123 lines
4.0 KiB
SQL
123 lines
4.0 KiB
SQL
CREATE TABLE "course_environment_profiles" (
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"id" UUID NOT NULL DEFAULT gen_random_uuid(),
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"course_id" UUID NOT NULL,
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"week" INTEGER NOT NULL,
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"platform_key" TEXT NOT NULL DEFAULT 'futuredrive-local-pc',
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"profile_type" TEXT NOT NULL,
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"name" TEXT NOT NULL,
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"config" JSONB NOT NULL,
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"enabled" BOOLEAN NOT NULL DEFAULT true,
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"created_at" TIMESTAMPTZ(3) NOT NULL DEFAULT CURRENT_TIMESTAMP,
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"updated_at" TIMESTAMPTZ(3) NOT NULL DEFAULT CURRENT_TIMESTAMP,
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CONSTRAINT "course_environment_profiles_pkey" PRIMARY KEY ("id")
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);
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CREATE UNIQUE INDEX "course_environment_profiles_course_id_week_platform_key_key"
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ON "course_environment_profiles"("course_id", "week", "platform_key");
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CREATE INDEX "course_environment_profiles_course_id_week_idx"
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ON "course_environment_profiles"("course_id", "week");
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CREATE INDEX "course_environment_profiles_profile_type_idx"
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ON "course_environment_profiles"("profile_type");
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ALTER TABLE "course_environment_profiles"
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ADD CONSTRAINT "course_environment_profiles_course_id_fkey"
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FOREIGN KEY ("course_id")
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REFERENCES "courses"("id")
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ON DELETE CASCADE
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ON UPDATE CASCADE;
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COMMENT ON TABLE "course_environment_profiles" IS '강좌/주차/플랫폼별 개발환경 실행 프로파일.';
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COMMENT ON COLUMN "course_environment_profiles"."config" IS 'Docker runtime, ROS launch, bridge, viewer 실행 설정 JSON.';
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INSERT INTO "course_environment_profiles" (
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"course_id",
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"week",
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"platform_key",
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"profile_type",
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"name",
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"config",
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"updated_at"
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)
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SELECT
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course."id",
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3,
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'futuredrive-local-pc',
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'SLAM',
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'TurtleBot3 SLAM 로컬 시뮬레이션',
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'{
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"type": "SLAM",
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"viewer": {
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"type": "slam",
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"url": "/slam-viewer/index.html",
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"healthUrl": "http://localhost:8765/health"
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},
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"runtime": {
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"containers": [
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{
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"name": "nav2-slam",
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"image": "nav2-slam:humble",
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"network": "host",
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"privileged": true,
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"env": {
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"DISPLAY": ":1",
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"QT_X11_NO_MITSHM": "1",
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"LIBGL_ALWAYS_SOFTWARE": "1",
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"TURTLEBOT3_MODEL": "burger"
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},
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"volumes": [
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"/tmp/.X11-unix:/tmp/.X11-unix",
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"/dev/shm:/dev/shm",
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"~/.gazebo:/root/.gazebo",
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"~/.cache:/root/.cache"
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],
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"command": "tail -f /dev/null"
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}
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],
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"steps": [
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{
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"container": "nav2-slam",
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"mode": "execDetached",
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"delayMs": 0,
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"command": "ros2 launch gazebo_ros gzserver.launch.py world:=/opt/ros/humble/share/turtlebot3_gazebo/worlds/turtlebot3_world.world & ros2 launch turtlebot3_gazebo robot_state_publisher.launch.py use_sim_time:=true & sleep 6; ros2 launch turtlebot3_gazebo spawn_turtlebot3.launch.py x_pose:=-2.0 y_pose:=-0.5; wait",
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"logFile": "/tmp/turtlebot3_gazebo.log"
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},
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{
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"container": "nav2-slam",
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"mode": "execDetached",
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"delayMs": 6000,
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"command": "ros2 launch slam_toolbox online_async_launch.py use_sim_time:=true",
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"logFile": "/tmp/slam_toolbox.log"
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},
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{
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"container": "nav2-slam",
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"mode": "execDetached",
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"delayMs": 3000,
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"command": "ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true autostart:=true",
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"logFile": "/tmp/nav2.log"
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}
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]
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},
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"bridge": {
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"name": "slam-ros-bridge",
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"image": "slam-ros-bridge",
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"buildContext": "resources/slam-ros-bridge",
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"port": 8765,
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"env": {
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"ODOM_TOPIC": "/odom",
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"SCAN_TOPIC": "/scan",
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"MAP_TOPIC": "/map",
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"CMD_VEL_TOPIC": "/cmd_vel",
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"NAVIGATE_TO_POSE_ACTION": "/navigate_to_pose"
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}
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}
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}'::jsonb,
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CURRENT_TIMESTAMP
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FROM "courses" AS course
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ON CONFLICT ("course_id", "week", "platform_key") DO UPDATE
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SET
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"profile_type" = EXCLUDED."profile_type",
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"name" = EXCLUDED."name",
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"config" = EXCLUDED."config",
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"enabled" = true,
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"updated_at" = CURRENT_TIMESTAMP;
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