Iron sync June 9: 1.2.1 (#3615)

* Improve usability of PWAs in Dev Containers (#3576)

* Add WIP icons

* Add WIP icons for gzweb

* Add WIP icons for glances

* Set cross origin to use credentials
ensuring auth cookie is included in request header
when requesting for web app manifest file
thus avoiding CORS policy violations in browser
when accessing forwarded codespaces ports from the web

> The request for the manifest is made without credentials (even if it's on the same domain), thus if the manifest requires credentials, you must include `crossorigin="use-credentials"` in the manifest tag.

- https://web.dev/add-manifest/
- https://stackoverflow.com/a/57184506/2577586

* Use ReqHost variable in templates
to account for X-Forwarded-Host value in header

* Delete duplicate manifest

* Set id property in app manifests
so we can address them independently from their start_url
- https://developer.chrome.com/blog/pwa-manifest-id/

* Ensure apps are uniquely identifies
by adding trailing slash to id
and thus different URI directories

* Refactor root landing page into nav2 app
by moving page file into nav2 sub folder
adding root redirect pointing to /nav2/
and updating html, markdown, manifest files respectively

* Fix https detection for Caddy reverse proxies
by also checking X-Forwarded-Proto in request header

* Remove unnecessary files

* Prune smaller images

* Prune duplicate icon

* Clean up html tags

* Update manifest icons

* Rename icons

* Revert "Prune duplicate icon"

This reverts commit 5710401.

* Add back favicon for shortcut

* Add self index for completeness and bookmarking

* Simplify icon linking

* Delete binary files

* Fix hyperlink path

* Include image files using gitattributes
to track these binary files via git LFS

* Add icons using git lfs

* Standardized all icon paths

* Use external links for icons
to avoid the need for using git LFS
although this is a bit of a hack

* Stage any and maskable icons

* Use any and masked icons

* Set colors to match maskable icon colors

* Update icon

* Use lossless compression
without removing background
- https://shortpixel.com/online-image-compression

* Use WebP instead of PNG
for smaller file sizes
- https://en.wikipedia.org/wiki/WebP

* Move icons into icons folder

* Use _SRV environment variables for service paths

* Download media files from github
during docker image build
to avoid adding always online dependencies
when creating or starting dev containers

* Delete media icons from git repo
now that we download media from anonymized URLs on github
- https://docs.github.com/en/get-started/writing-on-github/working-with-advanced-formatting/attaching-files

* Add comments

* Enable file browsing for non app paths
for remote debugging of media and asset files

* Consolidate assets into single folder

* Add links for file browser paths
to Server Diagnostics

* Delete unused symlink

* Update landing page to match manifest
by including same shortcuts and start url

* Patch gzweb to disable modelList
avoiding 404s for thumbnails
as they are hardcoded into js

* Update comments

* Simplify Caddyfile by reverting to symlinking
but add ROOT_SRV env for custom overriding

* Loop over nav2 srv folders when symlinking
to generalize over folder names

* Add matcher for file browsing root directory
while still redirecting to nav2 app by default

* Use placeholders for root variable
to consolidate env default fallback settings
e.g `:/srv`

* Promote file browser in Nav2 app shortcuts

* Fix and update SRV envs

* Postpone symlinking for Nav2 web app
to when post-create-command script then runs
given full repo is not copied into builder stage in Dockerfile.
While this could be postponed to update-content-command
leaving it here avoids blowing user changes
after the container has been created or modified.

* Add guard to check if srv folder exists

* Add refresh rate shortcuts to glances

* Add file browser shortcut to nav2

* Set scope for nav2 PWA to root
to allow for opening child apps inside nav2 app

* Display child apps in fullscreen mode by default
as users can still open them in standalone via nav2 app
given the nav2 app's scope is the parent root path

* Update shortcuts and landing page

* Document PWA scope and installation order
when using Nav2 PWA scoped as root

* Revert setting scope for nav2 PWA to root path
as adding file browser shortcut to nav2 PWA is not worth the trouble
of having to explain installation order caveats and URL launch behavior.
File browser shortcut is still accessible from inside nav2 pwa launcher
but merely displays in browser preview
given root / is out of scope for /nav2/

