Improvements (#9)

* Reverse proxy

* Fix revere proxy

* E stop read state

* test

* test

* Estop w8 for feedback

* layout

* compose

* Reverse proxy

* typo

* fix workflow

* Fix reverse proxy

* Simplify

* fix

* new topics paths

* Inverse logic and moving average filter

* clean up

* e-stop service fixes

---------

Co-authored-by: BOOTCFG <[email protected]>

.dockerignore

@@ -3,5 +3,6 @@
 .DS_Store
 .webpack/
 dist/
+demo/
 node_modules/
 Dockerfile

.github/workflows/build-docker-image.yaml

@@ -37,9 +37,9 @@ jobs:
           platforms: linux/amd64, linux/arm64
           push: true
           tags: |
-            husarion/foxglove:studio-${{ env.SHORT_DATE }}
-            husarion/foxglove:studio
-            husarion/foxglove:studio-nightly
+            husarion/foxglove:${{ github.head_ref || github.ref_name }}-${{ env.SHORT_DATE }}
+            husarion/foxglove:${{ github.head_ref || github.ref_name }}
+            husarion/foxglove:${{ github.head_ref || github.ref_name }}-nightly
           cache-to: type=inline
 
       - name: Build and push (feature branch)
@@ -49,5 +49,5 @@ jobs:
           platforms: linux/amd64, linux/arm64
           push: true
           tags: |
-            husarion/foxglove:studio-nightly
+            husarion/foxglove:${{ github.head_ref || github.ref_name }}-nightly
           cache-to: type=inline

Caddyfile

@@ -1,33 +1,29 @@
-# Listen on localhost on the specified port
-:{$UI_PORT} {
-	tls internal
-
-	root * /src
-
-	# Handle requests from Husarnet IPv6 clients
-	@ipv6Client {
-		expression {http.request.host}.startsWith("fc94")
-	}
-	handle @ipv6Client {
-		vars full_host [{http.request.host}]
-		redir /ui /?ds={$DS_TYPE}&ds.url=ws%3A%2F%2F%5B{http.request.host}%5D%3A{$DS_PORT}
+:8080 {
+	handle_path /ws {
+		reverse_proxy http://127.0.0.1:8765
 	}
 
-	# Handle all other requests (from non-IPv6 clients)
-	handle {
-		vars full_host {http.request.host}
-		redir /ui /?ds={$DS_TYPE}&ds.url=ws%3A%2F%2F{http.request.host}%3A{$DS_PORT}
-	}
+	handle_path /* {
+		root * /src
 
-	templates {
-		mime "application/json" "text/plain" "text/html"
-	}
+		# Handle IPv6 clients
+		@ipv6Client {
+			expression {http.request.host}.startsWith("fc94")
+		}
+
+		handle @ipv6Client {
+			redir /ui /?ds=foxglove-websocket&ds.url=ws%3A%2F%2F%5B{http.request.host}%5D%3A8765
+		}
 
-	file_server browse
+		# Handle all other requests (from non-IPv6 clients)
+		handle {
+			redir /ui /?ds=foxglove-websocket&ds.url=ws%3A%2F%2F{http.request.host}%3A8765
+		}
 
-	@urdf path /*.urdf
+		templates {
+			mime "text/html"
+		}
 
-	header @urdf {
-		Content-Type "text/plain"
+		file_server
 	}
 }

Dockerfile

@@ -1,12 +1,12 @@
 ARG ROS_DISTRO=humble
 
 # =========================== Foxglove builder ===============================
-FROM node:16 as foxglove_build
+FROM node:16 AS foxglove_build
 WORKDIR /src
 
 RUN apt-get update && \
     apt-get install -y git-lfs && \
-    git clone -b studio https://github.com/husarion/foxglove-docker . && \
+    git clone -b improvements https://github.com/husarion/foxglove-docker . && \
     git lfs pull
 
 RUN corepack enable
@@ -28,20 +28,12 @@ COPY disable_cache.js /
 COPY disable_interaction.js /
 
 COPY Caddyfile /etc/caddy/
-COPY Caddyfile_reverse_proxy /etc/caddy/
 COPY entrypoint.sh /
-COPY run.sh /
 
 EXPOSE 8080
 
-ENV DS_TYPE=foxglove-websocket
-ENV DS_PORT=8765
-ENV UI_PORT=8080
 ENV DISABLE_INTERACTION=false
 ENV DISABLE_CACHE=true
 
