feat(docker): add openadkit visualizer container

.dockerignore

@@ -10,13 +10,13 @@
 docker
 !docker/etc
 !docker/scripts
+!docker/tools
 
 # Ignore a part of files under src
 src/**/.*
 src/**/*.asc
 src/**/*.gif
 src/**/*.md
-src/**/*.pcd
 src/**/*.svg
 
 # Ignore generated files by colcon

.github/actions/docker-build-and-push-tools/action.yaml

@@ -0,0 +1,67 @@
+name: docker-build-and-push-tools
+description: Composite action to build and push tools images to registry.
+
+inputs:
+  platform:
+    description: Target platform.
+    required: true
+  target-image:
+    description: Target docker image name in the registry.
+    required: true
+  build-args:
+    description: Additional build args.
+    required: false
+
+runs:
+  using: composite
+  steps:
+    - name: Install jq and vcstool
+      run: |
+        sudo apt-get -y update
+        sudo apt-get -y install jq python3-pip
+        pip install --no-cache-dir vcstool
+      shell: bash
+
+    - name: Run vcs import
+      run: |
+        vcs import src < simulator.repos
+      shell: bash
+
+    - name: Setup Docker Buildx
+      uses: docker/setup-buildx-action@v3
+
+    - name: Get current date
+      id: date
+      run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
+      shell: bash
+
+    - name: Docker meta for autoware:visualizer
+      id: meta-visualizer
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
+        tags: |
+          type=raw,value=visualizer-${{ inputs.platform }}
+          type=raw,value=visualizer-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=visualizer-,suffix=-${{ inputs.platform }}
+        bake-target: docker-metadata-action-visualizer
+        flavor: |
+          latest=false
+
+    - name: Login to GitHub Container Registry
+      uses: docker/login-action@v3
+      with:
+        registry: ghcr.io
+        username: ${{ github.repository_owner }}
+        password: ${{ github.token }}
+
+    - name: Build and Push to GitHub Container Registry
+      uses: docker/bake-action@v5
+      with:
+        push: true
+        files: |
+          docker/docker-bake-tools.hcl
+          ${{ steps.meta-visualizer.outputs.bake-file }}
+        provenance: false
+        set: |
+          ${{ inputs.build-args }}

.github/workflows/docker-build-and-push-arm64.yaml

@@ -72,6 +72,22 @@ jobs:
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-main
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }},mode=max
 
+      - name: Build 'autoware-tools'
+        uses: ./.github/actions/docker-build-and-push-tools
+        with:
+          platform: arm64
+          target-image: autoware-tools
+          build-args: |
+            *.platform=linux/arm64
+            *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
+            *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+            *.args.AUTOWARE_BASE_IMAGE=${{ needs.load-env.outputs.autoware_base_image }}
+            *.args.AUTOWARE_BASE_CUDA_IMAGE=${{ needs.load-env.outputs.autoware_base_cuda_image }}
+            *.args.LIB_DIR=aarch64
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }}
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-main
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }},mode=max
+
       - name: Show disk space
         if: always()
         run: |

.github/workflows/docker-build-and-push.yaml

@@ -62,6 +62,22 @@ jobs:
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-main
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-${{ github.ref_name }},mode=max
 
+      - name: Build 'autoware-tools'
+        uses: ./.github/actions/docker-build-and-push-tools
+        with:
+          platform: amd64
+          target-image: autoware-tools
+          build-args: |
+            *.platform=linux/amd64
+            *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
+            *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+            *.args.AUTOWARE_BASE_IMAGE=${{ needs.load-env.outputs.autoware_base_image }}
+            *.args.AUTOWARE_BASE_CUDA_IMAGE=${{ needs.load-env.outputs.autoware_base_cuda_image }}
+            *.args.LIB_DIR=x86_64
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-${{ github.ref_name }}
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-main
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-${{ github.ref_name }},mode=max
+
       - name: Show disk space
         if: always()
         run: |

docker/docker-bake-tools.hcl

@@ -0,0 +1,14 @@
+group "default" {
+  targets = [
+    "visualizer"
+  ]
+}
+
+// For docker/metadata-action
+target "docker-metadata-action-visualizer" {}
+
+target "visualizer" {
+  inherits = ["docker-metadata-action-visualizer"]
+  dockerfile = "docker/tools/visualizer/Dockerfile.visualizer"
+  target = "visualizer"
+}

docker/tools/README.md

@@ -0,0 +1,23 @@
+# Open AD Kit Tools
+
+This directory offers tools for [Open AD Kit](https://autoware.org/open-ad-kit/) containers to make deployment and simulation easier.
+
+- `visualizer`: a container that can visualize the Autoware and scenario simulation on RViz.
+
+## Visualizer
+
+### Run
+
+```bash
+docker run --rm --name openadkit-visualizer -p 6080:6080 -p 5900:5900 ghcr.io/autowarefoundation/autoware-tools:visualizer
+```
+
+### Settings
+
+The following environment variables can be configured for the visualizer container:
+
+| Variable       | Default Value                  | Possible Values | Description                                                       |
+| -------------- | ------------------------------ | --------------- | ----------------------------------------------------------------- |
+| `RVIZ_CONFIG`  | `/autoware/rviz/autoware.rviz` | Any valid path  | The full path to the RViz configuration file inside the container |
+| `WEB_ENABLED`  | `false`                        | `true`, `false` | Enable visualization through a web browser                        |
+| `WEB_PASSWORD` | -                              | Any string      | Password for web visualization (required when `WEB_ENABLED=true`) |

