Spiri
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spiri-sdk
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Added service to populate user home from /etc/skel/, this will also 

allow us to update user home files as time goes on, but won't overwrite
files the user has modified.
This commit is contained in:
Alex Davies 2024-01-23 15:06:29 -04:00
parent 14c42c5d74
commit 4652368c8d
8 changed files with 178 additions and 13 deletions
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1
.gitignore vendored Normal file
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@ -0,0 +1 @@
spiri-sdk-home

21
Dockerfile
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@ -21,7 +21,8 @@ RUN apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin d
RUN apt-get install ros-$ROS_DISTRO-gazebo-ros-pkgs ros-$ROS_DISTRO-gazebo-ros-control gazebo11 -y
RUN apt-get install ros-$ROS_DISTRO-mavros -y
RUN apt-get install lxqt-core dbus-x11 udisks2- gvfs-daemons- gvfs-backends- gvfs-fuse- -y #A few things related to FUSE need to be explicityly not installed
RUN apt-get install vim nano htop git mesa-utils -y
RUN apt-get install vim nano htop git mesa-utils rsync -y
RUN apt-get install firefox -y
RUN apt-get remove gnome-shell -y
RUN apt-get autoremove -y
@ -31,6 +32,8 @@ RUN apt-get install ./kasmvncserver_focal_1.2.0_amd64.deb --yes
RUN rm ./kasmvncserver_focal_1.2.0_amd64.deb
COPY ./kasmvnc.yaml /etc/kasmvnc/kasmvnc.yaml
COPY ./userhome.service /etc/systemd/system/
RUN systemctl enable userhome
COPY ./kasmvnc.service /etc/systemd/system/
RUN systemctl enable kasmvnc
@ -51,8 +54,7 @@ RUN echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME
RUN chmod 0440 /etc/sudoers.d/$USERNAME
RUN echo "${USERNAME}:spiri-friend" | chpasswd
COPY --chown=$USER_UID:$USER_GID ./kasmpasswd /home/$USERNAME/.kasmpasswd
COPY --chown=$USER_UID:$USER_GID --chmod=0755 ./xstartup /home/$USERNAME/.vnc/xstartup
COPY --chown=$USER_UID:$USER_GID --chmod=0755 ./xstartup /opt/xstartup
COPY ./background.png /opt/spiri-wallpaper.png
run sed -i 's|/usr/share/lxqt/themes/debian/wallpaper.svg|/opt/spiri-wallpaper.png|' /etc/xdg/pcmanfm-qt/lxqt/settings.conf
@ -64,9 +66,10 @@ COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /models /
COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /worlds /usr/share/gazebo-11/worlds/
COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /plugins /usr/lib/x86_64-linux-gnu/gazebo-11/plugins
USER $USERNAME
# #Install nix, for easy mixin packages. Homebrew would also work...
RUN curl -L https://nixos.org/nix/install | sh -s -- --no-daemon
COPY ./nix.conf /etc/nix/nix.conf
# # RUN nix flake init
USER 0
VOLUME /home/spiri/
# # #Install nix, for easy mixin packages. Homebrew would also work...
# RUN curl -L https://nixos.org/nix/install | sh -s -- --no-daemon
# COPY ./nix.conf /etc/nix/nix.conf
# # # RUN nix flake init
# USER 0

78
README.md
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@ -1,8 +1,82 @@
Make sure sysbox is installed and run
Make sure sysbox and docker are installed and run
```sh
docker run --runtime=sysbox-runc -it git.spirirobotics.com/spiri/spiri-sdk-desktop:master
docker run -p 127.0.0.1:8466:8466 \
--volume ./spiri-sdk-home:/home/spiri:rw \
--runtime=sysbox-runc -it \
git.spirirobotics.com/spiri/spiri-sdk-desktop:master
```
Navigate to http://localhost:8466, and log in using the username `spiri` and the password `spiri-friend`
For a complete example try this:
```yaml
version: "3.3"
#Due to a bug in moby's libnetwork DNS resolver single domains like `gazebo`
# don't get resolved properly, even when we have ndots set to 0 like we're
# supposed to. So we need to reference `gazebo.compose-name_network-name`.
# We explicitly set the name variable so that changing folders doesn't break
# the install.
name: "spiri-sdk"
volumes:
user-home:
dockeradmin:
docker-cache:
services:
drone-stack:
#The drone runs docker, so ultimately our drone stack is just a docker-in-docker container.
## This can make it difficult to deal with GPU acceleration, but remember that ROS *is*
## distributed. You don't need to run your GPU-accelerated rosnode on the drone-stack,
## just make sure you can contact the ROS_MASTER.
runtime: sysbox-runc
image: docker:24-dind
command: dockerd -H unix:///var/run/docker.sock -H tcp://0.0.0.0:2375 --tls=false
healthcheck:
test: docker info
start_interval: 1s
ports:
- "127.0.0.1:5760:5760" #Ground control
- "127.0.0.1:4560:4560" # Simulation
- "127.0.0.1:14560:14560" # Simulation
- "127.0.0.1:11311:11311" #Ros master
volumes:
- docker-cache:/var/lib/docker/
#Madness, setting a low ulimit here fixes memory leaks
# https://answers.ros.org/question/336963/rosout-high-memory-usage/
ulimits:
nofile:
soft: 1024
hard: 524288
gazebo:
image: git.spirirobotics.com/spiri/gazebo-classic:main
# command: gzserver --verbose /usr/share/gazebo-11/worlds/empty.world
command: gzserver --verbose /usr/share/gazebo-11/worlds/citadel_hill_world.world
ports:
- "127.0.0.1:11345:11345" #Ros master
desktop:
image: git.spirirobotics.com/spiri/spiri-sdk-desktop:master
runtime: sysbox-runc
tty: true
environment:
DOCKER_HOST: tcp://drone-stack:2375
ROS_MASTER_URI: http://drone-stack:11311
GAZEBO_MASTER_URI: http://gazebo.spiri-sdk_default:11345
ports:
- 127.0.0.1:8466:8466
volumes:
- ./spiri-sdk-home:/home/spiri
depends_on:
drone-stack:
condition: service_healthy
```

