patch..

2026-08-20 13:21:36 +09:00
parent 3529f6441d
commit 121bf41266
2 changed files with 49 additions and 7 deletions
@@ -0,0 +1,41 @@
+-- Remote visualization must load an ARM64 bridge image. The previous
+-- `latest` artifact is AMD64 and can only work when a Jetson bridge image
+-- happened to be preinstalled on the platform.
+WITH refreshed_runtime_images AS (
+  SELECT
+    profile.id,
+    jsonb_agg(
+      CASE WHEN artifact->>'image' IN (
+        'slam-ros-bridge:latest',
+        'slam-ros-bridge:jetson_orin-20260819-sensor-cloud-v1'
+      ) THEN
+        jsonb_build_object(
+          'url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/runtime-images/slam-ros-bridge/jetson-orin/latest/slam-ros-bridge-jetson-orin.tar.zst?v=0659d4cf5578',
+          'image', 'slam-ros-bridge:jetson_orin',
+          'fileName', 'slam-ros-bridge-jetson-orin.tar.zst',
+          'required', true,
+          'checksumSha256', '0659d4cf5578c43bc9c25e4a4fc5d226ccd5b7bec43becfdff83b5390717114e'
+        )
+      ELSE artifact
+      END
+    ) AS runtime_images
+  FROM "course_environment_profiles" profile
+  CROSS JOIN LATERAL jsonb_array_elements(COALESCE(profile.config::jsonb->'runtimeImages', '[]'::jsonb)) artifact
+  WHERE profile."platform_key" = 'PLATFORM'
+    AND profile.config::jsonb #>> '{target}' = 'remote-jetson'
+    AND EXISTS (
+      SELECT 1
+      FROM jsonb_array_elements(COALESCE(profile.config::jsonb->'runtimeImages', '[]'::jsonb)) item
+      WHERE item->>'image' IN (
+        'slam-ros-bridge:latest',
+        'slam-ros-bridge:jetson_orin-20260819-sensor-cloud-v1'
+      )
+    )
+  GROUP BY profile.id
+)
+UPDATE "course_environment_profiles" profile
+SET
+  "config" = jsonb_set(profile.config::jsonb, '{runtimeImages}', refreshed.runtime_images, true),
+  "updated_at" = CURRENT_TIMESTAMP
+FROM refreshed_runtime_images refreshed
+WHERE profile.id = refreshed.id;
@@ -150,7 +150,7 @@ WHERE w.course_id IN (SELECT id FROM target_course) AND w.week = 2;
 WITH module_definitions(category, name, folder_name, template_repository_url, prebuilt_artifacts, default_parameters, docker_image) AS (
  VALUES
    ('Simulator', 'NAV2-Gazebo', '[lms-nav2-gazebo-simulator]nav2-simulator_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-simulator.git',
-      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-simulator/1.0.0/prebuilt/latest/lms-nav2-gazebo-simulator-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-simulator-build-install.tar.zst', 'checksumSha256', '7d2cfe092e81ef15a6e55525410d6f30a803d8c81bee20541dd1d7b964b1fe53', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('gui:=false'), 'future-nav2-gazebo:humble'),
+      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-simulator/1.0.0/prebuilt/latest/lms-nav2-gazebo-simulator-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-simulator-build-install.tar.zst', 'checksumSha256', 'e30919d278a71159dd72be20a78af7671ab7642cb331ccef757ed25e7a9c723b', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('gui:=false'), 'future-nav2-gazebo:humble'),
    ('Vehicle', 'NAV2-TurtleBot3Burger', '[lms-nav2-gazebo-vehicle]nav2-vehicle_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-vehicle.git',
      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-vehicle/1.0.0/prebuilt/latest/lms-nav2-gazebo-vehicle-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-vehicle-build-install.tar.zst', 'checksumSha256', '42e8179172c178978e5ae5d48e189164f6b8a5030fdaa0eba497ca86a97e96bb', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('sim_mode:=true', 'platform:=turtlebot3', 'level:=2d'), 'future-nav2-gazebo:humble'),
    ('Map', 'NAV2-Map', '[lms-nav2-gazebo-map]nav2-map_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-map.git',
@@ -162,9 +162,9 @@ WITH module_definitions(category, name, folder_name, template_repository_url, pr
