feat(sim): split sim container into gazebo + robot

bridge/bridge_node/server.py

@@ -133,17 +133,33 @@ def _on_msg(self, msg: BatteryState) -> None:
         self.fanout.push(ev)
 
 
-def serve(socket_path: str) -> None:
+def serve(addr: str) -> None:
+    """Run the bridge gRPC server.
+
+    `addr` accepts either a bare ``host:port`` for TCP, or a path /
+    ``unix://<path>`` form for a Unix domain socket. Determined by
+    whether the value contains a colon and no slash.
+    """
     fanout = TopicFanout()
 
     server = grpc.server(futures.ThreadPoolExecutor(max_workers=8))
     pbg.add_BridgeServicer_to_server(BridgeService(fanout), server)
 
-    if os.path.exists(socket_path):
-        os.unlink(socket_path)
-    server.add_insecure_port(f"unix://{socket_path}")
+    if addr.startswith("unix://"):
+        listen = addr
+        sock_path = addr[len("unix://"):]
+        if os.path.exists(sock_path):
+            os.unlink(sock_path)
+    elif ":" in addr and "/" not in addr:
+        listen = addr  # bare host:port -> TCP
+    else:
+        # bare path -> Unix domain socket
+        if os.path.exists(addr):
+            os.unlink(addr)
+        listen = f"unix://{addr}"
+    server.add_insecure_port(listen)
     server.start()
-    log.info("bridge listening on %s", socket_path)
+    log.info("bridge listening on %s", listen)
 
     if HAVE_ROS:
         rclpy.init(args=None)
@@ -163,10 +179,16 @@ def serve(socket_path: str) -> None:
 
 def main() -> None:  # pragma: no cover
     p = argparse.ArgumentParser()
-    p.add_argument("--socket", default="/run/temporal-hack-bridge.sock")
+    # --listen is the modern arg (TCP host:port or unix:// path).
+    # --socket kept for backwards compat with older callers.
+    p.add_argument("--listen", default=None,
+                   help="gRPC listen address: 'host:port' or 'unix:///path'")
+    p.add_argument("--socket", default=None,
+                   help="(deprecated) Unix domain socket path. Use --listen.")
     args = p.parse_args()
+    addr = args.listen or args.socket or "/run/temporal-hack-bridge.sock"
     logging.basicConfig(level=logging.INFO, format="%(asctime)s %(levelname)s %(name)s %(message)s")
-    serve(args.socket)
+    serve(addr)
 
 
 if __name__ == "__main__":

docker/gazebo/Dockerfile

@@ -0,0 +1,53 @@
+# Gazebo (simulator) container.
+#
+# Runs Ignition Fortress + ros_gz_bridge + an Xvfb/x11vnc/noVNC stack
+# for browser-served GUI access. NOTHING ROS-application-specific
+# lives here — the rover's controllers (drive-circle, drive-figure-eight)
+# and the agent's bridge_node live in their own containers and reach
+# this one over the lab network's ROS DDS domain.
+#
+# What's in vs. out:
+#   IN:  gz sim, ros_gz_bridge, Xvfb/x11vnc/novnc/fluxbox, mesa,
+#        worlds/, models/
+#   OUT: bridge_node (rclpy → agent gRPC), sim_battery, controllers
+FROM ros:humble-ros-base
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV ROS_DOMAIN_ID=42
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        wget gnupg lsb-release ca-certificates \
+    && wget -qO /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+        https://packages.osrfoundation.org/gazebo.gpg \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
+        > /etc/apt/sources.list.d/gazebo-stable.list \
+    && apt-get update \
+    && apt-get install -y --no-install-recommends \
+        ros-humble-rmw-cyclonedds-cpp \
+        ros-humble-ros-gz-bridge \
+        ignition-fortress \
+        libgl1-mesa-dri \
+        libgl1-mesa-glx \
+        mesa-utils \
+        xvfb \
+        x11vnc \
+        novnc \
+        websockify \
+        fluxbox \
+        net-tools \
+    && rm -rf /var/lib/apt/lists/*
+
+# Sim worlds + models. GZ_SIM_RESOURCE_PATH lets gz-sim resolve
+# `model://...` includes at runtime.
+COPY docker/gazebo/worlds /opt/sim/worlds
+COPY docker/gazebo/models /opt/sim/models
+ENV GZ_SIM_RESOURCE_PATH="/opt/sim/models:/opt/sim/worlds"
+
+COPY docker/gazebo/entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+
+# noVNC (browser GUI):  http://localhost:14680
+# Raw VNC (any client): localhost:14900
+EXPOSE 5900 6080
+ENTRYPOINT ["/entrypoint.sh"]

