add humble-navigation2
This commit is contained in:
X-lanni
@@ -0,0 +1,132 @@
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# Snippet for global matchers and variables
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# to logically expression request conditions
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# E.g. for conditionally changing redirects
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(globals) {
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# Use gzip compression for all responses
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encode gzip
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# Matcher for http request scheme. E.g. "http" or "https"
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@http_scheme {
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expression {http.request.scheme}=="https" || {header.X-Forwarded-Scheme}=="https" || {header.X-Forwarded-Proto}=="https"
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}
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# If any http scheme is "https", then use "wss"
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vars @http_scheme WsScheme "wss"
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# Else default to "ws"
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vars WsScheme "ws"
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# Matcher for forwarded request headers
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@host_forwarded {
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header X-Forwarded-Host *
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}
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# If http headers exists, then use them
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vars @host_forwarded ReqHost {header.X-Forwarded-Host}
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# Else default to host in request
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vars ReqHost {http.request.hostport}
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# Matcher for websocket connection upgrade requests
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@websockets {
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# Avoid case sensitivity issues when matching field values
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# E.g. when values are rewritten by Codespace port forwarding
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header_regexp Connection (?i)(Upgrade)
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header Upgrade websocket
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}
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}
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# Snippet for redirect with given URL queries values
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# to simplify remote development with web apps
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# E.g auto redirect websocket URL to match request scheme
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(redirect) {
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# Configure redirect to match request scheme
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vars LayoutUrl "/assets/foxglove/nav2_layout.json"
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vars DataSourceUrl "{vars.WsScheme}://{vars.ReqHost}{args.0}/"
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redir /autoconnect "{args.0}/?ds=foxglove-websocket&ds.url={vars.DataSourceUrl}"
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redir /autolayout "{args.0}/?ds=foxglove-websocket&ds.url={vars.DataSourceUrl}&layoutUrl={vars.LayoutUrl}"
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}
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# Snippet for dummy imports
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(dummy) {
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}
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# Snippet for enabling mobile web app features
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# to improve user experience on small screen devices
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# E.g. for enabling fullscreen mode on iOS and Android
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(mobile) {
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# Match for directory redirects to index.html
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route / {
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# Inject link to manifest just after <head> tag
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# https://developer.mozilla.org/docs/Web/Manifest
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replace `<head>` `<head><link rel="manifest" href="manifest.json" crossorigin="use-credentials"/>`
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}
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# Redirect relative handle_path'ed manifest.json to /manifests directory
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redir /manifest.json /assets{http.request.orig_uri.path.dir}manifest.json
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}
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# Snippet for hosted web app using websockets
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# to serve static files and reverse proxying connections
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# E.g. for serving GzWeb and Foxglove web apps
