feat: Add e2e docker compose test environment

.dockerignore

@@ -0,0 +1,6 @@
+*.md
+.github/*
+discourse/*
+docker/*
+scripts/*
+LICENSE

docker/Dockerfile.base

@@ -1,3 +1,13 @@
+# Base image for next_gen_prototype docker compose
+# Purpose: reproducible ROS 2 Jazzy + Rust dev/test with prebuilt underlay workspace
+# Components built in underlay /nav2_traffic_ws:
+#   sp_demo_nav2_bringup, rmf_nav2_traffic, rmf_path_server_demo,
+#   rmf_path_server_test
+# Used by docker/docker-compose.yml services: gazebo_server, robot0_nav2_sim,
+# robot1_nav2_sim, next_gen_prototype
+# Overrides:
+#   docker-compose.headless.override.yml → no RViz
+#   docker-compose.zenoh.override.yml → RMW Zenoh
 FROM ros:jazzy-ros-base
 
 # Disable interactive prompts during package installation
@@ -13,11 +23,11 @@ RUN apt-get update && apt-get upgrade -y && \
         clang \
         libclang-dev \
         build-essential \
+        ros-${ROS_DISTRO}-rmw-zenoh-cpp \
         python3-colcon-common-extensions \
         python3-colcon-cargo\
         libssl-dev \
-        pkg-config \
-        && rm -rf /var/lib/apt/lists/*
+        pkg-config
 
 # Install colcon extensions for Rust
 RUN pip3 install --no-cache-dir --break-system-packages colcon-ros-cargo
@@ -30,7 +40,6 @@ RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y --no
     cargo install cargo-ament-build && \
     chmod -R a+rwX /usr/local/cargo /usr/local/rustup
 
-
 # Initialize Underlay Workspace
 WORKDIR /opt/ros2_rust_ws
 
@@ -42,15 +51,22 @@ RUN apt-get update && \
     rosdep init || true && \
     rosdep update && \
     rosdep install --from-paths /tmp/next_gen_prototype --ignore-src -yr --skip-keys="rclrs ament_cargo ament_python" && \
-    rm -rf /var/lib/apt/lists/* && \
-    rm -rf /tmp/next_gen_prototype
+    rm -rf /var/lib/apt/lists/*
+
+WORKDIR /nav2_traffic_ws
 
 # Build the Underlay Workspace
-#RUN /bin/bash -c "source /opt/ros/jazzy/setup.bash && \
-#    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release"
+RUN mkdir src && mv /tmp/next_gen_prototype /nav2_traffic_ws/src/next_gen_prototype
+RUN ls /nav2_traffic_ws/src/next_gen_prototype
+RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    colcon build \
+      --cmake-args -DCMAKE_BUILD_TYPE=Release \
+       -DCMAKE_CXX_FLAGS=\"-w\" \
+       -DCMAKE_C_FLAGS=\"-w\""
+RUN rm -rf build/ log/ src/
 
 # Provide automatic sourcing entrypoint configuration inside ~/.bashrc
-RUN echo "source /opt/ros/jazzy/setup.bash" >> /root/.bashrc
-#echo "source /opt/ros2_rust_ws/install/setup.bash" >> /root/.bashrc
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc
+RUN echo "source /nav2_traffic_ws/install/setup.bash" >> /root/.bashrc
 
 CMD ["/bin/bash"]

docker/docker-compose.headless.override.yml

@@ -0,0 +1,23 @@
+services:
+  robot0_nav2_sim:
+    command:
+      - bash
+      - -c
+      - >
+        source /nav2_traffic_ws/install/setup.bash &&
+        ros2 launch sp_demo_nav2_bringup
+        cloned_multi_tb3_simulation_launch.py
+        robots:='robot0={x: 0.0, y: 5.0, yaw: 0.0};'
+        use_rviz:=False
+        use_simulator:=False
+  robot1_nav2_sim:
+    command:
+      - bash
+      - -c
+      - >
+        source /nav2_traffic_ws/install/setup.bash &&
+        ros2 launch sp_demo_nav2_bringup
+        cloned_multi_tb3_simulation_launch.py
+        robots:='robot1={x: 3.0, y: 5.0, yaw: 0.0};'
+        use_rviz:=False
+        use_simulator:=False