* Update server diagnostics for troubleshooting

* Verify checksum of archive before extraction
incase anonymized URL changes expected archive

* Fix the condition in ackerman motion model constraints (#3581)

* Fix the condition in ackerman motion model constraints

* Fix ackerman motion model tests

* Fix another ackerman motion model test

* Add viz_expansions parameter for debug (#3577)

* viz_expansions

* lint

* switch to unique_ptr

* readme update

---------

Co-authored-by: Guillaume Doisy <[email protected]>

* Fix broken symlink for gzweb (#3585)

to load world models

* (collision monitor) add limit polygon type (#3519)

* add LIMIT polygon type

* fix unit tests

* Fix MIN_POINT doesn't exist

* Fix Action type enum

* FIX velocity used

* FIX unit test point distance

increase point distance to not be in limit field

* Update collision_monitor_node_test.cpp

* fix status name not updated

* [MOD] only single linear limit

* Apply review comments

* Update nav2_collision_monitor/include/nav2_collision_monitor/types.hpp

---------

Co-authored-by: Steve Macenski <[email protected]>

* Fix broken link to contributing guidelines (#3587)

The original URL (https://navigation.ros.org/contribute/index.html) seems not to exist, returning an HTTP 404. Hence, I've replaced the link with a page that seems most relevant.

* Adding Our Sponsors - May 2023 (#3593)

* adding our sponsors - may 2023

* adding blurb

* adding links

* adding links

* adding links

* adding Open Nav

* Fix dynamic polygons vertices not updated for different frame (#3591)

* Fix dynamic polygons vertices not updated for different frame

* Update nav2_collision_monitor/src/collision_monitor_node.cpp

---------

Co-authored-by: Steve Macenski <[email protected]>

* Fixing 3586: rviz panel operating in multiple non-standard frames (#3595)

* Fixes #3586 on rviz time stamping

* removing timing from rviz testing panel

* Add CostmapFilterInfoServer as a component (#3596)

* adding iron to the readme table statuses (#3598)

* adding iron to the readme table statuses

* collapsing table

* adding citation RPP

* Resolve #3532: reset i (#3597)

* [MPPI] empty path_follow_critic proper fix (#3599)

* [MPPI] empty path_follow_critic proper fix

* fix linting issue

---------

Co-authored-by: Guillaume Doisy <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

* Refactor sim_time and composable node usage in Collision Monitor (#3604)

* Refactor sim_time and composable node usage in Collision Monitor launch script

* Added namespace support

* Fix comment

* Fix costmap 2D test failures (#3611)

* costmap test without action

* test2

* try just printing first thing

* Update test_costmap_2d_publisher.cpp

* Compile flags non-virtual-destructor (#3609)

* added compile flags

* cleanup

* cleanup

* cleanup

* add virtual destructors

* uncrusify

* updating to 1.2.1 for release

---------

Co-authored-by: Ruffin <[email protected]>
Co-authored-by: Alexandr Buyval <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>
Co-authored-by: BriceRenaudeau <[email protected]>
Co-authored-by: Hyung-Taik Choi <[email protected]>
Co-authored-by: Alexey Merzlyakov <[email protected]>
Co-authored-by: Filipe Cerveira <[email protected]>
Co-authored-by: Joshua Wallace <[email protected]>

Author: 10 people

.devcontainer/caddy/Caddyfile

@@ -7,7 +7,7 @@
 
 	# Matcher for http request scheme. E.g. "http" or "https"
 	@http_scheme {
-		expression {http.request.scheme}=="https" || {header.X-Forwarded-Scheme}=="https"
+		expression {http.request.scheme}=="https" || {header.X-Forwarded-Scheme}=="https" || {header.X-Forwarded-Proto}=="https"
 	}
 	# If any http scheme is "https", then use "wss"
 	vars @http_scheme WsScheme "wss"
@@ -19,9 +19,9 @@
 		header X-Forwarded-Host *
 	}
 	# If http headers exists, then use them
-	vars @host_forwarded WsHost {header.X-Forwarded-Host}
+	vars @host_forwarded ReqHost {header.X-Forwarded-Host}
 	# Else default to host in request
-	vars WsHost {http.request.hostport}
+	vars ReqHost {http.request.hostport}
 