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(app) {
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# handle and strip path prefix from redirect
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handle_path {args.0}/* {
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# Set root directory for static files
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root * {http.vars.root}{args.0}
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# Enable mobile web app features
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import mobile
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# Reverse proxy websockets to backend address
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reverse_proxy @websockets {args.1}
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# Import custom snippets
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import {args.2} {args.0}
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}
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}
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# Listen for http requests on port 8080
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# regardless of hostname or domain address
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# E.g. whatever Codespaces assigns to host
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:8080 {
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# Include global matchers and variables
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import globals
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root * {$ROOT_SRV:/srv}
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file_server browse
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# Handle root content
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# I.e. assets internal to workspace
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handle /* {
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# Template manifest.json files
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templates */manifest.json {
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mime application/json
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}
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}
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# Handle nav2 web app
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# I.e. main landing page
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handle_path /nav2/* {
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root * {http.vars.root}/nav2
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import mobile
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# Render markdown files as html
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templates
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}
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# Matcher for requests without browse query
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@no_browse {
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path /
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not query browse=true
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}
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# Redirect to nav2 web app by default
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redir @no_browse /nav2/
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# Import app snippets for web apps
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import app "/gzweb" "localhost:9090" "dummy"
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import app "/foxglove" "localhost:8765" "redirect"
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# Handle glances web app
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redir /glances /glances/
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handle_path /glances/* {
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import mobile
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# Reverse proxy to glances backend
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reverse_proxy * "localhost:61208"
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}
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# For debugging
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# log {
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# output file /var/log/caddy/server.log
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# }
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}
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@@ -0,0 +1,40 @@
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{
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"name": "Foxglove: {{placeholder "http.vars.ReqHost"}}",
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"short_name": "Foxglove: {{placeholder "http.vars.ReqHost"}}",
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"icons": [
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{
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"src": "/media/icons/foxglove/any_icon_x512.webp",
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"sizes": "512x512",
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"type": "image/webp",
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"purpose": "any"
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},
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{
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"src": "/media/icons/foxglove/maskable_icon_x512.webp",
