NASA Challenge_[@dirksavage88]_[Implement hardware rendering, (fixes #159)]

space_robots/Dockerfile

@@ -48,7 +48,7 @@ ARG DEBIAN_FRONTEND=noninteractive
 # the cache won't make it into the built image but will be maintained between steps.
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
+  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator libgl1-mesa-glx libgl1-mesa-dri
 
 # TODO(anyone): remove demo-pkgs.txt, no packages left after exclusions
 # Generate repos file for demo dependencies, excluding packages from Space ROS core.
@@ -83,7 +83,7 @@ RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCM
 # Get the source for the dependencies
 # RUN vcs import src < /tmp/demo_generated_pkgs.repos
 COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
-RUN vcs import src < /tmp/demo_manual_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
+RUN vcs import src < /tmp/demo_manual_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"'
 
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \

space_robots/curiosity_foxglove.json

@@ -0,0 +1,83 @@
+{
+  "configById": {
+    "CallService!26i0ivb": {
+      "requestPayload": "{}",
+      "layout": "vertical",
+      "timeoutSeconds": 10,
+      "serviceName": "/close_arm",
+      "buttonText": "Close Arm",
+      "buttonColor": "#000000"
+    },
+    "Image!2h1h9is": {},
+    "CallService!n2xdj1": {
+      "requestPayload": "{}",
+      "layout": "vertical",
+      "timeoutSeconds": 10,
+      "serviceName": "/move_forward",
+      "buttonText": "Forward",
+      "buttonColor": "#000000"
+    },
+    "CallService!40l6rnm": {
+      "requestPayload": "{}",
+      "layout": "vertical",
+      "timeoutSeconds": 10,
+      "serviceName": "/turn_left",
+      "buttonText": "Left",
+      "buttonColor": "#000000"
+    },
+    "CallService!3kc2rth": {
+      "requestPayload": "{}",
+      "layout": "vertical",
+      "timeoutSeconds": 10,
+      "serviceName": "/move_stop",
+      "buttonText": "Stop",
+      "buttonColor": "#000000"
+    },
+    "CallService!3qfcuxh": {
+      "requestPayload": "{}",
+      "layout": "vertical",
+      "timeoutSeconds": 10,
+      "serviceName": "/turn_right",
+      "buttonText": "Right",
+      "buttonColor": "#000000"
+    },
+    "CallService!16vat9y": {
+      "requestPayload": "{}",
+      "layout": "vertical",
+      "timeoutSeconds": 10,
+      "serviceName": "/open_arm",
+      "buttonText": "Open Arm",
+      "buttonColor": "#000000"
+    }
+  },
+  "globalVariables": {},
+  "userNodes": {},
+  "playbackConfig": {
+    "speed": 1
+  },
+  "layout": {
+    "first": {
+      "first": "CallService!26i0ivb",
+      "second": "CallService!16vat9y",
+      "direction": "row"
+    },
+    "second": {
+      "first": "Image!2h1h9is",
+      "second": {
+        "first": {
+          "first": "CallService!n2xdj1",
+          "second": "CallService!40l6rnm",
+          "direction": "column"
+        },
+        "second": {
+          "first": "CallService!3kc2rth",
+          "second": "CallService!3qfcuxh",
+          "direction": "column"
+        },
+        "direction": "row"
+      },
+      "direction": "row"
+    },
+    "direction": "column"
+  }
+}

space_robots/run.sh

@@ -13,4 +13,6 @@ CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")"
 
 # Start the container
 docker run --rm -it --name $CONTAINER_NAME  --network host \
+    --volume=/tmp/.X11-unix:/tmp/.X11-unix\
+    --device=/dev/dri:/dev/dri \
     -e DISPLAY -e TERM   -e QT_X11_NO_MITSHM=1 $IMG_NAME