docker/gazebo/entrypoint.sh

@@ -0,0 +1,92 @@
+#!/usr/bin/env bash
+# gazebo container entrypoint:
+#   Xvfb -> fluxbox -> x11vnc -> websockify  (browser GUI pipe)
+#   ign gazebo -r -v 4 <world>                (sim engine + GUI)
+#   ros_gz_bridge                              (subscribes to /cmd_vel
+#                                               on ROS DDS, forwards to
+#                                               the gz cmd_vel topic)
+set -eo pipefail
+
+# ROS 2's setup.bash references vars under nounset; wrap.
+set +u; source /opt/ros/humble/setup.bash; set -u
+
+SIM_WORLD="${SIM_WORLD:-moon.sdf}"
+HEADLESS="${HEADLESS:-0}"
+DISPLAY_NUM="${DISPLAY_NUM:-1}"
+SCREEN_GEOMETRY="${SCREEN_GEOMETRY:-1920x1200x24}"
+
+PIDS=()
+shutdown() {
+    echo "[gazebo] shutting down"
+    for pid in "${PIDS[@]}"; do kill "$pid" 2>/dev/null || true; done
+    exit 0
+}
+trap shutdown SIGINT SIGTERM
+
+if [ "$HEADLESS" = "1" ]; then
+    echo "[gazebo] HEADLESS=1; running ign gazebo server only ($SIM_WORLD)"
+    ign gazebo -s -r -v 4 "$SIM_WORLD" &
+    PIDS+=($!)
+else
+    echo "[gazebo] starting Xvfb on :$DISPLAY_NUM ($SCREEN_GEOMETRY)"
+    Xvfb ":$DISPLAY_NUM" -screen 0 "$SCREEN_GEOMETRY" -nolisten tcp &
+    PIDS+=($!)
+    sleep 1
+    export DISPLAY=":$DISPLAY_NUM"
+
+    fluxbox 2>/dev/null &
+    PIDS+=($!)
+
+    x11vnc -display "$DISPLAY" -forever -shared -nopw -quiet -rfbport 5900 -bg -o /tmp/x11vnc.log
+
+    websockify --web=/usr/share/novnc 6080 localhost:5900 &
+    PIDS+=($!)
+
+    echo "[gazebo] launching ign gazebo with GUI: $SIM_WORLD"
+    export LIBGL_ALWAYS_SOFTWARE=1
+    export OGRE2_RTSHADERSYSTEM_WRITE_SHADERS_TO_DISK=0
+    ign gazebo -r -v 4 "$SIM_WORLD" &
+    PIDS+=($!)
+
+    echo
+    echo "  ┌──────────────────────────────────────────────────────────────────────────────┐"
+    echo "  │  Gazebo GUI:  http://localhost:14680/vnc.html?autoconnect=1&resize=scale     │"
+    echo "  │  Raw VNC:     localhost:14900   (no password)                                │"
+    echo "  └──────────────────────────────────────────────────────────────────────────────┘"
+    echo
+fi
+
+# Bridge ROS 2 /cmd_vel and odom for the perseverance rover. The
+# diff-drive plugin in moon.sdf listens on /model/perseverance/cmd_vel;
+# remap so external ROS 2 controllers can publish to plain /cmd_vel.
+sleep 4
+case "$SIM_WORLD" in
+    moon.sdf)
+        echo "[gazebo] starting ros_gz_bridge: /cmd_vel + odom + /perseverance/contacts"
+        ros2 run ros_gz_bridge parameter_bridge \
+            /model/perseverance/cmd_vel@geometry_msgs/msg/Twist@ignition.msgs.Twist \
+            /model/perseverance/odometry@nav_msgs/msg/Odometry@ignition.msgs.Odometry \
+            /perseverance/contacts@ros_gz_interfaces/msg/Contacts@ignition.msgs.Contacts \
+            --ros-args \
+            -r /model/perseverance/cmd_vel:=/cmd_vel \
+            -r /model/perseverance/odometry:=/odom \
+            -r /perseverance/contacts:=/contacts &
+        PIDS+=($!)
+        ;;
+    diff_drive.sdf|diff_drive_skid.sdf)
+        echo "[gazebo] starting ros_gz_bridge: /cmd_vel ↔ /model/vehicle_blue/cmd_vel"
+        ros2 run ros_gz_bridge parameter_bridge \
+            /model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist@ignition.msgs.Twist \
+            /model/vehicle_blue/odometry@nav_msgs/msg/Odometry@ignition.msgs.Odometry \
+            --ros-args \
+            -r /model/vehicle_blue/cmd_vel:=/cmd_vel \
+            -r /model/vehicle_blue/odometry:=/odom &
+        PIDS+=($!)
+        ;;
+    *)
+        echo "[gazebo] no ros_gz_bridge wired for world '$SIM_WORLD'"
+        ;;
+esac
+
+# Wait for any background process to exit (or signal).
+wait -n

docker/sim/models/perseverance/model.sdf → docker/gazebo/models/perseverance/model.sdf

