Add rviz

Author: javizqh

manager/manager/launcher/launcher_rviz.py

@@ -0,0 +1,64 @@
+from manager.manager.launcher.launcher_interface import ILauncher
+from manager.manager.docker_thread.docker_thread import DockerThread
+from manager.manager.vnc.vnc_server import Vnc_server
+from manager.libs.process_utils import check_gpu_acceleration
+import os
+import stat
+from typing import List, Any
+
+
+class LauncherRviz(ILauncher):
+    display: str
+    internal_port: int
+    external_port: int
+    running: bool = False
+    acceptsMsgs: bool = False
+    threads: List[Any] = []
+    console_vnc: Any = Vnc_server()
+
+    def run(self, config_file, callback):
+        DRI_PATH = self.get_dri_path()
+        ACCELERATION_ENABLED = False
+
+        if ACCELERATION_ENABLED:
+            self.console_vnc.start_vnc_gpu(
+                self.display, self.internal_port, self.external_port, DRI_PATH
+            )
+            # Write display config and start the console
+            console_cmd = f"export VGL_DISPLAY={DRI_PATH}; export DISPLAY={self.display}; vglrun ros2 run rviz2 rviz2"
+        else:
+            self.console_vnc.start_vnc(
+                self.display, self.internal_port, self.external_port
+            )
+            # Write display config and start the console
+            console_cmd = f"export DISPLAY={self.display};ros2 run rviz2 rviz2"
+
+        console_thread = DockerThread(console_cmd)
+        console_thread.start()
+        self.threads.append(console_thread)
+
+        self.running = True
+
+    def pause(self):
+        pass
+
+    def unpause(self):
+        pass
+
+    def reset(self):
+        pass
+
+    def is_running(self):
+        return self.running
+
+    def terminate(self):
+        self.console_vnc.terminate()
+        for thread in self.threads:
+            if thread.is_alive():
+                thread.terminate()
+                thread.join()
+            self.threads.remove(thread)
+        self.running = False
+
+    def died(self):
+        pass

manager/manager/launcher/launcher_tools.py

@@ -32,6 +32,12 @@
         "external_port": 6080,
         "internal_port": 5900,
     },
+    "rviz": {
+        "module": "rviz",
+        "display": ":3",
+        "external_port": 6081,
+        "internal_port": 5902,
+    },
     "web_gui": {
         "type": "module",
         "module": "web_gui",