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"sizes": "512x512",
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"type": "image/webp",
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"purpose": "maskable"
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}
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],
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"id": "/foxglove/",
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"start_url": "/foxglove/autoconnect",
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"theme_color": "#6F3BE8",
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"background_color": "#6F3BE8",
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"display": "fullscreen",
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"shortcuts" : [
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{
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"name": "Auto Connect",
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"url": "/foxglove/autoconnect",
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"description": "Auto connect to default data source"
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},
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{
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"name": "Auto Layout",
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"url": "/foxglove/autolayout",
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"description": "Auto connect using default layout"
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},
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{
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"name": "Manual Connect",
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"url": "/foxglove/",
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"description": "Manually connect to data source"
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}
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]
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}
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@@ -0,0 +1,463 @@
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{
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"configById": {
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"3D!18i6zy7": {
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"layers": {
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"845139cb-26bc-40b3-8161-8ab60af4baf5": {
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"visible": true,
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"frameLocked": true,
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"label": "Grid",
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"instanceId": "845139cb-26bc-40b3-8161-8ab60af4baf5",
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"layerId": "foxglove.Grid",
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"size": 10,
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"divisions": 10,
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"lineWidth": 1,
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"color": "#A0A0A4ff",
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"position": [
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0,
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0,
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0
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],
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"rotation": [
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0,
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0,
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0
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],
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"order": 1
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}
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},
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"cameraState": {
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"perspective": true,
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"distance": 21.05263157877764,
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"phi": 38.925517117715195,
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"thetaOffset": -138.92710744521386,
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"targetOffset": [
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-2.6847696124888896,
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0.2191229688744439,
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3.6086809432821955e-16
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],
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"target": [
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0,
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0,
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0
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],
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"targetOrientation": [
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0,
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0,
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0,
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1
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],
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"fovy": 45,
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"near": 0.5,
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"far": 5000
