Webui port setup and usability fixes (#13)

- allow changing the webui port with `webui.port` param - support for namespaces in webui (using placeholders from caddy) - creating `ros.env`, `ros_snap_args` and `manage_ros_env.sh` in `/var/snap/rosbot-xl/common/` for mirroring `rosbot-xl` snap ROS 2 setup to other snaps and to user's shell - auto-determining the `/dev/ttyUSB*` device used by firmware flasher - better `README.md`
husarion · Jun 11, 2024 · ae55d91 · ae55d91
1 parent 57ab95c
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diff --git a/.gitignore b/.gitignore
@@ -1,2 +1,3 @@
 *.snap
-squashfs-root
+squashfs-root
+test*
diff --git a/README.md b/README.md
@@ -14,120 +14,98 @@ Install the snap as follows,
 snap install rosbot-xl
 ```
 
-## Setup
-
-Upon installation, depending on your operating system,
-you may have to manually connect the snap interface.
-You can verify that with the following command,
+## Parameters
 
 ```bash
-# snap connections rosbot-xl
-Interface                     Plug                           Slot                                     Notes
-content[ros-humble-ros-base]  rosbot-xl:ros-humble-ros-base  ros-humble-ros-base:ros-humble-ros-base  -
-network                       rosbot-xl:network              :network                                 -
-network-bind                  rosbot-xl:network-bind         :network-bind                            -
-raw-usb                       rosbot-xl:raw-usb              :raw-usb                                 manual
-shared-memory                 rosbot-xl:shm-plug             rosbot-xl:shm-slot                       manual
+$ sudo snap get rosbot-xl
+Key                 Value
+driver              {...}
+ros-domain-id       123
+ros-localhost-only  0
+serial-port         auto
+transport           udp
+webui               {...}
 ```
 
-The interface `ros-humble-ros-base` must be connected.
+### ROS Driver
 
-If it isn't, you can issue the following command,
+Parameters for [rosbot_xl_ros](https://github.com/husarion/rosbot_xl_ros) ROS 2 driver available from the snap level are:
 
 ```bash
-snap connect rosbot-xl:ros-humble-ros-base ros-humble-ros-base:ros-humble-ros-base
+Key                          Value
+driver.camera-model          (unset)
+driver.include-camera-mount  True
+driver.mecanum               True
+driver.lidar-model           (unset)
+driver.namesapce             (unset)
 ```
 
-### Parameters
-
-#### ROS Driver
-
-Depending on your robot hardware,
-the snap can be configured through the following parameters:
+which can be set as follows, e.g.,
 
-- mecanum
-- include-camera-mount
-- camera-model
-- lidar-model
+```bash
+snap set rosbot-xl driver.mecanum=True
+```
 
-which can be set as follows, e.g.,
+### Web UI
 
 ```bash
-snap set rosbot-xl mecanum=True
+Key           Value
+webui.layout  sensors
+webui.port    8080
 ```
 
-To start the ROSbot XL daemon:
+The snap has a built-in Web UI that can be launched with:
 
 ```bash
-sudo snap start --enable rosbot-xl
+sudo rosbot-xl.start-web-ui
 ```
 
-#### ROS envs
+By default the UI is available under `http://<ROSBOT_IP>:8080/ui`.
 
-To set `ROS_LOCALHOST_ONLY` and `ROS_DOMAIN_ID` envs use the following parameters:
-- ros-localhost-only
-- ros-domain-id
+Built-in layouts are available here:
+- `/var/snap/rosbot-xl/common/foxglove-default.json`
+- `/var/snap/rosbot-xl/common/foxglove-sensors.json`
 
-#### DDS Transport
+If you want to save your own custom layout, save it in the same directory, eg. in `/var/snap/rosbot-xl/common/foxglove-myui.json` file.
 
-The snap works with the following DDS configurations: `udp` (default), `shm` (shared memory) and `builtin`.
+To select the layout run:
 