 	# Matcher for websocket connection upgrade requests
 	@websockets {
@@ -37,8 +37,8 @@
 # E.g auto redirect websocket URL to match request scheme
 (redirect) {
 	# Configure redirect to match request scheme
-	vars LayoutUrl "/assets/nav2_foxglove_layout.json"
-	vars DataSourceUrl "{vars.WsScheme}://{vars.WsHost}{args.0}/"
+	vars LayoutUrl "/assets/foxglove/nav2_layout.json"
+	vars DataSourceUrl "{vars.WsScheme}://{vars.ReqHost}{args.0}/"
 	redir /autoconnect "{args.0}/?ds=foxglove-websocket&ds.url={vars.DataSourceUrl}"
 	redir /autolayout "{args.0}/?ds=foxglove-websocket&ds.url={vars.DataSourceUrl}&layoutUrl={vars.LayoutUrl}"
 }
@@ -55,30 +55,26 @@
 	route / {
 		# Inject link to manifest just after <head> tag
 		# https://developer.mozilla.org/docs/Web/Manifest
-		replace `<head>` `<head><link rel="manifest" href="manifest.json" />`
+		replace `<head>` `<head><link rel="manifest" href="manifest.json" crossorigin="use-credentials"/>`
 	}
 	# Redirect relative handle_path'ed manifest.json to /manifests directory
-	redir /manifest.json /manifests{http.request.orig_uri.path.dir}manifest.json
+	redir /manifest.json /assets{http.request.orig_uri.path.dir}manifest.json
 }
 
 # Snippet for hosted web app using websockets
 # to serve static files and reverse proxying connections
 # E.g. for serving GzWeb and Foxglove web apps
 (app) {
-	# Redirect implicit directory requests twards index.html
-	redir {args.0} {args.0}/
 	# handle and strip path prefix from redirect
 	handle_path {args.0}/* {
 		# Set root directory for static files
-		root * {args.1}
-		# Serve static files
-		file_server
+		root * {http.vars.root}{args.0}
 		# Enable mobile web app features
 		import mobile
 		# Reverse proxy websockets to backend address
-		reverse_proxy @websockets {args.2}
+		reverse_proxy @websockets {args.1}
 		# Import custom snippets
-		import {args.3} {args.0}
+		import {args.2} {args.0}
 	}
 }
 
@@ -88,24 +84,38 @@
 :8080 {
 	# Include global matchers and variables
 	import globals
+	root * {$ROOT_SRV:/srv}
+	file_server browse
 
-	# Handle main landing page
+	# Handle root content
+	# I.e. assets internal to workspace
 	handle /* {
-		# Use relative path for root directory
-		root * srv
-		file_server
-		import mobile
-		# Render markdown files as html
-		templates
 		# Template manifest.json files
 		templates */manifest.json {
 			mime application/json
 		}
 	}
 
+	# Handle nav2 web app
+	# I.e. main landing page
+	handle_path /nav2/* {
+		root * {http.vars.root}/nav2
+		import mobile
+		# Render markdown files as html
+		templates
+	}
+
+	# Matcher for requests without browse query
+	@no_browse {
+		path /
+		not query browse=true
+	}
+	# Redirect to nav2 web app by default
+	redir @no_browse /nav2/
+
 	# Import app snippets for web apps
-	import app "/gzweb" "{$GZWEB_WS}/http/client" "localhost:9090" "dummy"
-	import app "/foxglove" "{$FOXGLOVE_WS}" "localhost:8765" "redirect"
+	import app "/gzweb" "localhost:9090" "dummy"
+	import app "/foxglove" "localhost:8765" "redirect"
 