docker/docker-compose.yml

@@ -0,0 +1,115 @@
+x-ros2-base: &ros2-base
+  image: ros2_rust_base:jazzy
+  build:
+    context: ..
+    dockerfile: docker/Dockerfile.base
+
+services:
+
+  gazebo_server:
+    <<: *ros2-base
+
+    container_name: gazebo_server
+    restart: no
+
+    networks:
+      - ros2_net
+
+    environment:
+      GZ_PARTITION: sim
+
+    command:
+      - bash
+      - -c
+      - >
+        source /nav2_traffic_ws/install/setup.bash &&
+        ros2 launch sp_demo_nav2_bringup
+        cloned_multi_tb3_simulation_launch.py
+        use_simulator:=True
+
+  robot0_nav2_sim:
+    <<: *ros2-base
+
+    container_name: robot0_nav2_sim
+    restart: no
+
+    networks:
+      - ros2_net
+
+    environment:
+      DISPLAY: ${DISPLAY:-}
+      WAYLAND_DISPLAY: ${WAYLAND_DISPLAY:-}
+      XDG_RUNTIME_DIR: ${XDG_RUNTIME_DIR:-/tmp/runtime-root}
+      QT_X11_NO_MITSHM: "1"
+      GZ_PARTITION: sim
+
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ${XDG_RUNTIME_DIR:-/tmp}:/tmp/host-runtime:rw
+
+    command:
+      - bash
+      - -c
+      - >
+        source /nav2_traffic_ws/install/setup.bash &&
+        ros2 launch sp_demo_nav2_bringup
+        cloned_multi_tb3_simulation_launch.py
+        robots:='robot0={x: 0.0, y: 5.0, yaw: 0.0};'
+        use_rviz:=True
+        use_simulator:=False
+
+
+  robot1_nav2_sim:
+    <<: *ros2-base
+
+    container_name: robot1_nav2_sim
+    restart: no
+
+    networks:
+      - ros2_net
+
+    environment:
+      DISPLAY: ${DISPLAY:-}
+      WAYLAND_DISPLAY: ${WAYLAND_DISPLAY:-}
+      XDG_RUNTIME_DIR: ${XDG_RUNTIME_DIR:-/tmp/runtime-root}
+      QT_X11_NO_MITSHM: "1"
+      GZ_PARTITION: sim
+
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ${XDG_RUNTIME_DIR:-/tmp}:/tmp/host-runtime:rw
+
+    command:
+      - bash
+      - -c
+      - >
+        source /nav2_traffic_ws/install/setup.bash &&
+        ros2 launch sp_demo_nav2_bringup
+        cloned_multi_tb3_simulation_launch.py
+        robots:='robot1={x: 3.0, y: 5.0, yaw: 0.0};'
+        use_rviz:=True
+        use_simulator:=False
+
+
+  next_gen_prototype:
+    <<: *ros2-base
+
+    container_name: next_gen_prototype
+    restart: no
+
+    networks:
+      - ros2_net
+
+    command:
+      - bash
+      - -c
+      - >
+        source /nav2_traffic_ws/install/setup.bash &&
+        ros2 launch rmf_path_server_demo
+        demo_nav2.launch.py
+        robots:='robot0 robot1'
+
+
+networks:
+  ros2_net:
+    driver: bridge

docker/docker-compose.zenoh.override.yml

@@ -0,0 +1,46 @@
+services:
+
+  gazebo_server:
+    environment:
+      RMW_IMPLEMENTATION: rmw_zenoh_cpp
+      ZENOH_CONFIG_OVERRIDE: 'mode="client";connect/endpoints=["tcp/zenoh_router:7447"]'
+    depends_on:
+      - zenoh_router
+
+  robot0_nav2_sim:
+    environment:
+      RMW_IMPLEMENTATION: rmw_zenoh_cpp
+      ZENOH_CONFIG_OVERRIDE: 'mode="client";connect/endpoints=["tcp/zenoh_router:7447"]'
+    depends_on:
+      - gazebo_server
+      - zenoh_router
+
+  robot1_nav2_sim:
+    environment:
+      RMW_IMPLEMENTATION: rmw_zenoh_cpp
+      ZENOH_CONFIG_OVERRIDE: 'mode="client";connect/endpoints=["tcp/zenoh_router:7447"]'
+    depends_on:
+      - gazebo_server
+      - zenoh_router
+
+  next_gen_prototype:
+    environment:
+      RMW_IMPLEMENTATION: rmw_zenoh_cpp
+      ZENOH_CONFIG_OVERRIDE: 'mode="client";connect/endpoints=["tcp/zenoh_router:7447"]'
+    depends_on:
+      - robot0_nav2_sim
+      - robot1_nav2_sim
+      - zenoh_router
+
+  zenoh_router:
+    image: eclipse/zenoh:latest
+    container_name: zenoh_router
+    restart: no
+
+    networks:
+      - ros2_net
+
+    command:
+      - --listen
+      - tcp/0.0.0.0:7447
+

nav2_integration/sp_demo_nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py

