ROS1 (Noetic) workspace for planner, simple simulation, and metrics/benchmark runs.

• Ubuntu: run ROS natively and use RViz (best experience).
• macOS: run in Docker and use Foxglove Bridge (most reliable).
• macOS RViz via noVNC is available, but treat it as optional/experimental.

This repository is the catkin workspace root:

• src/ contains ROS packages
• build/, devel/, logs/ are generated artifacts

Clone with submodules:

git clone --recurse-submodules <repo-url>

If already cloned, run:

git submodule update --init --recursive

Prereqs: Ubuntu 20.04 + ROS Noetic.

From repo root:

source /opt/ros/noetic/setup.bash
sudo apt update
sudo apt install -y \
  python3-empy \
  python3-catkin-tools \
  python3-rosdep \
  python3-vcstool
sudo rosdep init || true
rosdep update
rosdep install --from-paths src --ignore-src -r -y
catkin config --extend /opt/ros/noetic --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=OFF -Wno-dev
catkin build --no-status --summarize
source devel/setup.bash

For platforms without native ROS Noetic or when running headless, use Docker with Foxglove for visualization.

Install Foxglove first:

• Foxglove Desktop download
• Foxglove Web App

Start the container:

cd /home/moon/code/ia-tigris
docker compose -f src/ipp_planners/docker-compose.yml up -d ros

Build the workspace (first time only):

docker compose -f src/ipp_planners/docker-compose.yml exec ros bash
# Inside container:
cd /workspace
catkin config --extend /opt/ros/noetic
catkin build --no-status --summarize
source devel/setup.bash

Run the demo:

# Inside the container (or in a new exec session):
roslaunch ipp_planners main.launch \
  config:=fixed-wing \
  planner:=tigris \
  sim:=simple \
  rviz:=false \
  foxglove:=true

Connect Foxglove to: ws://localhost:8765

In Foxglove:

1. Open Foxglove Desktop (or Web App).
2. Click Open connection.
3. Choose WebSocket.
4. Enter ws://localhost:8765.
5. Start streaming and add panels as needed (for example, 3D and Raw Messages).

Send a plan request (in another terminal):

docker compose -f src/ipp_planners/docker-compose.yml exec ros bash -c \
  "source /workspace/devel/setup.bash && rosrun planner_map_interfaces pub_plan_request_from_yaml.py \$(rospack find planner_map_interfaces)/config/fixed-wing/plan_requests/benchmarks/search_scenario_1.yaml"

The workspace is mounted as a volume (../../:/workspace), so build artifacts (build/, devel/, logs/) appear on the host.

RViz is enabled by default in main.launch.

roslaunch ipp_planners main.launch \
  config:=fixed-wing \
  planner:=tigris \
  sim:=simple

In a second terminal:

source devel/setup.bash
rosrun planner_map_interfaces pub_plan_request_from_yaml.py \
  $(rospack find planner_map_interfaces)/config/fixed-wing/plan_requests/aug_workshop_demos/search-track_scenario.yaml

See Docker Setup section above for the complete workflow.

Key points:

• Use rviz:=false foxglove:=true when launching
• Connect to ws://localhost:8765 in Foxglove
• Foxglove bridge is already exposed via compose on port 8765

From repo root on host:

ENABLE_HEADLESS_DISPLAY=1 docker compose -f src/ipp_planners/docker-compose.yml --profile vnc up -d
docker compose -f src/ipp_planners/docker-compose.yml exec ros bash

Notes:

• ENABLE_HEADLESS_DISPLAY=1 is required for RViz/noVNC mode.
• Apple Silicon (M1/M2/M3): the novnc image is linux/amd64, so it runs via emulation. If Docker asks, enable x86/amd64 emulation (Rosetta) in Docker Desktop settings.

Inside container:

roslaunch ipp_planners main.launch \
  config:=fixed-wing \
  planner:=tigris \
  sim:=simple

Open:

• http://localhost:8080

docker compose -f src/ipp_planners/docker-compose.yml exec ros bash
roslaunch metrics sim_mc_runs.launch \
  config:=fixed-wing \
  sim:=simple \
  include_cpu_mem_monitor:=true

For isolated testing, reproducibility, or CI (platforms without native ROS), use the benchmark script:

src/ipp_planners/scripts/build_test_benchmark.sh

This builds an isolated Docker image with the full workspace (no host artifacts), runs unit tests and benchmarks, and saves results to src/ipp_planners/test_results/<timestamp>/.

Options:

• -b true/false - Build image from scratch
• -u true/false - Run unit tests
• -t true/false - Run benchmarks
• -l true/false - Run tests locally (no Docker)

• Active image: src/ipp_planners/Dockerfile (used by src/ipp_planners/docker-compose.yml and src/ipp_planners/scripts/build_test_benchmark.sh).

Default output directory is configured in:

• src/ipp_metrics/launch/sim_mc_runs.launch