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},
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"followMode": "follow-pose",
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"scene": {
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"transforms": {
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"showLabel": false,
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"editable": false,
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"labelSize": 0.049999999999999975,
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"enablePreloading": false,
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"lineWidth": 2
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}
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},
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"transforms": {
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"frame:camera_link": {
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"visible": false
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},
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"frame:camera_depth_frame": {
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"visible": false
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},
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"frame:camera_depth_optical_frame": {
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"visible": false
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},
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"frame:camera_rgb_frame": {
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"visible": false
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},
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"frame:camera_rgb_optical_frame": {
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"visible": false
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},
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"frame:imu_link": {
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"visible": false
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},
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"frame:caster_back_right_link": {
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"visible": false
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},
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"frame:caster_back_left_link": {
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"visible": false
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},
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"frame:odom": {
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"visible": true
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},
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"frame:base_footprint": {
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"visible": true
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},
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"frame:wheel_left_link": {
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"visible": false
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},
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"frame:wheel_right_link": {
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"visible": false
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},
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"frame:base_link": {
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"visible": false
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},
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"frame:base_scan": {
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"visible": false
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},
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"frame:map": {
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"visible": true
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}
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},
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"topics": {
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"/scan": {
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"visible": true,
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"colorField": "intensity",
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"colorMode": "flat",
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"colorMap": "turbo",
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"pointSize": 5,
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"flatColor": "#ff0000"
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},
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"/global_costmap/costmap": {
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"visible": true,
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"maxColor": "#E800174d",
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"unknownColor": "#5700ff4d",
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"minColor": "#ffffff4d",
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"invalidColor": "#ff00ff4d",
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"colorMode": "costmap",
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"alpha": 0.3
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},
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"/global_costmap/obstacle_layer": {
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"visible": false
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},
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"/global_costmap/voxel_marked_cloud": {
