feat(sim): split sim container into gazebo + robot - #14
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Pulls the simulator out of the bundled "sim" container into its own
service. The robot's always-on ROS infrastructure (bridge_node +
sim_battery) moves into a sibling "robot" service. The OTA-swappable
robot software (sim/controllers/*) is unchanged — those images still
run as agent-managed containers on the lab network.
Three services, all on the same lab network and ROS DDS domain
(ROS_DOMAIN_ID=42, RMW=cyclonedds):
gazebo - ign gazebo + ros_gz_bridge + Xvfb/x11vnc/noVNC GUI
stack. Subscribes to /cmd_vel on ROS DDS and forwards
to the gz diff_drive plugin. Now also bridges
/perseverance/contacts so collision events are visible
ROS-side (groundwork for the Temporal collision-response
workflow).
robot - bridge_node (rclpy → gRPC) + sim_battery. The agent's
persistent peer.
agent - unchanged otherwise. BRIDGE_ADDR moves from a Unix
socket on a shared volume to TCP `robot:50051` over
the lab network. BROKER_URL stays on tcp://mqtt:1883
(lab broker, port 14883 host-side).
bridge_node/server.py: new --listen flag accepting either bare
host:port (TCP) or unix://path. --socket retained for back-compat.
moon.sdf: a 0.9 m boulder at x=8 directly in the rover's forward
path. Rover deck has a contact sensor (`bumper`) tied to the
gz-sim contact system; it emits Contacts messages on
/perseverance/contacts whenever the deck collides.
docker/sim/ removed; replaced by docker/gazebo/ + docker/robot/.
Worlds + models live under docker/gazebo/ now.
Verified locally on Apple Silicon + podman:
- gazebo, robot, agent all Up
- robot: "bridge listening on 0.0.0.0:50051"
- agent: "bridge connected addr=robot:50051"
- ros_gz_bridge: 6 bidirectional bridges including
/perseverance/contacts ↔ ignition.msgs.Contacts
- Lab MQTT, Postgres, Temporal, Registry all healthy
5 tasks
6 tasks
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Pulls the simulator into its own service. The robot's always-on ROS infrastructure (bridge_node + sim_battery) moves into a sibling
robotservice. The OTA-swappable robot software (sim/controllers/*from PR #7) is unchanged.Three services
Other changes
--listenflag accepting either barehost:port(TCP) orunix://path.--socketretained for back-compat.x=8directly in the rover's forward path.bumpercontact sensor tied to the gz-sim contact system. Emitsignition.msgs.Contactson/perseverance/contactswhen it touches anything.Verified locally
Pre-push hook ran the full CI smoke; all checks passed.
Follow-up (separate PR)
/events/{robot_id}/collision/cmd/{robot_id}/twist→ ROS/cmd_velCollisionResponseworkflow