing new packages
+
+#### Git - <https://www.atlassian.com/git/tutorials/install-git>
+
+* Debian based
+  * `sudo apt update` (syncing packages)
+  * `sudo apt install git`
+* Arch based
+  * `sudo pacman -Sy` (syncing packages)
+  * `sudo pacman -S git` 
+* Gentoo based
+  * `sudo emerge --sync` (syncing packages)
+  * `sudo emerge git`
 
-* [Docker](https://www.docker.com/products/docker-desktop) 
-    * [Debian based](https://docs.docker.com/engine/install/ubuntu/)
-    * [Arch based](https://wiki.archlinux.org/title/Docker) 
-        * `sudo pacman -S yay base-devel`
-        * `yay -S docker-git`
-    * [Gentoo based](https://wiki.gentoo.org/wiki/Docker) 
-        * `sudo emerge app-containers/docker app-containers/docker-cli`
-
-#### Systemd based - Debian/Arch etc
+#### Docker - <https://www.docker.com/products/docker-desktop>
+
+* [Debian based](https://docs.docker.com/engine/install/ubuntu/)
+  * See [here](https://www.digitalocean.com/community/tutorials/how-to-install-and-use-docker-compose-on-ubuntu-20-04) for instructions on how to install docker compose on ubuntu.
+* [Arch based](https://wiki.archlinux.org/title/Docker) 
+  * `sudo pacman -S yay base-devel`
+  * `yay -S docker-git docker-compose`
+* [Gentoo based](https://wiki.gentoo.org/wiki/Docker) 
+  * `sudo emerge app-containers/docker app-containers/docker-cli app-containers/docker-compose`
+
+#### Starting the Docker daemon
+
+##### Systemd based - Debian/Ubuntu/Arch etc
 * `sudo systemctl enable docker`
 * `sudo systemctl start docker`
 
-#### Init Systems 
-
 ##### OpenRC - Gentoo
 * `sudo rc-update add docker`
 * `sudo rc-service docker start`
@@ -62,18 +70,18 @@ The build might take a while to load the first time you run it.
 
 ```
 cd f1tenth-ros-setup
-docker build -t f1tenth-ros .
+docker compose build
 ```
 
 #### 4. Run a Container
 
 This step will ensure the build has worked by running a container. Later we will run the simulator in this container.
 
 ```
-docker run -it f1tenth-ros
+docker compose run f1tenth-ros
 ```
 
-You should see your terminal display something like
+You should see your terminal display something like:
 
 ```
 root@...:/#
@@ -193,48 +201,60 @@ chmod +x <filepath>
 
 * Having multiple terminals open can get confusing, luckily in VSCode you can rename each terminal to something more convenient: Right-click terminal name -> rename.
 
-## Enabling the container to display GUIs on the host machine (Windows)
-
-Prerequisite: Chocolatey must be installed on your computer.
+## Using the GUI within the Docker Container via VNC
 
-Warning: Some firewalls may block access so it might be necessary to disable your firewall when running the simulator.
-
-Open Windows Powershell as Administrator and install the `xming` package
+First, run the container with the VNC ports exposed.
 