67
docker-compose.yaml Normal file
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@ -0,0 +1,67 @@
version: "3.3"
#Due to a bug in moby's libnetwork DNS resolver single domains like `gazebo`
# don't get resolved properly, even when we have ndots set to 0 like we're
# supposed to. So we need to reference `gazebo.compose-name_network-name`.
# We explicitly set the name variable so that changing folders doesn't break
# the install.
name: "spiri-sdk"
volumes:
user-home:
dockeradmin:
docker-cache:
services:
drone-stack:
#The drone runs docker, so ultimately our drone stack is just a docker-in-docker container.
## This can make it difficult to deal with GPU acceleration, but remember that ROS *is*
## distributed. You don't need to run your GPU-accelerated rosnode on the drone-stack,
## just make sure you can contact the ROS_MASTER.
runtime: sysbox-runc
image: docker:24-dind
command: dockerd -H unix:///var/run/docker.sock -H tcp://0.0.0.0:2375 --tls=false
healthcheck:
test: docker info
start_interval: 1s
ports:
- "127.0.0.1:5760:5760" #Ground control
- "127.0.0.1:4560:4560" # Simulation
- "127.0.0.1:14560:14560" # Simulation
- "127.0.0.1:11311:11311" #Ros master
volumes:
- docker-cache:/var/lib/docker/
#Madness, setting a low ulimit here fixes memory leaks
# https://answers.ros.org/question/336963/rosout-high-memory-usage/
ulimits:
nofile:
soft: 1024
hard: 524288
gazebo:
image: git.spirirobotics.com/spiri/gazebo-classic:main
# command: gzserver --verbose /usr/share/gazebo-11/worlds/empty.world
command: gzserver --verbose /usr/share/gazebo-11/worlds/citadel_hill_world.world
ports:
- "127.0.0.1:11345:11345" #Ros master
desktop:
image: git.spirirobotics.com/spiri/spiri-sdk-desktop:master
runtime: sysbox-runc
tty: true
environment:
DOCKER_HOST: tcp://drone-stack:2375
ROS_MASTER_URI: http://drone-stack:11311
GAZEBO_MASTER_URI: http://gazebo.spiri-sdk_default:11345
ports:
- "127.0.0.1:8466:8466"
volumes:
- ./spiri-sdk-home:/home/spiri
depends_on:
drone-stack:
condition: service_healthy

6
kasmvnc.service
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@ -4,10 +4,12 @@ After=network.target
[Service]
Type=simple
ExecStart=kasmvncserver :23 -fg -select-de LXQT
ExectStop kasmvncserver -kill :23
ExecStart=kasmvncserver :23 -fg -select-de LXQT -xstartup /opt/xstartup
ExectStop=kasmvncserver -kill :23
User=spiri
Group=spiri
Requires=userhome.service
After=userhome.service
Restart=on-failure
RestartSec=3

0
kasmpasswd → skel/.kasmpasswd
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16
userhome.service Normal file
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@ -0,0 +1,16 @@
[Unit]
Description=Sets permissions on user home, in case user home is a docker mount
After=network.target
[Service]
Type=oneshot
ExecStart=sh -c "rsync /etc/skel/ /home/spiri -r --update && chown spiri:spiri /home/spiri -R"
User=root
Group=root
Restart=on-failure
RestartSec=3
[Install]
WantedBy=default.target

2
xstartup
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@ -1,3 +1,5 @@
#!/bin/sh
export QT_X11_NO_MITSHM=1
#Set up the users home folder
xdg-user-dirs-update
exec startlxqt