Windows dev container GUI support + missing rover_urdf view.rviz #170
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| @@ -0,0 +1,39 @@ | ||
| { | ||
| "name": "CPRT Dev Container (Windows Host + GUI)", | ||
| "image": "cprtsoftware/rover:dev-lite", | ||
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| // GUI support via WSLg. Unlike the Linux configs, the X11 socket cannot be | ||
| // mounted from /tmp/.X11-unix: that path is a WSLg tmpfs inside the user's | ||
| // WSL distro, but the Docker daemon resolves mount sources against its own | ||
| // filesystem (the docker-desktop distro), where it does not exist. Docker | ||
| // Desktop exposes the host's WSLg socket inside the VM at the path below. | ||
| // DISPLAY is hardcoded because WSLg always serves :0, and ${localEnv:DISPLAY} | ||
| // does not resolve to the WSL value from a Dev Containers window. | ||
| "runArgs": [ | ||
| "--env", "DISPLAY=:0", | ||
| "--volume", "/run/desktop/mnt/host/wslg/.X11-unix:/tmp/.X11-unix:rw" | ||
| ], | ||
| "mounts": [ | ||
| ], | ||
| "containerEnv": { | ||
| "SSH_AUTH_SOCK": "/ssh-agent", | ||
| "NVIDIA_VISIBLE_DEVICES": "all", | ||
| "NVIDIA_DRIVER_CAPABILITIES": "all" | ||
| }, | ||
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|
||
| "remoteUser": "ubuntu", | ||
| "containerUser": "ubuntu", | ||
| "remoteEnv": { | ||
| "USER": "ubuntu" | ||
| }, | ||
|
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| "customizations": { | ||
| "vscode": { | ||
| "settings": { | ||
| "terminal.integrated.shell.linux": "/bin/bash" | ||
| }, | ||
| "extensions": [ "ms-vscode.cpptools", "ms-azuretools.vscode-docker" ] | ||
| } | ||
| }, | ||
| "postCreateCommand": "echo 'source /opt/ros/jazzy/setup.bash' >> ~/.bashrc" | ||
| } |
|
Contributor
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Author
There was a problem hiding this comment. Thanks! I tried reusing moveit.rviz, but it doesn't have a RobotModel display. It uses MotionPlanning, which needs move_group running to show the robot. Since rover_urdf's launch doesn't start move_group, use_rviz would still open blank. |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,300 @@ | ||
| Panels: | ||
| - Class: rviz_common/Displays | ||
| Help Height: 78 | ||
| Name: Displays | ||
| Property Tree Widget: | ||
| Expanded: | ||
| - /Global Options1 | ||
| - /Status1 | ||
| - /Grid1 | ||
| - /RobotModel1 | ||
| Splitter Ratio: 0.5 | ||
| Tree Height: 555 | ||
| - Class: rviz_common/Selection | ||
| Name: Selection | ||
| - Class: rviz_common/Tool Properties | ||
| Expanded: | ||
| - /2D Goal Pose1 | ||
| - /Publish Point1 | ||
| Name: Tool Properties | ||
| Splitter Ratio: 0.5886790156364441 | ||
| - Class: rviz_common/Views | ||
| Expanded: | ||
| - /Current View1 | ||
| Name: Views | ||
| Splitter Ratio: 0.5 | ||
| - Class: rviz_common/Time | ||
| Experimental: false | ||
| Name: Time | ||
| SyncMode: 0 | ||
| SyncSource: "" | ||
| Visualization Manager: | ||
| Class: "" | ||
| Displays: | ||
| - Alpha: 0.5 | ||
| Cell Size: 1 | ||
| Class: rviz_default_plugins/Grid | ||
| Color: 160; 160; 164 | ||
| Enabled: true | ||
| Line Style: | ||
| Line Width: 0.029999999329447746 | ||
| Value: Lines | ||
| Name: Grid | ||
| Normal Cell Count: 0 | ||
| Offset: | ||
| X: 0 | ||
| Y: 0 | ||
| Z: 0 | ||
| Plane: XY | ||
| Plane Cell Count: 10 | ||
| Reference Frame: <Fixed Frame> | ||
| Value: true | ||
| - Alpha: 1 | ||
| Class: rviz_default_plugins/RobotModel | ||
| Collision Enabled: false | ||
| Description File: "" | ||
| Description Source: Topic | ||
| Description Topic: | ||
| Depth: 5 | ||
| Durability Policy: Volatile | ||
| History Policy: Keep Last | ||
| Reliability Policy: Reliable | ||
| Value: /robot_description | ||
| Enabled: true | ||
| Links: | ||
| All Links Enabled: true | ||
| Antenna_Back: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Antenna_Front: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| EndEffector: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Expand Joint Details: false | ||
| Expand Link Details: false | ||
| Expand Tree: false | ||
| Frame: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| GPS_Left: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| GPS_Right: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Link Tree Style: Links in Alphabetic Order | ||
| Link_1: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Link_2: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Link_3: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Link_4: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Link_5: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Link_6: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Rocker_Left: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Rocker_Right: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Sus_Arm_Back_Left: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Sus_Arm_Back_Right: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Sus_Arm_Front_Left: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Sus_Arm_Front_Right: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Wheel_Arm_Back_Left: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Wheel_Arm_Back_Right: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Wheel_Arm_Front_Left: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Wheel_Arm_Front_Right: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Wheel_Back_Left: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Wheel_Back_Right: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Wheel_Front_Left: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Wheel_Front_Right: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| Zed: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Value: true | ||
| base_link: | ||
| Alpha: 1 | ||
| Show Axes: false | ||
| Show Trail: false | ||
| Mass Properties: | ||
| Inertia: false | ||
| Mass: false | ||
| Name: RobotModel | ||
| TF Prefix: "" | ||
| Update Interval: 0 | ||
| Value: true | ||
| Visual Enabled: true | ||
| Enabled: true | ||
| Global Options: | ||
| Background Color: 48; 48; 48 | ||
| Fixed Frame: base_link | ||
| Frame Rate: 30 | ||
| Name: root | ||
| Tools: | ||
| - Class: rviz_default_plugins/Interact | ||
| Hide Inactive Objects: true | ||
| - Class: rviz_default_plugins/MoveCamera | ||
| - Class: rviz_default_plugins/Select | ||
| - Class: rviz_default_plugins/FocusCamera | ||
| - Class: rviz_default_plugins/Measure | ||
| Line color: 128; 128; 0 | ||
| - Class: rviz_default_plugins/SetInitialPose | ||
| Covariance x: 0.25 | ||
| Covariance y: 0.25 | ||
| Covariance yaw: 0.06853891909122467 | ||
| Topic: | ||
| Depth: 5 | ||
| Durability Policy: Volatile | ||
| History Policy: Keep Last | ||
| Reliability Policy: Reliable | ||
| Value: /initialpose | ||
| - Class: rviz_default_plugins/SetGoal | ||
| Topic: | ||
| Depth: 5 | ||
| Durability Policy: Volatile | ||
| History Policy: Keep Last | ||
| Reliability Policy: Reliable | ||
| Value: /goal_pose | ||
| - Class: rviz_default_plugins/PublishPoint | ||
| Single click: true | ||
| Topic: | ||
| Depth: 5 | ||
| Durability Policy: Volatile | ||
| History Policy: Keep Last | ||
| Reliability Policy: Reliable | ||
| Value: /clicked_point | ||
| Transformation: | ||
| Current: | ||
| Class: rviz_default_plugins/TF | ||
| Value: true | ||
| Views: | ||
| Current: | ||
| Class: rviz_default_plugins/Orbit | ||
| Distance: 3.4638402462005615 | ||
| Enable Stereo Rendering: | ||
| Stereo Eye Separation: 0.05999999865889549 | ||
| Stereo Focal Distance: 1 | ||
| Swap Stereo Eyes: false | ||
| Value: false | ||
| Focal Point: | ||
| X: 0.14458782970905304 | ||
| Y: -0.059284139424562454 | ||
| Z: -0.10198041051626205 | ||
| Focal Shape Fixed Size: true | ||
| Focal Shape Size: 0.05000000074505806 | ||
| Invert Z Axis: false | ||
| Name: Current View | ||
| Near Clip Distance: 0.009999999776482582 | ||
| Pitch: 0.6053978800773621 | ||
| Target Frame: <Fixed Frame> | ||
| Value: Orbit (rviz) | ||
| Yaw: 4.253584384918213 | ||
| Saved: ~ | ||
| Window Geometry: | ||
| Displays: | ||
| collapsed: false | ||
| Height: 846 | ||
| Hide Left Dock: false | ||
| Hide Right Dock: false | ||
| QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 | ||
| Selection: | ||
| collapsed: false | ||
| Time: | ||
| collapsed: false | ||
| Tool Properties: | ||
| collapsed: false | ||
| Views: | ||
| collapsed: false | ||
| Width: 1200 | ||
| X: 1809 | ||
| Y: 362 |
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It looks like this was copied from an old version of the windows config, we now use ROS jazzy and the user is ubuntu.
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my local main was 40 commits behind, so I copied the pre-Jazzy windows config without realizing. Will rebase onto current main and redo this from the dev-lite / ubuntu / jazzy version.
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Rebased onto current main and updated it to dev-lite / ubuntu / jazzy. Tested on Windows 11 + WSL2: builds on dev-lite, runs as ubuntu, and RViz renders on Jazzy.