docker/tools/visualizer/Dockerfile.visualizer

@@ -0,0 +1,87 @@
+# cspell:ignore openbox, VNC, tigervnc, novnc, websockify, newkey, xstartup, keyout
+
+### Builder
+FROM ghcr.io/autowarefoundation/autoware:universe-visualization-devel AS builder
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ENV CCACHE_DIR="/root/.ccache"
+ARG ROS_DISTRO
+WORKDIR /autoware
+COPY src/simulator /autoware/src/simulator
+COPY docker/scripts/resolve_rosdep_keys.sh /autoware/resolve_rosdep_keys.sh
+RUN chmod +x /autoware/resolve_rosdep_keys.sh
+
+# Build simulator messages and rviz plugins ONLY
+# hadolint ignore=SC1091
+RUN --mount=type=ssh \
+  --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  apt-get update \
+  && source /opt/ros/"$ROS_DISTRO"/setup.bash && source /opt/autoware/setup.bash \
+  && rosdep update && rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO \
+  && colcon build --cmake-args \
+    "-Wno-dev" \
+    "--no-warn-unused-cli" \
+    --install-base /opt/autoware \
+    --merge-install \
+    --mixin release compile-commands ccache \
+    --base-paths /autoware/src \
+    --packages-up-to-regex ".*_msgs$" ".*rviz_plugin$" \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+
+# Extract rosdep dependencies for visualizer
+# hadolint ignore=SC1091
+RUN source /opt/ros/"$ROS_DISTRO"/setup.bash && source /opt/autoware/setup.bash \
+    && /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
+    > /rosdep-visualizer-depend-packages.txt \
+    && cat /rosdep-visualizer-depend-packages.txt
+
+FROM ghcr.io/autowarefoundation/autoware:universe AS universe
+
+# Extract RViz configs for visualizer
+# hadolint ignore=SC1091
+RUN source /opt/ros/"$ROS_DISTRO"/setup.bash && source /opt/autoware/setup.bash \
+    && RVIZ_PATH="$(ros2 pkg prefix --share autoware_launch)/rviz" \
+    && cp -r "$RVIZ_PATH" /autoware/rviz
+
+### visualizer
+FROM ghcr.io/autowarefoundation/autoware:universe-visualization AS visualizer
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ARG LIB_DIR
+WORKDIR /autoware
+
+# Get simulator messages, rviz plugins and dependencies
+COPY --from=builder /opt/autoware /opt/autoware
+COPY --from=builder /rosdep-visualizer-depend-packages.txt /tmp/rosdep-visualizer-depend-packages.txt
+COPY --from=universe /autoware/rviz /autoware/rviz
+
+# Install openbox, VNC, and simulator dependencies
+# hadolint ignore=SC2002
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+  curl unzip openbox tigervnc-standalone-server tigervnc-common \
+  novnc websockify python3-numpy python3-xdg \
+  # Remove xmlschema and yamale from rosdep packages since we install via pip
+  && sed -i '/\(xmlschema\|yamale\)/d' /tmp/rosdep-visualizer-depend-packages.txt \
+  && pip install --no-cache-dir yamale xmlschema \
+  && cat /tmp/rosdep-visualizer-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
+
+# Create SSL certificate for NoVNC
+RUN openssl req -x509 -nodes -newkey rsa:2048 \
+    -keyout /etc/ssl/private/novnc.key \
+    -out /etc/ssl/certs/novnc.crt \
+    -days 365 \
+    -subj "/O=Autoware-OpenADKit/CN=localhost"
+
+# Need to expose VNC and NoVNC ports when running the container
+EXPOSE 5900 6080
+
+# Add source commands to bash startup
+RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /root/.bashrc && \
+    echo "source /opt/autoware/setup.bash" >> /root/.bashrc
+
+# Copy startup scripts
+COPY docker/tools/visualizer/xstartup /root/.vnc/xstartup
+COPY docker/tools/visualizer/entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh && chmod +x /root/.vnc/xstartup
+ENTRYPOINT ["/entrypoint.sh"]