 ```bash
-sudo snap set rosbot-xl transport=shm
+sudo snap set rosbot-xl webui.layout=myui
 ```
+## Working With Parameters
 
-Shared memory communication is possible only between the instances of ROS 2 nodes launched by the same user. Because the `rosbot-xl` snap daemon runs as `root` to allow the host <> snap communication you need to:
-
-1. Create `/usr/local/etc/shm-only.xml` file:
-
-```xml
-<?xml version="1.0" encoding="UTF-8" ?>
-<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
-    <transport_descriptors>
-        <transport_descriptor>
-            <transport_id>shm_transport</transport_id>
-            <type>SHM</type>
-        </transport_descriptor>
-    </transport_descriptors>
-
-    <participant profile_name="SHMParticipant" is_default_profile="true">
-        <rtps>
-            <userTransports>
-                <transport_id>shm_transport</transport_id>
-            </userTransports>
-            <useBuiltinTransports>false</useBuiltinTransports>
-        </rtps>
-    </participant>
-</profiles>
-```
+```bash
+# set params in rosbot-xl snap
+sudo snap set rosbot-xl transport=udp ros-domain-id=123 driver.namespace=abc
 
-2. Run:
+# mirror the setup for other snaps running ROS 2:
+sudo snap set husarion-depthai $(cat /var/snap/rosbot-xl/common/ros_snap_args)
+sudo snap set husarion-rplidar $(cat /var/snap/rosbot-xl/common/ros_snap_args)
 
-```bash
-sudo su
-source /opt/ros/humble/setup.bash
-export FASTRTPS_DEFAULT_PROFILES_FILE=/usr/local/etc/shm-only.xml
-```
+# to setup the current shell with the same configs:
+source /var/snap/rosbot-xl/common/ros.env
 
-and now you should be able to list ROSbot XL ROS 2 topics with:
+# ... or install configs with
+/var/snap/rosbot-xl/common/manage_ros_env.sh
+# and after changing rosbot-xl params open a new terminal, or run:
+source ~/.bashrc
 
-```bash
-ros2 topic list
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap __ns:=/${ROS_NAMESPACE}
 ```
 
-#### DDS Transport (custom)
+## Custom DDS Transport 
 
 If you want to use a custom FastDDS transport place it under the `/var/snap/rosbot-xl/common/` path (eg. `/var/snap/rosbot-xl/common/my-fastdds.xml`), and set the parameter:
 
 ```bash
-sudo snap set rosbot-xl fastdds-default-profiles-file=my-fastdds.xml
+sudo snap set rosbot-xl transport=my-fastdds
 ```
 
-### STM32 Firmware flashing
+## STM32 Firmware flashing
 
 ```bash
-sudo snap connect rosbot-xl:raw-usb
-sudo snap set rosbot-xl serial-port=/dev/ttyUSB0 # /dev/ttyUSBDB default - the serial port to which the digital board is connected
+sudo snap set rosbot-xl serial-port=/dev/ttyUSB0 # 'auto' is default option - the serial port to which the digital board is connected
 sudo rosbot-xl.flash
 ```
 
