From f3acf21c6a15fe5fbe2d685112ca68a407dbb524 Mon Sep 17 00:00:00 2001
From: Alex Davies <traverse.da@gmail.com>
Date: Thu, 19 Sep 2024 14:14:07 -0300
Subject: [PATCH] Added gui runner for tools like rqt and ignition

---
 README.md            |  2 +-
 docker-compose.yml   | 39 +++++++++++++++++++++++++++++++++++++++
 guiTools/Dockerfile  | 10 ++++++++++
 guiTools/launcher.py | 30 ++++++++++++++++++++++++++++++
 4 files changed, 80 insertions(+), 1 deletion(-)
 create mode 100644 guiTools/Dockerfile
 create mode 100644 guiTools/launcher.py

diff --git a/README.md b/README.md
index 216a121..b082e4d 100644
--- a/README.md
+++ b/README.md
@@ -5,7 +5,7 @@ is the drone simulation component, which is the core of the SDK.
 
 Spiri Robots run a number of docker containers to achieve their core functionality,
 we try to keep these essential docker containers in one docker compose file. The 
-docker compose file you'll find in this repository start an ardupilot-based UAV simulation
+docker compose file you'll find in this repository starts an ardupilot-based UAV simulation
 as well as a ROS master, and mavproxy to tie it together.
 
 To get started you can simply clone this repository and run `docker compose --profile uav-sim`.
diff --git a/docker-compose.yml b/docker-compose.yml
index f4dd788..9e35eb8 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -1,6 +1,45 @@
 version: '3.8'
 
 services:
+
+  gui-tools:
+    build:
+      context: ./guiTools/
+
+    environment:
+      # Display settings
+      - DISPLAY=${DISPLAY}
+      - WAYLAND_DISPLAY=${WAYLAND_DISPLAY}
+      # - QT_QPA_PLATFORM=${QT_QPA_PLATFORM:-xcb}  # Default to X11
+      # If running with Wayland
+      - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
+      - ROS_MASTER_URI=http://ros-master:11311
+    volumes:
+      # X11 socket
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      # Wayland socket
+      - ${XDG_RUNTIME_DIR}/wayland-0:${XDG_RUNTIME_DIR}/wayland-0
+      # Allow access to the host's GPU
+      - /dev/dri:/dev/dri
+    devices:
+      # Provide access to GPU devices
+      - /dev/dri:/dev/dri
+    # network_mode: host
+    ipc: host
+    user: "${UID}:${GID}"
+    privileged: true  # Allow privileged access if necessary (e.g., for GPU access)
+    # restart: unless-stopped
+    # command: /bin/bash -c "source /opt/ros/foxy/setup.bash && rvis2"  # Replace with the actual command to run Gazebo Ignition
+    profiles: [ui,]
+    deploy:
+      resources:
+        reservations:
+          devices:
+           - driver: cdi
+             device_ids:
+                - nvidia.com/gpu=all
+
+
   ardupilot:
     image: git.spirirobotics.com/spiri/ardupilot:spiri-master
     command: >
diff --git a/guiTools/Dockerfile b/guiTools/Dockerfile
new file mode 100644
index 0000000..f8ed848
--- /dev/null
+++ b/guiTools/Dockerfile
@@ -0,0 +1,10 @@
+FROM osrf/ros:jazzy-desktop-full
+
+RUN apt-get update
+RUN apt-get install qterminal -y
+
+COPY ./launcher.py /launcher.py
+CMD python3 /launcher.py
+
+
+
diff --git a/guiTools/launcher.py b/guiTools/launcher.py
new file mode 100644
index 0000000..e00047f
--- /dev/null
+++ b/guiTools/launcher.py
@@ -0,0 +1,30 @@
+import tkinter as tk
+import subprocess
+
+# Dictionary of applications: key is the button text, value is the command to execute
+applications = {
+    "Launch rqt": ["rqt"],
+    "Launch rviz2": ["rviz2"],
+    "Launch Terminal": ['qterminal'],
+    # Add more applications here if needed
+}
+
+# Function to launch an application
+def launch_app(command):
+    try:
+        subprocess.Popen(command)
+    except FileNotFoundError:
+        print(f"{command[0]} not found. Make sure it's installed and accessible in the PATH.")
+
+# Create the main application window
+root = tk.Tk()
+root.title("Spiri SDK Launcher")
+
+# Create and place buttons dynamically based on the dictionary
+for app_name, command in applications.items():
+    button = tk.Button(root, text=app_name, command=lambda cmd=command: launch_app(cmd), width=20, height=2)
+    button.pack()
+
+# Run the Tkinter main loop
+root.mainloop()
+