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"visible": false
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},
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"/goal_pose": {
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"visible": false
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},
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"/local_costmap/costmap": {
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"visible": false
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},
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"/local_costmap/voxel_layer": {
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"visible": false
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},
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"/local_costmap/clearing_endpoints": {
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"visible": false,
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"colorField": "x",
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"colorMode": "colormap",
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"colorMap": "turbo"
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},
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"/map": {
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"visible": true,
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"minColor": "#ffffff",
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"maxColor": "#000000",
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"unknownColor": "#708986ff",
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"frameLocked": false,
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"colorMode": "map"
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},
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"/amcl_pose": {
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"visible": false
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},
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"/local_plan": {
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"visible": true,
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"lineWidth": 0.01,
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"gradient": [
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"#c8ff00c7",
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"#00c8ffba"
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]
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},
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"/plan": {
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"visible": false,
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"gradient": [
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"rgba(124, 107, 255, 1)",
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"#ff6b6b"
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],
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"lineWidth": 1
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},
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"/plan_smoothed": {
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"visible": false
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},
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"/received_global_plan": {
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"visible": true,
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"gradient": [
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"#ff0000c7",
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"#6b70ffc2"
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],
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"lineWidth": 0.02,
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"type": "line",
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"arrowScale": [
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0.02,
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0.0015,
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0.0015
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]
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},
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"/transformed_global_plan": {
|
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"visible": false
|
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},
|
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"/robot_description": {
|
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"visible": false
|
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},
|
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"/cost_cloud": {
|
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"visible": false
|
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},
|
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"/initialpose": {
|
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"visible": false
|
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}
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},
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"publish": {
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"type": "pose_estimate",
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"poseTopic": "/move_base_simple/goal",
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"pointTopic": "",
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"poseEstimateTopic": "/initialpose",
|
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"poseEstimateXDeviation": 0.5,