@@ -145,17 +123,13 @@ To display logs from a snap logger
 journalctl -t rosbot-xl
 ```
 
-## Use
-
-The snap ships a daemon which is automatically started once the snap is installed and configured.
-Therefore, there is nothing else to do than to start using your rosbot-xl.
-
 > **Note**
 > This snap is part of an integrated snaps deployment.
 > 
 > Other recommended snaps to be installed are,
-> 
-> - [sllidar-ros2](https://snapcraft.io/sllidar-ros2)
+> - [husarion-rplidar](https://snapcraft.io/husarion-rplidar)
+> - [husarion-depthai](https://snapcraft.io/husarion-depthai)
 > - [rosbot-xl-teleop](https://snapcraft.io/rosbot-xl-teleop)
 > - [rosbot-xl-nav](https://snapcraft.io/rosbot-xl-nav)
 
+<!-- [sllidar-ros2](https://snapcraft.io/sllidar-ros2) -->
diff --git a/justfile b/justfile
@@ -141,3 +141,29 @@ teleop:
     #!/bin/bash
     # export FASTRTPS_DEFAULT_PROFILES_FILE=$(pwd)/shm-only.xml
     ros2 run teleop_twist_keyboard teleop_twist_keyboard # --ros-args -r __ns:=/robot
+
+iterate:
+    #!/bin/bash -e
+    start_time=$(date +%s)
+
+    echo "Starting script..."
+
+    sudo snap remove rosbot-xl
+    sudo rm -rf squashfs-root/
+    sudo rm -rf rosbot-xl*.snap
+    export SNAPCRAFT_ENABLE_EXPERIMENTAL_EXTENSIONS=1
+    snapcraft clean
+    snapcraft
+    unsquashfs rosbot-xl*.snap
+    sudo snap try squashfs-root/
+    sudo snap connect rosbot-xl:raw-usb
+    sudo snap connect rosbot-xl:shm-plug rosbot-xl:shm-slot
+
+    end_time=$(date +%s)
+    duration=$(( end_time - start_time ))
+
+    hours=$(( duration / 3600 ))
+    minutes=$(( (duration % 3600) / 60 ))
+    seconds=$(( duration % 60 ))
+
+    printf "Script completed in %02d:%02d:%02d (hh:mm:ss)\n" $hours $minutes $seconds
diff --git a/snap/hooks/configure b/snap/hooks/configure
@@ -1,24 +1,11 @@
-#!/bin/sh -e
+#!/bin/bash -e
 
 # The configure hook is called every time one the following actions happen:
 # - initial snap installation
 # - snap refresh
 # - whenever the user runs snap set|unset to change a configuration option
 
-# Define a function to log and echo messages
-log_and_echo() {
-    local message="$1"
-    # Log the message with logger
-    logger -t "${SNAP_NAME}" "configure hook: $message"
-    # Echo the message to standard error
-    echo >&2 "$message"
-}
-
-log() {
-    local message="$1"
-    # Log the message with logger
-    logger -t "${SNAP_NAME}" "configure hook: $message"
-}
+source $SNAP/usr/bin/utils.sh
 
 $SNAP/usr/bin/configure_hook_ros.sh
 
@@ -56,3 +43,5 @@ for service in daemon web-ui web-ws; do
     log "Restarted ${SNAP_NAME}.${service}"
   fi
 done
+
+# $SNAP/usr/bin/foxglove-set-namespace.sh
diff --git a/snap/hooks/connect-plug-ros-humble-ros-base b/snap/hooks/connect-plug-ros-humble-ros-base
@@ -1,4 +1,4 @@
-#!/bin/sh -e
+#!/bin/bash -e
 
 # now we can start the service
 # if snapctl services ${SNAP_NAME}.${SNAP_NAME} | grep -q inactive; then

diff --git a/snap/hooks/disconnect-plug-ros-humble-ros-base b/snap/hooks/disconnect-plug-ros-humble-ros-base
@@ -1,4 +1,4 @@
-#!/bin/sh -e
+#!/bin/bash -e
 
 logger -t ${SNAP_NAME} "Plug 'ros-humble-ros-base' disconnected"
 snapctl stop --disable ${SNAP_NAME}.daemon 2>&1 || true
diff --git a/snap/hooks/install b/snap/hooks/install
@@ -1,11 +1,7 @@
-#!/bin/sh -e
+#!/bin/bash -e
 
 # Define a function to log messages
-log() {
-  local message="$1"
-  # Log the message with logger
-  logger -t "${SNAP_NAME}" "install hook: $message"
-}
+source $SNAP/usr/bin/utils.sh
 