@@ -29,11 +29,12 @@
     LogInfo,
     OpaqueFunction,
     RegisterEventHandler,
+    SetEnvironmentVariable,
 )
 from launch.conditions import IfCondition, UnlessCondition
 from launch.event_handlers import OnShutdown
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, TextSubstitution
+from launch.substitutions import LaunchConfiguration, PythonExpression, TextSubstitution
 from launch_ros.actions import Node
 from nav2_common.launch import ParseMultiRobotPose
 
@@ -122,19 +123,53 @@ def generate_launch_description():
         description='Start each robot stack after its transforms are ready.',
     )
 
+    declare_use_simulator_cmd = DeclareLaunchArgument(
+        'use_simulator',
+        default_value='True',
+        description='Whether to start the Gazebo simulation server',
+    )
+
+    declare_start_gazebo_cmd = DeclareLaunchArgument(
+        'start_gazebo',
+        default_value=LaunchConfiguration('use_simulator'),
+        description='Alias for use_simulator: whether to start the Gazebo simulation server',
+    )
+
+    start_sim = PythonExpression([
+        "str('", LaunchConfiguration('use_simulator'), "').lower() in ('true', '1') and ",
+        "str('", LaunchConfiguration('start_gazebo'), "').lower() in ('true', '1')"
+    ])
+
+    has_clock = LaunchConfiguration('has_clock')
+    declare_has_clock_cmd = DeclareLaunchArgument(
+        'has_clock',
+        default_value=start_sim,
+        description='Whether to bridge the simulation clock to /clock (defaults to true if starting simulator)',
+    )
+
+    declare_gz_partition_cmd = DeclareLaunchArgument(
+        'gz_partition',
+        default_value=os.environ.get('GZ_PARTITION', 'sim'),
+        description='Gazebo Transport partition name',
+    )
+
     # Start Gazebo with plugin providing the robot spawning service
     world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
     world_sdf_xacro = ExecuteProcess(
+        condition=IfCondition(start_sim),
         cmd=['xacro', '-o', world_sdf, ['headless:=', 'False'], world])
     start_gazebo_cmd = ExecuteProcess(
+        condition=IfCondition(start_sim),
         cmd=['gz', 'sim', '-r', '-s', world_sdf],
         output='screen',
     )
 
-    remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
-        on_shutdown=[
-            OpaqueFunction(function=lambda _: os.remove(world_sdf))
-        ]))
+    remove_temp_sdf_file = RegisterEventHandler(
+        condition=IfCondition(start_sim),
+        event_handler=OnShutdown(
+            on_shutdown=[
+                OpaqueFunction(function=lambda _: os.path.exists(world_sdf) and os.remove(world_sdf))
+            ]))
 
     robots_list = ParseMultiRobotPose('robots').value()
 
@@ -183,13 +218,12 @@ def make_group(robot_autostart, condition, ready_node=None):
                         'headless': 'False',
                         'use_robot_state_pub': use_robot_state_pub,
                         'use_navigation': use_navigation,
-                        'clock_topic': TextSubstitution(
-                            text=(
-                                '/clock'
-                                if robot_index == 0
-                                else f'/{namespace}/clock'
-                            )
-                        ),
+                        'clock_topic': PythonExpression([
+                            "'/clock' if (str('",
+                            has_clock,
+                            "').lower() in ('true', '1') and ",
+                            f"{robot_index} == 0) else '/{namespace}/clock'",
+                        ]),
                         'x_pose': TextSubstitution(text=str(init_pose['x'])),
                         'y_pose': TextSubstitution(text=str(init_pose['y'])),
                         'z_pose': TextSubstitution(text=str(init_pose['z'])),
@@ -244,6 +278,11 @@ def make_group(robot_autostart, condition, ready_node=None):
     ld.add_action(declare_use_robot_state_pub_cmd)
     ld.add_action(declare_use_navigation_cmd)
     ld.add_action(declare_staged_startup_cmd)
+    ld.add_action(declare_use_simulator_cmd)
+    ld.add_action(declare_start_gazebo_cmd)
+    ld.add_action(declare_has_clock_cmd)
+    ld.add_action(declare_gz_partition_cmd)
+    ld.add_action(SetEnvironmentVariable('GZ_PARTITION', LaunchConfiguration('gz_partition')))
 
     # initial localization node
     for robot_name in robots_list: