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.

.gitignore

@@ -0,0 +1 @@
+spiri-sdk-home

Dockerfile

@@ -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:$USER_GID --chmod=0755 ./xstartup /opt/xstartup
-COPY --chown=$USER_UID:$USER_GID --chmod=0755 ./xstartup /home/$USERNAME/.vnc/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
+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
+# # #Install nix, for easy mixin packages. Homebrew would also work...
-COPY ./nix.conf /etc/nix/nix.conf
+# RUN curl -L https://nixos.org/nix/install | sh -s -- --no-daemon
-# # RUN nix flake init
+# COPY ./nix.conf /etc/nix/nix.conf
-USER 0
+# # # RUN nix flake init
+# USER 0

README.md

@@ -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
+```

docker-compose.yaml

@@ -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
+

kasmvnc.service

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

userhome.service

@@ -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
+

xstartup

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