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"poseEstimateYDeviation": 0.5,
|
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"poseEstimateThetaDeviation": 0.26179939
|
||||
},
|
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"followTf": "map"
|
||||
},
|
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"DiagnosticSummary!3bo4e39": {
|
||||
"minLevel": 0,
|
||||
"pinnedIds": [],
|
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"hardwareIdFilter": "",
|
||||
"topicToRender": "/diagnostics",
|
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"sortByLevel": true
|
||||
},
|
||||
"RosOut!1iib9dq": {
|
||||
"searchTerms": [],
|
||||
"minLogLevel": 1
|
||||
},
|
||||
"3D!2agiaqk": {
|
||||
"layers": {
|
||||
"845139cb-26bc-40b3-8161-8ab60af4baf5": {
|
||||
"visible": false,
|
||||
"frameLocked": true,
|
||||
"label": "Grid",
|
||||
"instanceId": "845139cb-26bc-40b3-8161-8ab60af4baf5",
|
||||
"layerId": "foxglove.Grid",
|
||||
"size": 10,
|
||||
"divisions": 10,
|
||||
"lineWidth": 1,
|
||||
"color": "#A0A0A4ff",
|
||||
"position": [
|
||||
0,
|
||||
0,
|
||||
0
|
||||
],
|
||||
"rotation": [
|
||||
0,
|
||||
0,
|
||||
0
|
||||
],
|
||||
"order": 1
|
||||
}
|
||||
},
|
||||
"cameraState": {
|
||||
"perspective": true,
|
||||
"distance": 4.078136514883917,
|
||||
"phi": 56.068374260572,
|
||||
"thetaOffset": 92.50000000000723,
|
||||
"targetOffset": [
|
||||
0.03816360663426963,
|
||||
0.15755079607173259,
|
||||
7.341598429161142e-18
|
||||
],
|
||||
"target": [
|
||||
0,
|
||||
0,
|
||||
0
|
||||
],
|
||||
"targetOrientation": [
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
1
|
||||
],
|
||||
"fovy": 45,
|
||||
"near": 0.5,
|
||||
"far": 5000
|
||||
},
|
||||
"followMode": "follow-pose",
|
||||
"scene": {
|
||||
"transforms": {
|
||||
"showLabel": true,
|
||||
"editable": false,
|
||||
"labelSize": 0.049999999999999975,
|
||||
"enablePreloading": false,
|
||||
"lineWidth": 2
|
||||
}
|
||||
},
|
||||
"transforms": {
|
||||
"frame:camera_link": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:camera_depth_frame": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:camera_depth_optical_frame": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:camera_rgb_frame": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:camera_rgb_optical_frame": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:imu_link": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:caster_back_right_link": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:caster_back_left_link": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:odom": {
|
||||
"visible": true
|
||||
},
|
||||
"frame:base_footprint": {
|
||||
"visible": true
|
||||
},
|
||||
"frame:wheel_left_link": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:wheel_right_link": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:base_link": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:base_scan": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:map": {
|
||||
"visible": true
|
||||
}
|
||||
},
|
||||
"topics": {
|
||||
"/scan": {
|
||||
"visible": true,
|
||||
"colorField": "intensity",
|
||||
"colorMode": "flat",
|
||||
"colorMap": "turbo",
|
||||
"pointSize": 5,
|
||||
"flatColor": "#ff0000"
|
||||
},
|
||||
"/global_costmap/costmap": {
|
||||
"visible": true,
|
||||
"maxColor": "#E800174d",
|
||||
"unknownColor": "#5700ff4d",
|
||||
"minColor": "#ffffff4d",
|
||||
"invalidColor": "#ff00ff4d",
|
||||
"colorMode": "costmap",
|
||||
"alpha": 0.3
|
||||
},
|
||||
"/global_costmap/obstacle_layer": {
|
||||
"visible": false
|
||||
},
|
||||
"/global_costmap/voxel_marked_cloud": {
|
||||
"visible": false
|
||||
},
|
||||
"/goal_pose": {
|
||||
"visible": false
|
||||
},
|
||||
"/local_costmap/costmap": {
|
||||
"visible": false
|
||||
},
|
||||
"/local_costmap/voxel_layer": {
|
||||
"visible": false
|
||||
},
|
||||
"/local_costmap/clearing_endpoints": {
|
||||
"visible": false,
|
||||
"colorField": "x",
|
||||
"colorMode": "colormap",
|
||||
"colorMap": "turbo"
|
||||
},
|
||||
"/map": {
|
||||
"visible": true,
|
||||
"minColor": "#ffffff",
|
||||
"maxColor": "#000000",
|
||||
"unknownColor": "#708986ff",
|
||||
"frameLocked": false,
|
||||
"colorMode": "map"
|
||||
},
|
||||
"/amcl_pose": {
|
||||
"visible": false
|
||||
},
|
||||
"/local_plan": {
|
||||
"visible": true,
|
||||
"lineWidth": 0.01,
|
||||
"gradient": [
|
||||
"#c8ff00c7",
|
||||
"#00c8ffba"
|
||||
]
|
||||
},
|
||||
"/plan": {
|
||||
"visible": false,
|
||||
"gradient": [
|
||||
"rgba(124, 107, 255, 1)",
|
||||
"#ff6b6b"
|
||||
],
|
||||
"lineWidth": 1
|
||||
},
|
||||
"/plan_smoothed": {
|
||||
"visible": false
|
||||
},
|
||||
"/received_global_plan": {
|
||||
"visible": true,
|
||||
"gradient": [
|
||||
"#ff0000c7",
|
||||
"#6b70ffc2"
|
||||
],
|
||||
"lineWidth": 0.02,
|
||||
"type": "line",
|
||||
"arrowScale": [
|
||||
0.02,
|
||||
0.0015,
|
||||
0.0015
|
||||
]
|
||||
},
|
||||
"/transformed_global_plan": {
|
||||
"visible": false
|
||||
},
|
||||
"/robot_description": {
|
||||
"visible": true
|
||||
},
|
||||
"/cost_cloud": {
|
||||
"visible": false
|
||||
},
|
||||
"/initialpose": {
|
||||
"visible": false
|
||||
}
|
||||
},
|
||||
"publish": {
|
||||
"type": "pose_estimate",
|
||||
"poseTopic": "/move_base_simple/goal",
|
||||
"pointTopic": "",
|
||||
"poseEstimateTopic": "/initialpose",
|
||||
"poseEstimateXDeviation": 0.5,
|
||||
"poseEstimateYDeviation": 0.5,
|
||||
"poseEstimateThetaDeviation": 0.26179939
|
||||
},
|
||||
"followTf": "base_link"
|
||||
}
|
||||
},
|