 	# Handle glances web app
 	redir /glances /glances/

.devcontainer/caddy/srv/assets/foxglove/manifest.json

@@ -0,0 +1,40 @@
+{
+    "name": "Foxglove: {{placeholder "http.vars.ReqHost"}}",
+    "short_name": "Foxglove: {{placeholder "http.vars.ReqHost"}}",
+    "icons": [
+      {
+        "src": "/media/icons/foxglove/any_icon_x512.webp",
+        "sizes": "512x512",
+        "type": "image/webp",
+        "purpose": "any"
+      },
+      {
+        "src": "/media/icons/foxglove/maskable_icon_x512.webp",
+        "sizes": "512x512",
+        "type": "image/webp",
+        "purpose": "maskable"
+      }
+    ],
+    "id": "/foxglove/",
+    "start_url": "/foxglove/autoconnect",
+    "theme_color": "#6F3BE8",
+    "background_color": "#6F3BE8",
+    "display": "fullscreen",
+    "shortcuts" : [
+        {
+          "name": "Auto Connect",
+          "url": "/foxglove/autoconnect",
+          "description": "Auto connect to default data source"
+        },
+        {
+          "name": "Auto Layout",
+          "url": "/foxglove/autolayout",
+          "description": "Auto connect using default layout"
+        },
+        {
+          "name": "Manual Connect",
+          "url": "/foxglove/",
+          "description": "Manually connect to data source"
+        }
+      ]
+}

.devcontainer/caddy/srv/assets/nav2_foxglove_layout.json renamed to .devcontainer/caddy/srv/assets/foxglove/nav2_layout.json

@@ -0,0 +1,40 @@
+{
+    "name": "Glances: {{placeholder "http.vars.ReqHost"}}",
+    "short_name": "Glances: {{placeholder "http.vars.ReqHost"}}",
+    "icons": [
+        {
+          "src": "/media/icons/glances/any_icon_x512.webp",
+          "sizes": "512x512",
+          "type": "image/webp",
+          "purpose": "any"
+        },
+        {
+          "src": "/media/icons/glances/maskable_icon_x512.webp",
+          "sizes": "512x512",
+          "type": "image/webp",
+          "purpose": "maskable"
+        }
+    ],
+    "id": "/glances/",
+    "start_url": "/glances/",
+    "theme_color": "#2C363F",
+    "background_color": "#2C363F",
+    "display": "fullscreen",
+    "shortcuts" : [
+        {
+          "name": "Refresh 1sec",
+          "url": "/glances/1",
+          "description": "Refresh page every 1 second"
+        },
+        {
+          "name": "Refresh 5sec",
+          "url": "/glances/5",
+          "description": "Refresh page every 5 seconds"
+        },
+        {
+          "name": "Refresh 10sec",
+          "url": "/glances/10",
+          "description": "Refresh page every 10 seconds"
+        }
+      ]
+}

.devcontainer/caddy/srv/assets/glances/manifest.json

@@ -0,0 +1,23 @@
+{
+    "name": "Gzweb: {{placeholder "http.vars.ReqHost"}}",
+    "short_name": "Gzweb: {{placeholder "http.vars.ReqHost"}}",
+    "icons": [
+        {
+          "src": "/media/icons/gzweb/any_icon_x512.webp",
+          "sizes": "512x512",
+          "type": "image/webp",
+          "purpose": "any"
+        },
+        {
+          "src": "/media/icons/gzweb/maskable_icon_x512.webp",
+          "sizes": "512x512",
+          "type": "image/webp",
+          "purpose": "maskable"
+        }
+    ],
+    "id": "/gzweb/",
+    "start_url": "/gzweb/",
+    "theme_color": "#ffffff",
+    "background_color": "#ffffff",
+    "display": "fullscreen"
+}

.devcontainer/caddy/srv/assets/gzweb/manifest.json

@@ -0,0 +1,23 @@
+{
+    "name": "Nav2: {{placeholder "http.vars.ReqHost"}}",
+    "short_name": "Nav2: {{placeholder "http.vars.ReqHost"}}",
+    "icons": [
+        {
+          "src": "/media/icons/nav2/any_icon_x512.webp",
+          "sizes": "512x512",
+          "type": "image/webp",
+          "purpose": "any"
+        },
+        {
+          "src": "/media/icons/nav2/maskable_icon_x512.webp",
+          "sizes": "512x512",
+          "type": "image/webp",
+          "purpose": "maskable"
+        }
+    ],
+    "id": "/nav2/",
+    "start_url": "/nav2/",
+    "theme_color": "#ffffff",
+    "background_color": "#ffffff",
+    "display": "standalone"
+}