 $SNAP/usr/bin/install_hook_ros.sh
 
@@ -16,8 +12,11 @@ snapctl set driver.include-camera-mount=True
 snapctl set driver.camera-model!
 snapctl set driver.lidar-model!
 snapctl set driver.namespace! # unset
+
 snapctl set webui.layout=default
-snapctl set serial-port="/dev/ttyUSBDB"
+snapctl set webui.port=8080
+
+snapctl set serial-port="auto"
 
 if ! snapctl is-connected raw-usb; then
   log "Plug 'raw-usb' isn't connected, please run:"

diff --git a/snap/local/Caddyfile b/snap/local/Caddyfile
@@ -6,7 +6,7 @@
 # 	file_server
 # }
 
-:80 {
+:{$UI_PORT} {
 	# Enable HTTP/2 over clear text (h2c)
 	# protocols h2c
 
@@ -27,13 +27,19 @@
 
 		handle @ipv6Client {
 			vars full_host [{http.request.host}]
-			redir /ui /?ds=foxglove-websocket&ds.url=ws%3A%2F%2F%5B{http.request.host}%5D%2Fws
+			redir /ui /?ds=foxglove-websocket&ds.url=ws%3A%2F%2F%5B{http.request.host}%5D%3A{http.request.port}%2Fws
 		}
 
 		# Handle all other requests (from non-IPv6 clients)
 		handle {
 			vars full_host {http.request.host}
-			redir /ui /?ds=foxglove-websocket&ds.url=ws%3A%2F%2F{http.request.host}%2Fws
+			redir /ui /?ds=foxglove-websocket&ds.url=ws%3A%2F%2F{http.request.host}%3A{http.request.port}%2Fws
+		}
+
+		# Handle envs in foxglove templates
+		templates {
+			mime "text/html"
+			# mime "application/json" "text/plain" "text/html"
 		}
 
 		# Handle all requests

diff --git a/snap/local/bridge_launch.py b/snap/local/bridge_launch.py
@@ -25,7 +25,8 @@ def generate_launch_description():
         parameters=[{
             'port': 8765,
             'address': '127.0.0.1',
-            'capabilities': ['clientPublish', 'connectionGraph', 'assets']
+            'capabilities': ['clientPublish', 'parameters', 'parametersSubscribe', 'services', 'connectionGraph', 'assets']
+            # 'capabilities': ['clientPublish', 'connectionGraph', 'assets']
         }],
         output='screen'
     )

diff --git a/snap/local/bridge_launcher.sh b/snap/local/bridge_launcher.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/bin/bash -e
 
 # ros2 run foxglove_bridge foxglove_bridge --ros-args \
 # -p port:=8766 \

diff --git a/snap/local/caddy_launcher.sh b/snap/local/caddy_launcher.sh
@@ -1,18 +1,14 @@
-#!/usr/bin/bash
+#!/bin/bash -e
 
 # Define a function to log and echo messages
-log_and_echo() {
-    local message="$1"
-    # Log the message with logger
-    logger -t "${SNAP_NAME}" "caddy_launcher: $message"
-    # Echo the message to standard error
-    echo >&2 "$message"
-}
+source $SNAP/usr/bin/utils.sh
 
 # Define the source and destination directories
 site_path="$SNAP/usr/local/www/"
 site_tmp_path="$SNAP_DATA/www/"
 layout="$(snapctl get webui.layout)"
+# layout="layout"
+export UI_PORT="$(snapctl get webui.port)"
 log_and_echo "Using ${SNAP_COMMON}/foxglove-$layout.json"
 
 # Ensure the destination directory exists
@@ -33,5 +29,13 @@ echo "${index_html_content/"$replace_pattern"/$replace_value}" > $index_html_pat
 sed -i "s|<div id=\"root\"></div>|<script>\nlocalStorage.clear();sessionStorage.clear();\n</script>\n&|" $index_html_path
 
 # Define a function to log and echo messages
+# Retrieve the driver.namespace value
+namespace=$(snapctl get driver.namespace)
+
+# Check if the namespace is set and not empty
+if [ -n "$namespace" ]; then
+  # Set the environment variable
+  export NAMESPACE="/$namespace"
+fi
 caddy run --config $SNAP/usr/share/$SNAP_NAME/config/Caddyfile --adapter caddyfile