||||
"globalVariables": {},
|
||||
"userNodes": {},
|
||||
"playbackConfig": {
|
||||
"speed": 1
|
||||
},
|
||||
"layout": {
|
||||
"first": "3D!18i6zy7",
|
||||
"second": {
|
||||
"first": "DiagnosticSummary!3bo4e39",
|
||||
"second": {
|
||||
"first": "RosOut!1iib9dq",
|
||||
"second": "3D!2agiaqk",
|
||||
"direction": "column"
|
||||
},
|
||||
"direction": "column",
|
||||
"splitPercentage": 28.227360308285164
|
||||
},
|
||||
"direction": "row",
|
||||
"splitPercentage": 74.87855655794587
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,40 @@
|
||||
{
|
||||
"name": "Glances: {{placeholder "http.vars.ReqHost"}}",
|
||||
"short_name": "Glances: {{placeholder "http.vars.ReqHost"}}",
|
||||
"icons": [
|
||||
{
|
||||
"src": "/media/icons/glances/any_icon_x512.webp",
|
||||
"sizes": "512x512",
|
||||
"type": "image/webp",
|
||||
"purpose": "any"
|
||||
},
|
||||
{
|
||||
"src": "/media/icons/glances/maskable_icon_x512.webp",
|
||||
"sizes": "512x512",
|
||||
"type": "image/webp",
|
||||
"purpose": "maskable"
|
||||
}
|
||||
],
|
||||
"id": "/glances/",
|
||||
"start_url": "/glances/",
|
||||
"theme_color": "#2C363F",
|
||||
"background_color": "#2C363F",
|
||||
"display": "fullscreen",
|
||||
"shortcuts" : [
|
||||
{
|
||||
"name": "Refresh 1sec",
|
||||
"url": "/glances/1",
|
||||
"description": "Refresh page every 1 second"
|
||||
},
|
||||
{
|
||||
"name": "Refresh 5sec",
|
||||
"url": "/glances/5",
|
||||
"description": "Refresh page every 5 seconds"
|
||||
},
|
||||
{
|
||||
"name": "Refresh 10sec",
|
||||
"url": "/glances/10",
|
||||
"description": "Refresh page every 10 seconds"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,23 @@
|
||||
{
|
||||
"name": "Gzweb: {{placeholder "http.vars.ReqHost"}}",
|
||||
"short_name": "Gzweb: {{placeholder "http.vars.ReqHost"}}",
|
||||
"icons": [
|
||||
{
|
||||
"src": "/media/icons/gzweb/any_icon_x512.webp",
|
||||
"sizes": "512x512",
|
||||
"type": "image/webp",
|
||||
"purpose": "any"
|
||||
},
|
||||
{
|
||||
"src": "/media/icons/gzweb/maskable_icon_x512.webp",
|
||||
"sizes": "512x512",
|
||||
"type": "image/webp",
|
||||
"purpose": "maskable"
|
||||
}
|
||||
],
|
||||
"id": "/gzweb/",
|
||||
"start_url": "/gzweb/",
|
||||
"theme_color": "#ffffff",
|
||||
"background_color": "#ffffff",
|
||||
"display": "fullscreen"
|
||||
}
|
||||
@@ -0,0 +1,23 @@
|
||||
{
|
||||
"name": "Nav2: {{placeholder "http.vars.ReqHost"}}",
|
||||
"short_name": "Nav2: {{placeholder "http.vars.ReqHost"}}",
|
||||
"icons": [
|
||||
{
|
||||
"src": "/media/icons/nav2/any_icon_x512.webp",
|
||||
"sizes": "512x512",
|
||||
"type": "image/webp",
|
||||
"purpose": "any"
|
||||
},
|
||||
{
|
||||
"src": "/media/icons/nav2/maskable_icon_x512.webp",
|
||||
"sizes": "512x512",
|
||||
"type": "image/webp",
|
||||
"purpose": "maskable"
|
||||
}
|
||||
],
|
||||
"id": "/nav2/",
|
||||
"start_url": "/nav2/",
|
||||
"theme_color": "#ffffff",
|
||||
"background_color": "#ffffff",
|
||||
"display": "standalone"
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,36 @@
|
||||
{{$pathParts := splitList "/" .OriginalReq.URL.Path}}
|
||||
{{$markdownFilename := default "index" (slice $pathParts 2 | join "/")}}
|
||||
{{$markdownFilePath := printf "/%s.md" $markdownFilename}}
|
||||
{{if not (fileExists $markdownFilePath)}}{{httpError 404}}{{end}}
|
||||
{{$markdownFile := (include $markdownFilePath | splitFrontMatter)}}
|
||||
{{$title := default $markdownFilename $markdownFile.Meta.title}}
|
||||
<!DOCTYPE html>
|
||||
<html>
|
||||
<head>
|
||||
<meta charset="utf-8">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1, minimal-ui">
|
||||
<title>{{$title}}</title>
|
||||
<meta name="color-scheme" content="light dark">
|
||||
<link rel="stylesheet" href="github-markdown.css">
|
||||
<link rel="icon" type="image/webp" href="/media/icons/nav2/any_icon_x512.webp">
|
||||
|
||||
<style>
|
||||
body {
|
||||
box-sizing: border-box;
|
||||
min-width: 200px;
|
||||
max-width: 980px;
|
||||
margin: 0 auto;
|
||||
padding: 45px;
|
||||
}
|
||||
|
||||
@media (prefers-color-scheme: dark) {
|
||||
body {
|
||||
background-color: #0d1117;
|
||||
}
|
||||
}
|
||||
</style>
|
||||
</head>
|
||||
<body>
|
||||
<article class="markdown-body">{{markdown $markdownFile.Body}}</article>
|
||||
</body>
|
||||
</html>
|
||||
@@ -0,0 +1,51 @@
|
||||
{
|
||||
"title": "Nav2 App"
|
||||
}
|
||||
## Progressive Web Apps
|
||||
|
||||
| PWAs | Shortcuts |
|
||||
|-|-|
|
||||
| [<img src="/media/icons/foxglove/any_icon_x512.webp" height="64">](/foxglove/autoconnect)<br>**Foxglove** | [**Auto Connect**](/foxglove/autoconnect)<br>[Auto Layout](/foxglove/autolayout)<br>[Manual](/foxglove/) |
|
||||
| [<img src="/media/icons/gzweb/any_icon_x512.webp" height="64">](/gzweb/)<br>**Gzweb** | [**Auto Connect**](/gzweb/) |
|
||||
| [<img src="/media/icons/glances/any_icon_x512.webp" height="64">](/glances/)<br>**Glances** | [**System Monitor**](/glances/)<br>[Refresh 1sec](/glances/1)<br>[Refresh 10sec](/glances/10) |
|
||||
| [<img src="/media/icons/nav2/any_icon_x512.webp" height="64">](/nav2/)<br>**Nav2** | [**App Launcher**](/nav2/)<br>[File Browser](/?browse=true) |
|
||||
|
||||
## External Resources
|
||||
|
||||
For more related documentation:
|
||||
|
||||
- [Nav2 Documentation](https://navigation.ros.org)
|
||||
- [Development Guides](https://navigation.ros.org/development_guides)
|
||||
- [Dev Containers](https://navigation.ros.org/development_guides/devcontainer_docs)
|
||||
|
||||
## Session Info
|
||||
|
||||