    ('Perception', 'NAV2-Perception', '[lms-nav2-gazebo-perception]nav2-perception_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-perception.git',
      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-perception/1.0.0/prebuilt/latest/lms-nav2-gazebo-perception-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-perception-build-install.tar.zst', 'checksumSha256', '23c6523d98506caee9e982741c1c806f9f58581aba777af58eadc7cd5fca1432', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('sim_mode:=true'), 'future-nav2-gazebo:humble'),
    ('Planning', 'NAV2-Planning', '[lms-nav2-gazebo-planning]nav2-planning_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-planning.git',
-      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-planning/1.0.0/prebuilt/latest/lms-nav2-gazebo-planning-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-planning-build-install.tar.zst', 'checksumSha256', 'b0c698acf54ef71915e2707868726b998fbdbb2e2ad15fe65cefc931a9afaa78', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), '[]'::jsonb, 'future-nav2-gazebo:humble'),
+      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-planning/1.0.0/prebuilt/latest/lms-nav2-gazebo-planning-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-planning-build-install.tar.zst', 'checksumSha256', 'e00bf99178e610ba6c70ef1e2fb8150082d3f74f557a89177a6a93a183f761ef', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), '[]'::jsonb, 'future-nav2-gazebo:humble'),
    ('Control', 'NAV2-Control', '[lms-nav2-gazebo-control]nav2-control_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-control.git',
-      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-control/1.0.0/prebuilt/latest/lms-nav2-gazebo-control-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-control-build-install.tar.zst', 'checksumSha256', '63b3b59377c19288f47aa5619fef9b10938f400771df1805d8ca973648ac0ed8', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('sim_mode:=true', 'robot:=turtlebot3'), 'future-nav2-gazebo:humble'),
+      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-control/1.0.0/prebuilt/latest/lms-nav2-gazebo-control-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-control-build-install.tar.zst', 'checksumSha256', 'd8d17e333c67c8b27864428d12befbfbd2bfc1a4ab84f8cb17bbe6ba5b9401fe', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('sim_mode:=true', 'robot:=turtlebot3'), 'future-nav2-gazebo:humble'),
    ('Vehicle', 'NAV2-MKMini', '[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-mkmini.git',
      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-mkmini/1.0.0/prebuilt/amd64/lms-nav2-mkmini-build-install-amd64.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-mkmini-build-install-amd64.tar.zst', 'checksumSha256', '6094d2aa5188a28153452aec08e28870984b36c1bc0c06fec8091901f6d26856', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('sim_mode:=false', 'platform:=mkmini', 'level:=2d'), 'future-nav2:humble-jetson_orin')
 )
@@ -221,10 +221,11 @@ CROSS JOIN (
        ),
        'runtimeImages', jsonb_build_array(
          jsonb_build_object(
-            'url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/runtime-images/slam-ros-bridge/latest/slam-ros-bridge-latest.tar.zst',
-            'image', 'slam-ros-bridge:latest',
-            'fileName', 'slam-ros-bridge-latest.tar.zst',
-            'required', true
+            'url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/runtime-images/slam-ros-bridge/jetson-orin/latest/slam-ros-bridge-jetson-orin.tar.zst?v=0659d4cf5578',
+            'image', 'slam-ros-bridge:jetson_orin',
+            'fileName', 'slam-ros-bridge-jetson-orin.tar.zst',
+            'required', true,
+            'checksumSha256', '0659d4cf5578c43bc9c25e4a4fc5d226ccd5b7bec43becfdff83b5390717114e'
          ),
          jsonb_build_object(
            'url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/runtime-images/nav2/jetson-orin/latest/future-nav2-humble-jetson-orin.tar.zst',