Initial commit

Dockerfile

@@ -0,0 +1,75 @@
+FROM nestybox/ubuntu-focal-systemd
+
+ENV ROS_DISTRO noetic
+ENV DEBIAN_FRONTEND noninteractive
+
+RUN apt-get update
+RUN apt-get install curl gnupg2 software-properties-common -y
+
+RUN sh -c 'curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -'
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+RUN sh -c 'curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -'
+RUN sh -c 'add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu focal stable"'
+# RUN add-apt-repository ppa:flatpak/stable
+
+#Make sure we're running latest gazebo11, since px4io/px4-dev-ros-noetic does.
+RUN sh -c "curl -sSL http://get.gazebosim.org | sh"
+
+RUN apt-get update
+RUN apt-get install ros-$ROS_DISTRO-desktop-full -y
+RUN apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin -y
+RUN apt-get install ros-$ROS_DISTRO-gazebo-ros-pkgs ros-$ROS_DISTRO-gazebo-ros-control gazebo11 -y
+RUN apt-get install ros-$ROS_DISTRO-mavros -y
+RUN apt-get install lxqt-core -y
+RUN apt-get install vim nano htop git -y
+# RUN apt-get install flatpak xdg-desktop-portal-kde -y
+# RUN flatpak remote-add --if-not-exists flathub https://dl.flathub.org/repo/flathub.flatpakrepo
+# RUN flatpak install flathub org.mozilla.firefox
+
+RUN apt-get remove gnome-shell -y
+RUN apt-get autoremove -y
+
+RUN wget https://github.com/kasmtech/KasmVNC/releases/download/v1.2.0/kasmvncserver_focal_1.2.0_amd64.deb
+RUN apt-get install ./kasmvncserver_focal_1.2.0_amd64.deb --yes
+RUN rm ./kasmvncserver_focal_1.2.0_amd64.deb
+
+COPY ./kasmvnc.yaml /etc/kasmvnc/kasmvnc.yaml
+COPY ./kasmvnc.service /etc/systemd/system/
+RUN systemctl enable kasmvnc
+
+#Custom user skel overrides. We're not going to be too worried about permissions for this one.
+COPY ./skel /etc/skel/
+
+#Delete default user and replace it with our own
+RUN userdel -r admin
+
+ARG USERNAME=spiri
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid $USER_GID $USERNAME
+RUN useradd --uid $USER_UID --gid $USER_GID --create-home --shell /bin/bash $USERNAME
+RUN usermod -aG sudo,ssl-cert $USERNAME
+RUN echo "$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 ./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
+#Remove transparency it can make lead to compression artifacts
+run sed -i 's|TerminalTransparency=10|/TerminalTransparency=0|' /etc/xdg/qterminal.org/qterminal.ini
+
+#Copy in our custom gazebo resources
+COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /models /usr/share/gazebo-11/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

README.md

@@ -0,0 +1,8 @@
+
+Make sure sysbox is installed and run
+
+```sh
+ docker run --runtime=sysbox-runc -it spiri-sdk-desktop
+ ```
+
+Navigate to http://localhost:8466, and log in using the username `spiri` and the password `spiri-friend`

kasmpasswd

@@ -0,0 +1 @@
+spiri:$5$kasm$bc2Fwutowq1kSiQCv2rNYVgn8.bJeARYMydYCvU1WKC:wo

kasmvnc.service

@@ -0,0 +1,17 @@
+[Unit]
+Description=KasmVNC
+After=network.target
+
+[Service]
+Type=simple
+ExecStart=kasmvncserver :23 -fg -select-de LXQT
+ExectStop kasmvncserver -kill :23
+User=spiri
+Group=spiri
+
+Restart=on-failure
+RestartSec=3
+
+[Install]
+WantedBy=default.target
+

kasmvnc.yaml

@@ -0,0 +1,131 @@
+desktop:
+  resolution:
+    width: 1024
+    height: 768
+  allow_resize: true
+  pixel_depth: 24
+  gpu:
+    hw3d: false
+    drinode: /dev/dri/renderD128
+
+network:
+  protocol: http
+  interface: 0.0.0.0
+  websocket_port: auto
+  use_ipv4: true
+  use_ipv6: true
+  udp:
+    public_ip: auto
+    port: auto
+    stun_server: auto
+  ssl:
+    pem_certificate: /etc/ssl/certs/ssl-cert-snakeoil.pem
+    pem_key: /etc/ssl/private/ssl-cert-snakeoil.key
+    require_ssl: false
+
+user_session:
+  new_session_disconnects_existing_exclusive_session: false
+  concurrent_connections_prompt: false
+  concurrent_connections_prompt_timeout: 10
+  idle_timeout: never
+
+keyboard:
+  remap_keys:
+  ignore_numlock: false
+  raw_keyboard: false
+
+pointer:
+  enabled: true
+
+runtime_configuration:
+  allow_client_to_override_kasm_server_settings: true
+  allow_override_standard_vnc_server_settings: true
+  allow_override_list:
+    - pointer.enabled
+    - data_loss_prevention.clipboard.server_to_client.enabled
+    - data_loss_prevention.clipboard.client_to_server.enabled
+    - data_loss_prevention.clipboard.server_to_client.primary_clipboard_enabled
+
+logging:
+  log_writer_name: all
+  log_dest: logfile
+  level: 30
+
+security:
+  brute_force_protection:
+    blacklist_threshold: 5
+    blacklist_timeout: 10
+
+data_loss_prevention:
+  visible_region:
+    # top: 10
+    # left: 10
+    # right: 40
+    # bottom: 40
+    concealed_region:
+      allow_click_down: false
+      allow_click_release: false
+  clipboard:
+    delay_between_operations: none
+    allow_mimetypes:
+      - chromium/x-web-custom-data
+      - text/html
+      - image/png
+    server_to_client:
+      enabled: true
+      size: unlimited
+      primary_clipboard_enabled: false
+    client_to_server:
+      enabled: true
+      size: unlimited
+  keyboard:
+    enabled: true
+    rate_limit: unlimited
+  logging:
+    level: off
+
+encoding:
+  max_frame_rate: 60
+  full_frame_updates: none
+  rect_encoding_mode:
+    min_quality: 7
+    max_quality: 8
+    consider_lossless_quality: 10
+    rectangle_compress_threads: auto
+
+  video_encoding_mode:
+    jpeg_quality: -1
+    webp_quality: -1
+    max_resolution:
+      width: 1920
+      height: 1080
+    enter_video_encoding_mode:
+      time_threshold: 5
+      area_threshold: 45%
+    exit_video_encoding_mode:
+      time_threshold: 3
+    logging:
+      level: off
+    scaling_algorithm: progressive_bilinear
+
+  compare_framebuffer: auto
+  zrle_zlib_level: auto
+  hextile_improved_compression: true
+
+server:
+  http:
+    headers:
+      - Cross-Origin-Embedder-Policy=require-corp
+      - Cross-Origin-Opener-Policy=same-origin
+    httpd_directory: /usr/share/kasmvnc/www
+  advanced:
+    x_font_path: auto
+    kasm_password_file: ${HOME}/.kasmpasswd
+    x_authority_file: auto
+  auto_shutdown:
+    no_user_session_timeout: never
+    active_user_session_timeout: never
+    inactive_user_session_timeout: never
+
+command_line:
+  prompt: true

nix.conf

@@ -0,0 +1 @@
+experimental-features = nix-command flakes

xstartup

@@ -0,0 +1,3 @@
+#!/bin/sh
+export QT_X11_NO_MITSHM=1
+exec startlxqt