Useful information about host server and remote client:
|
||||
|
||||
|Key | Value |
|
||||
|-|-|
|
||||
| Host | `{{.Host}}` |
|
||||
| Remote IP | `{{placeholder "http.request.remote.host"}}` |
|
||||
| Date | `{{now}}` |
|
||||
|
||||
### Server Diagnostics
|
||||
|
||||
<details>
|
||||
<summary>Websocket Debug</summary>
|
||||
|
||||
For troubleshooting websocket connections:
|
||||
|
||||
|Key | Value |
|
||||
|-|-|
|
||||
| `header.X-Forwarded-Host` | `{{placeholder "http.request.header.X-Forwarded-Host"}}` |
|
||||
| `http.request.hostport` | `{{placeholder "http.request.hostport"}}` |
|
||||
| `http.vars.ReqHost` | `{{placeholder "http.vars.ReqHost"}}` |
|
||||
|
||||
|Key | Value |
|
||||
|-|-|
|
||||
| `http.request.scheme` | `{{placeholder "http.request.scheme"}}` |
|
||||
| `header.X-Forwarded-Scheme` | `{{placeholder "http.request.header.X-Forwarded-Scheme"}}` |
|
||||
| `header.X-Forwarded-Proto` | `{{placeholder "http.request.header.X-Forwarded-Proto"}}` |
|
||||
| `http.vars.WsScheme` | `{{placeholder "http.vars.WsScheme"}}` |
|
||||
|
||||
</details>
|
||||
@@ -0,0 +1,61 @@
|
||||
{
|
||||
"name": "Nav2",
|
||||
"build": {
|
||||
"dockerfile": "../Dockerfile",
|
||||
"context": "..",
|
||||
"target": "visualizer",
|
||||
"cacheFrom": "ghcr.io/ros-planning/navigation2:humble"
|
||||
},
|
||||
"runArgs": [
|
||||
// "--cap-add=SYS_PTRACE", // enable debugging, e.g. gdb
|
||||
// "--ipc=host", // shared memory transport with host, e.g. rviz GUIs
|
||||
// "--network=host", // network access to host interfaces, e.g. eth0
|
||||
// "--pid=host", // DDS discovery with host, without --network=host
|
||||
// "--privileged", // device access to host peripherals, e.g. USB
|
||||
// "--security-opt=seccomp=unconfined", // enable debugging, e.g. gdb
|
||||
],
|
||||
"workspaceFolder": "/opt/overlay_ws/src/navigation2",
|
||||
"workspaceMount": "source=${localWorkspaceFolder},target=${containerWorkspaceFolder},type=bind",
|
||||
"onCreateCommand": ".devcontainer/on-create-command.sh",
|
||||
"updateContentCommand": ".devcontainer/update-content-command.sh",
|
||||
"postCreateCommand": ".devcontainer/post-create-command.sh",
|
||||
"remoteEnv": {
|
||||
"OVERLAY_MIXINS": "release ccache lld",
|
||||
"CCACHE_DIR": "/tmp/.ccache"
|
||||
},
|
||||
"mounts": [
|
||||
{
|
||||
"source": "ccache-${devcontainerId}",
|
||||
"target": "/tmp/.ccache",
|
||||
"type": "volume"
|
||||
},
|
||||
{
|
||||
"source": "overlay-${devcontainerId}",
|
||||
"target": "/opt/overlay_ws",
|
||||
"type": "volume"
|
||||
}
|
||||
],
|
||||
"features": {
|
||||
// "ghcr.io/devcontainers/features/desktop-lite:1": {},
|
||||
"ghcr.io/devcontainers/features/github-cli:1": {}
|
||||
},
|
||||
"customizations": {
|
||||
"codespaces": {
|
||||
"openFiles": [
|
||||
"doc/development/codespaces.md"
|
||||
]
|
||||
},
|
||||
"vscode": {
|
||||
"settings": {},
|
||||
"extensions": [
|
||||
"althack.ament-task-provider",
|
||||
"eamodio.gitlens",
|
||||
"esbenp.prettier-vscode",
|
||||
"GitHub.copilot",
|
||||
"ms-iot.vscode-ros",
|
||||
"streetsidesoftware.code-spell-checker",
|
||||
"twxs.cmake"
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
+12
@@ -0,0 +1,12 @@
|
||||
#!/bin/bash
|
||||
|
||||
# Immediately catch all errors
|
||||
set -eo pipefail
|
||||
|
||||
# Uncomment for debugging
|
||||
# set -x
|
||||
# env
|
||||
|
||||
git config --global --add safe.directory "*"
|
||||
|
||||
.devcontainer/update-content-command.sh
|
||||
+18
@@ -0,0 +1,18 @@
|
||||
#!/bin/bash
|
||||
|
||||
# Immediately catch all errors
|
||||
set -eo pipefail
|
||||
|
||||
# Uncomment for debugging
|
||||
# set -x
|
||||
# env
|
||||
|
||||
# Enable autocomplete for user
|
||||
cp /etc/skel/.bashrc ~/
|
||||
|
||||
# Check if srv folder exists
|
||||
if [ -d "$ROOT_SRV" ]; then
|
||||
# Setup Nav2 web app
|
||||
for dir in $OVERLAY_WS/src/navigation2/.devcontainer/caddy/srv/*; \
|
||||
do if [ -d "$dir" ]; then ln -s "$dir" $ROOT_SRV; fi done
|
||||
fi
|
||||
+60
@@ -0,0 +1,60 @@
|
||||
#!/bin/bash
|
||||
|
||||
# Immediately catch all errors
|
||||
set -eo pipefail
|
||||
|
||||
# Uncomment for debugging
|
||||
# set -x
|
||||
# env
|
||||
|
||||
cd $OVERLAY_WS
|
||||
|
||||
colcon cache lock
|
||||
|
||||
BUILD_UNFINISHED=$(
|
||||
colcon list \
|
||||
--names-only \
|
||||
--packages-skip-build-finished \
|
||||
| xargs)
|
||||
echo BUILD_UNFINISHED: $BUILD_UNFINISHED
|
||||
|
||||
BUILD_FAILED=$(
|
||||
colcon list \
|
||||
--names-only \
|
||||
--packages-select-build-failed \
|
||||
| xargs)
|
||||
echo BUILD_FAILED: $BUILD_FAILED
|
||||
|
||||
BUILD_INVALID=$(
|
||||
colcon list \
|
||||
--names-only \
|
||||
--packages-select-cache-invalid \
|
||||
--packages-select-cache-key build \
|
||||
| xargs)
|
||||
echo BUILD_INVALID: $BUILD_INVALID
|
||||
|
||||
BUILD_PACKAGES=""
|
||||
if [ -n "$BUILD_UNFINISHED" ] || \
|
||||
[ -n "$BUILD_FAILED" ] || \
|
||||
[ -n "$BUILD_INVALID" ]
|
||||
then
|
||||
BUILD_PACKAGES=$(
|
||||
colcon list \
|
||||
--names-only \
|
||||
--packages-above \
|
||||
$BUILD_UNFINISHED \
|
||||
$BUILD_FAILED \
|
||||
$BUILD_INVALID \
|
||||
| xargs)
|
||||
fi
|
||||
echo BUILD_PACKAGES: $BUILD_PACKAGES
|
||||
|
||||
# colcon clean packages --yes \
|
||||
# --packages-select ${BUILD_PACKAGES} \
|
||||
# --base-select install
|
||||
|
||||
. $UNDERLAY_WS/install/setup.sh
|
||||
colcon build \
|
||||
--symlink-install \
|
||||
--mixin $OVERLAY_MIXINS \
|
||||
--packages-select ${BUILD_PACKAGES}
|
||||
Reference in New Issue
Block a user