-# only for IPv6 -> IPv4 reverse proxy for foxglove-websocket datasource (that can listen only on IPv4)
-ENV DS_HOST=
-
 ENTRYPOINT ["/bin/bash", "/entrypoint.sh"]
-CMD /run.sh
+CMD caddy run --config /etc/caddy/Caddyfile --adapter caddyfile

demo/compose.yaml

@@ -1,23 +1,26 @@
+x-common-config: &common-config
+  network_mode: host
+  ipc: host
+  environment:
+    - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+    - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
+
 services:
   foxglove:
-    image: husarion/foxglove:studio-nightly
-    # build:
-    #   context: ..
-    #   dockerfile: Dockerfile
-    # runtime: nvidia
+    image: husarion/foxglove:improvements-nightly
+    <<: *common-config
     ports:
       - 8080:8080
-      - 8765:8765
     volumes:
       - ./foxglove-layout.json:/foxglove/default-layout.json
+      - ../Caddyfile:/etc/caddy/Caddyfile
     environment:
-      - ROBOT_NAMESPACE=panther
-      - DS_HOST=foxglove-ds
       - DISABLE_CACHE=true
       - DISABLE_INTERACTION=false
-      # - NVIDIA_VISIBLE_DEVICES=all
-      # - NVIDIA_DRIVER_CAPABILITIES=all
 
   foxglove-ds:
-    image: husarion/foxglove-bridge:humble-0.7.4-20240320
+    image: husarion/foxglove-bridge:humble-0.7.7-20240708
+    <<: *common-config
+    ports:
+      - 8765:8765
     command: ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765 capabilities:=[clientPublish,parameters,parametersSubscribe,services,connectionGraph,assets]

demo/foxglove-layout.json

@@ -11,20 +11,20 @@
       "paths": [
         {
           "timestampMethod": "receiveTime",
-          "value": "<robot_namespace>/imu_broadcaster/imu.linear_acceleration.x",
+          "value": "<robot_namespace>/imu/data.linear_acceleration.x",
           "enabled": true,
           "label": "x",
           "showLine": true
         },
         {
           "timestampMethod": "receiveTime",
-          "value": "<robot_namespace>/imu_broadcaster/imu.linear_acceleration.y",
+          "value": "<robot_namespace>/imu/data.linear_acceleration.y",
           "enabled": true,
           "label": "y"
         },
         {
           "timestampMethod": "receiveTime",
-          "value": "<robot_namespace>/imu_broadcaster/imu.linear_acceleration.z",
+          "value": "<robot_namespace>/imu/data.linear_acceleration.z",
           "enabled": true,
           "label": "z"
         }
@@ -73,7 +73,7 @@
       "foxglovePanelTitle": "RR"
     },
     "Battery!wppv5y": {
-      "path": "<robot_namespace>/battery.percentage",
+      "path": "<robot_namespace>/battery/battery_status.percentage",
       "minValue": 0,
       "maxValue": 1,
       "colorMap": "red-yellow-green",
@@ -89,6 +89,7 @@
       "serviceName": "",
       "goServiceName": "<robot_namespace>/hardware/e_stop_reset",
       "stopServiceName": "<robot_namespace>/hardware/e_stop_trigger",
+      "statusTopicName": "<robot_namespace>/hardware/e_stop.data",
       "foxglovePanelTitle": "E-stop"
     },
     "Joy!3fmstz6": {

entrypoint.sh

@@ -1,18 +1,17 @@
 #!/bin/bash
 set -e
 
-# replace localhost:8080 with {{placeholder "http.vars.full_host"}}:UI_PORT in /foxglove/default-layout.json file (change file to do not modify volumen)
-sed 's|localhost:8080|{{placeholder "http.vars.full_host"}}:{{env "UI_PORT"}}|g' /foxglove/default-layout.json > /foxglove/remote-layout.json
+cp /foxglove/default-layout.json /foxglove/local-layout.json
 if [ -n "$ROBOT_NAMESPACE" ]; then
-    sed -i "s|<robot_namespace>|/$ROBOT_NAMESPACE|g" /foxglove/remote-layout.json
+    sed -i "s|<robot_namespace>|/$ROBOT_NAMESPACE|g" /foxglove/local-layout.json
 else
-    sed -i "s|<robot_namespace>||g" /foxglove/remote-layout.json
+    sed -i "s|<robot_namespace>||g" /foxglove/local-layout.json
 fi
 
 # Optionally override the default layout with one provided via bind mount
 index_html=$(cat index.html)
 replace_pattern='/*FOXGLOVE_STUDIO_DEFAULT_LAYOUT_PLACEHOLDER*/'
-replace_value=$(cat /foxglove/remote-layout.json)
+replace_value=$(cat /foxglove/local-layout.json)
 echo "${index_html/"$replace_pattern"/$replace_value}" > index.html
 
 # Check if ENABLE_SCRIPT1 is set to true