@@ -30,6 +30,20 @@
       <collision name="deck_col">
         <geometry><box><size>1.20 1.40 0.40</size></box></geometry>
       </collision>
+
+      <!-- Contact sensor on the body. Pairs with the gz-sim contact
+           system plugin in moon.sdf; emits an ignition.msgs.Contacts
+           message whenever the deck collision touches anything. The
+           gazebo container's ros_gz_bridge republishes this onto a
+           ROS 2 topic. -->
+      <sensor name="bumper" type="contact">
+        <update_rate>10</update_rate>
+        <contact>
+          <collision>deck_col</collision>
+          <topic>/perseverance/contacts</topic>
+        </contact>
+      </sensor>
+
       <visual name="deck">
         <geometry><box><size>1.20 1.40 0.40</size></box></geometry>
         <material>

docker/sim/worlds/moon.sdf → docker/gazebo/worlds/moon.sdf

@@ -105,6 +105,27 @@
         <material><ambient>0.18 0.17 0.16 1</ambient><diffuse>0.36 0.34 0.32 1</diffuse></material></visual></link>
     </model>
 
+    <!-- Big obstacle rock placed directly in the rover's forward path.
+         Rover spawns at origin pointing +x; a boulder at x=8 is hit
+         if the rover drives forward at any reasonable speed. -->
+    <model name="boulder">
+      <static>true</static>
+      <pose>8 0 0.50 0 0 0</pose>
+      <link name="link">
+        <collision name="c">
+          <geometry><ellipsoid><radii>0.90 0.80 0.50</radii></ellipsoid></geometry>
+        </collision>
+        <visual name="v">
+          <geometry><ellipsoid><radii>0.90 0.80 0.50</radii></ellipsoid></geometry>
+          <material>
+            <ambient>0.22 0.20 0.17 1</ambient>
+            <diffuse>0.45 0.41 0.36 1</diffuse>
+            <specular>0.05 0.05 0.05 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
     <!-- Perseverance rover (model lives at /opt/sim/models/perseverance) -->
     <include>
       <uri>model://perseverance</uri>

docker/robot/Dockerfile

@@ -0,0 +1,41 @@
+# Robot container — always-on ROS infrastructure for the simulated
+# rover.
+#
+# What's in vs. out:
+#   IN:  bridge_node (rclpy → gRPC for the agent), sim_battery
+#   OUT: gz sim, ros_gz_bridge, GUI stack — those live in docker/gazebo/.
+#        OTA-swappable controllers — those live as separate
+#        sim/controllers/* images managed by the agent.
+#
+# This container is *not* the OTA target. It hosts the robot's
+# always-on ROS plumbing. The OTA-swappable software runs as a
+# sibling container (drive-circle, drive-figure-eight, ...) on the
+# same lab network and ROS DDS domain.
+FROM ros:humble-ros-base
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV ROS_DOMAIN_ID=42
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV PYTHONUNBUFFERED=1
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        ros-humble-rmw-cyclonedds-cpp \
+        ros-humble-sensor-msgs \
+        python3-pip \
+        python3-grpcio \
+        python3-grpc-tools \
+    && rm -rf /var/lib/apt/lists/*
+
+# Bridge package (rclpy → gRPC) and sim_battery publisher.
+WORKDIR /opt/bridge
+COPY bridge/ /opt/bridge/
+RUN python3 -m pip install --no-cache-dir --upgrade "pip>=23.0" \
+ && python3 -m pip install --no-cache-dir --break-system-packages /opt/bridge
+
+COPY docker/robot/entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+
+# bridge_node gRPC server (TCP) — agent connects here.
+EXPOSE 50051
+
+ENTRYPOINT ["/entrypoint.sh"]

docker/robot/entrypoint.sh

@@ -0,0 +1,27 @@
+#!/usr/bin/env bash
+# robot container entrypoint:
+#   sim_battery (rclpy)        — synthetic /battery_state publisher
+#   bridge_node.server (rclpy) — gRPC peer for the agent on TCP 50051
+set -eo pipefail
+
+set +u; source /opt/ros/humble/setup.bash; set -u
+
+LISTEN="${BRIDGE_LISTEN:-0.0.0.0:50051}"
+
+PIDS=()
+shutdown() {
+    echo "[robot] shutting down"
+    for pid in "${PIDS[@]}"; do kill "$pid" 2>/dev/null || true; done
+    exit 0
+}
+trap shutdown SIGINT SIGTERM
+
+# sim_battery is a stand-in /battery_state publisher (Gazebo doesn't
+# emit one for our model). Real robots publish their own; this is
+# only present in the dev sim.
+echo "[robot] starting sim_battery"
+python3 -m bridge_node.sim_battery &
+PIDS+=($!)
+
+echo "[robot] starting bridge gRPC on $LISTEN"
+exec python3 -m bridge_node.server --listen "$LISTEN"