 ```
-choco install xming
+docker compose run --rm --service-ports f1tenth-ros-vnc
 ```
 
-Open the XLaunch Application
+### Connecting to the Docker Container Using a VNC Client
 
-<img src="https://i.imgur.com/q6bDsQV.jpg" width="300">
+There is a universal method, though you will have a better experience using a dedicated VNC client.
 
-Follow the default settings for each step except the following
+#### MacOS
 
-<img src="https://i.imgur.com/zn3YArf.jpg" width="400">
+MacOS comes with a built in VNC client.
+Once the docker container is running, you can open it using `open vnc://root:f1tenth@localhost:5900`.
 
-Once the XLaunch setup is finished, find your local IP Address by entering an ipconfig command in your local terminal
+#### Linux
 
-```
-ipconfig
-```
+A VNC client can be installed called remmina:
 
-Your local IP should be found similarly to where its shown below (ignore the white marks)
+   * [Debian based](https://remmina.org/how-to-install-remmina/)
+      * It is not found in the apt repository but you can use snap/flatpaks or adding it to the apt repository
+   * Arch based
+       * `sudo pacman -S remmina libvncserver` 
+   * [Gentoo based](https://wiki.gentoo.org/wiki/USE_flag) (see more on how to use use flags)
+       * Make sure to update USE flag for package to include the `vnc` USE Flag
+       * `sudo emerge net-misc/remmina net-libs/libvncserver`
 
-<img src="https://i.imgur.com/JsNgYMO.jpg" width="400">
+Create a new connection to `localhost:5900` with the password `f1tenth` using the VNC plugin.
 
-Execute the setup-display script in the container passing your local IP Address as a parameter.
+On Remmina if some keystrokes are not captured such as modifier keys like shift/ctrl/alt.
+Make sure to turn on `Grab all keyboard events` on the left hand side.
+You can also activate it by pressing `Control_R`
 
-```
-source /utils/set-display.sh <Local IP Address>
-```
+#### Universal
+
+Open `localhost:6080/vnc_lite.html` in your browser.
+Enter the password `f1tenth` when prompted.
+
+*Key combinations may work properly if you use the in browser VNC client*
+
+### Running the Simulator
+
+[DWM Keybindings](https://github.com/FT-Autonomous/dwm) (keybindings for general use in the docker container)
+
+Open a terminal and then type in `source /utils/run-simulator.sh Silverstone`.
 
-Now when you run the simulator you should see the display open in a new window.
+## Enabling the Container to display GUIs on the host machine using rocker (Linux)
 
-### Enabling the Container to display GUIs on the host machine (Ubuntu, and other)
+Rocker integrates much better with the host machine than a VNC client.
 
 First, install [Rocker](https://github.com/osrf/rocker), then after you have built your image (step 3), run the following command in your Terminal to run the Docker image:
 
 ```
-rocker [optional: --nvidia or --devices /dev/dri/card0] --x11 docker-ros
+rocker [optional: --nvidia or --devices /dev/dri/card0] --x11 <image name>
 ```

docker-compose.yml

@@ -0,0 +1,19 @@
+version: '3'
+
+services:
+  f1tenth-ros: &f1tenth-ros
+    user: root
+    build:
+      context: .
+      dockerfile: Dockerfile
+    stdin_open: true
+    volumes:
+      - ./utils:/utils
+      - ./utils/setup-vnc.sh:/setup.sh
+    ports:
+      - 5900:5900 
+      - 6080:6080
+
+  f1tenth-ros-vnc:
+    <<: *f1tenth-ros
+    entrypoint: /setup.sh

utils/setup-vnc.sh

@@ -0,0 +1,7 @@
+#!/bin/sh
+export SCREEN=0 DISPLAY=:0 WINDOW_MANAGER=dwm
+source /ros_entrypoint.sh
+pgrep Xvfb || (rm -fr /tmp/.X* && Xvfb "$DISPLAY" -screen $SCREEN 1280x720x16 -ac -pn -noreset) & sleep 1
+pgrep $WINDOW_MANAGER || nohup $WINDOW_MANAGER > /tmp/${WINDOW_MANAGER}.log &
+pgrep x11vnc || x11vnc -forever -noxdamage -noxrecord -display $DISPLAY -passwd f1tenth &
+pgrep novnc_proxy || ./noVNC/utils/novnc_proxy --vnc localhost:5900 --listen 6080

utils/setup-workspace.sh

@@ -0,0 +1,6 @@
+workspace_dir="${1-f1tenth_shared_workspace}/src"
+mkdir -p "$workspace_dir"
+cd "$workspace_dir"
+git clone https://github.com/f1tenth/f1tenth_simulator.git
+cd f1tenth_simulator/maps
+git init && git pull https://github.com/f1tenth/f1tenth_racetracks