docker/tools/visualizer/entrypoint.sh

@@ -0,0 +1,92 @@
+#!/usr/bin/env bash
+# cspell:ignore openbox, VNC, tigervnc, novnc, websockify, newkey, xstartup, pixelformat, AUTHTOKEN, authtoken, vncserver, autoconnect, vncpasswd
+# shellcheck disable=SC1090,SC1091
+
+# Check if RVIZ_CONFIG is provided
+if [ -z "$RVIZ_CONFIG" ]; then
+    echo -e "\e[31mRVIZ_CONFIG is not set defaulting to /autoware/rviz/autoware.rviz\e[0m"
+    RVIZ_CONFIG="/autoware/rviz/autoware.rviz"
+    export RVIZ_CONFIG
+fi
+
+configure_vnc() {
+    # Check if WEB_PASSWORD is provided
+    [ -z "$WEB_PASSWORD" ] && echo -e "\e[31mPassword is needed when WEB_ENABLED is true. Set WEB_PASSWORD environment variable\e[0m" && exit 1
+
+    # Create Openbox application configuration
+    mkdir -p /etc/xdg/openbox
+    cat >/etc/xdg/openbox/rc.xml <<'EOF'
+<?xml version="1.0" encoding="UTF-8"?>
+<openbox_config xmlns="http://openbox.org/3.4/rc"
+                xmlns:xi="http://www.w3.org/2001/XInclude">
+  <applications>
+    <application name="rviz2">
+      <maximized>yes</maximized>
+      <position force="yes">
+        <x>center</x>
+        <y>center</y>
+      </position>
+      <focus>yes</focus>
+      <desktop>1</desktop>
+    </application>
+  </applications>
+</openbox_config>
+EOF
+    # Create rviz2 start script
+    cat >/usr/local/bin/start-rviz2.sh <<'EOF'
+#!/bin/bash
+source /opt/ros/humble/setup.bash
+source /opt/autoware/setup.bash
+exec rviz2 -d "$RVIZ_CONFIG"
+EOF
+    chmod +x /usr/local/bin/start-rviz2.sh
+    echo "echo 'Autostart executed at $(date)' >> /tmp/autostart.log" >>/etc/xdg/openbox/autostart
+    echo "/usr/local/bin/start-rviz2.sh" >>/etc/xdg/openbox/autostart
+
+    # Configure VNC password
+    mkdir -p ~/.vnc
+    echo "$WEB_PASSWORD" | vncpasswd -f >~/.vnc/passwd && chmod 600 ~/.vnc/passwd
+
+    # Start VNC server with Openbox
+    echo "Starting VNC server with Openbox..."
+    vncserver :99 -geometry 1024x768 -depth 16 -pixelformat rgb565
+    VNC_RESULT=$?
+
+    if [ $VNC_RESULT -ne 0 ]; then
+        echo "Failed to start VNC server (exit code: $VNC_RESULT)"
+        exit $VNC_RESULT
+    fi
+
+    # Set the DISPLAY variable to match VNC server
+    echo "Setting DISPLAY to :99"
+    echo "export DISPLAY=:99" >>~/.bashrc
+    sleep 2
+
+    # Start NoVNC
+    echo "Starting NoVNC..."
+    websockify --daemon --web=/usr/share/novnc/ --cert=/etc/ssl/certs/novnc.crt --key=/etc/ssl/private/novnc.key 6080 localhost:5999
+
+    # Print info
+    echo -e "\033[32m-------------------------------------------------------------------------\033[0m"
+    echo -e "\033[32mBrowser interface available at local address http://$(hostname -I | cut -d' ' -f1):6080/vnc.html?resize=scale&password=${WEB_PASSWORD}&autoconnect=true\033[0m"
+    if curl -s --head 1.1.1.1 >/dev/null 2>&1; then
+        echo -e "\033[32mIf you have a static public ip you can access it on WEB at http://$(curl -s ifconfig.me):6080/vnc.html?resize=scale&password=${WEB_PASSWORD}&autoconnect=true\033[0m"
+    else
+        echo -e "\033[31mNo internet connection available\033[0m"
+    fi
+    echo -e "\033[32m-------------------------------------------------------------------------\033[0m"
+}
+
+# Source ROS and Autoware setup files
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source "/opt/autoware/setup.bash"
+
+# Execute passed command if provided, otherwise launch rviz2
+if [ "$WEB_ENABLED" == "true" ]; then
+    configure_vnc
+    [ $# -eq 0 ] && sleep infinity
+    exec "$@"
+else
+    [ $# -eq 0 ] && rviz2 -d "$RVIZ_CONFIG"
+    exec "$@"
+fi

docker/tools/visualizer/xstartup

@@ -0,0 +1,16 @@
+#!/bin/sh
+# cspell:ignore openbox, VNC, xstartup, DBUS, Xresources, xrdb
+
+unset SESSION_MANAGER
+unset DBUS_SESSION_BUS_ADDRESS
+export DISPLAY=:99
+
+[ -x /etc/vnc/xstartup ] && exec /etc/vnc/xstartup
+[ -r "$HOME/.Xresources" ] && xrdb "$HOME/.Xresources"
+
+# Start Openbox window manager
+echo "Starting Openbox window manager..."
+openbox-session &
+
+# Keep the session alive
+sleep infinity