add commits..

src/main/index.ts

@@ -26,10 +26,10 @@ const moduleCacheRoot = resolve(homedir(), '.caches')
 const artifactCacheRoot = resolve(homedir(), '.cache', 'autonomy-studio', 'artifacts')
 const studioRuntimeRoot = resolve(homedir(), 'autonomy-studio', 'runtime')
 const autowareDockerImage = 'ghcr.io/autowarefoundation/autoware-universe:humble-20240301-cuda'
-const nav2DockerImage = 'nav2-dev:humble'
+const nav2DockerImage = 'future-nav2-gazebo:humble'
 const autowareRosBridgeImage = 'autoware-ros-bridge'
 const slamRosBridgeImage = 'slam-ros-bridge'
-const slamSimulationRuntimeImage = 'nav2-slam:humble'
+const slamSimulationRuntimeImage = 'future-nav2-gazebo:humble'
 const slamSimulationRuntimeContainerName = 'nav2-slam'
 const rosBridgePort = 8765
 const exampleCodeRoot = resolve(homedir(), '다운로드', 'example-code')
@@ -199,6 +199,14 @@ type RuntimeImageArtifact = {
   required?: boolean | null
 }
 
+const defaultNav2GazeboRuntimeImage: RuntimeImageArtifact = {
+  image: 'future-nav2-gazebo:humble',
+  url: 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/runtime-images/nav2/gazebo/latest/future-nav2-gazebo-humble.tar.zst',
+  fileName: 'future-nav2-gazebo-humble.tar.zst',
+  checksumSha256: '54230e039c1fa5dc82615cef3828c5acae7b8bea8e921b70cfdc5351d8301644',
+  required: true,
+}
+
 type ModuleInstallOptions = {
   prebuiltArtifacts?: ModulePrebuiltArtifact[] | null
   runtimeImages?: RuntimeImageArtifact[] | null
@@ -236,6 +244,10 @@ type WorldLayoutObject = {
 
 type WorldLayout = {
   version: 1
+  bounds: {
+    width: number
+    depth: number
+  }
   objects: WorldLayoutObject[]
 }
 
@@ -255,6 +267,7 @@ type SavedMapArtifactDownload = {
 function defaultWorldLayout(): WorldLayout {
   return {
     version: 1,
+    bounds: { width: 10, depth: 10 },
     objects: []
   }
 }
@@ -278,7 +291,14 @@ function normalizeWorldLayout(value: unknown): WorldLayout {
       size: tuple(object.size, [1, 1, 1])
     }]
   }).filter((object) => !['wall-1', 'pillar-1'].includes(object.id))
-  return { version: 1, objects }
+  const boundsInput = (value as { bounds?: unknown }).bounds
+  const bounds = boundsInput && typeof boundsInput === 'object'
+    ? boundsInput as { width?: unknown; depth?: unknown }
+    : {}
+  const size = (input: unknown, fallback: number): number => (
+    typeof input === 'number' && Number.isFinite(input) ? Math.min(40, Math.max(2, input)) : fallback
+  )
+  return { version: 1, bounds: { width: size(bounds.width, 10), depth: size(bounds.depth, 10) }, objects }
 }
 
 function worldLayoutPath(workspaceRoot?: string | null): string {
@@ -766,6 +786,17 @@ function resolveNav2RuntimeImage(
   return nav2Image || nav2DockerImage
 }
 
+function requiredRuntimeImages(
+  runtimeImages: RuntimeImageArtifact[] | null | undefined,
+  runtimeImage: string,
+): RuntimeImageArtifact[] {
+  const images = (runtimeImages ?? []).filter((image) => image?.image?.trim())
+  if (runtimeImage !== nav2DockerImage || images.some((image) => image.image?.trim() === runtimeImage)) {
+    return images
+  }
+  return [...images, defaultNav2GazeboRuntimeImage]
+}
+
 async function resolveCustomModuleRuntimeImage(moduleRoot: string, fallbackImage: string): Promise<string> {
   try {
     const config = JSON.parse(await readFile(resolve(moduleRoot, '.autonomy-studio-module.json'), 'utf8')) as { dockerImage?: unknown }
@@ -1153,7 +1184,11 @@ async function ensureArtifactFile(url?: string | null, fileName?: string | null,
 
   const targetPath = artifactCachePath(artifactUrl, fileName)
   const expected = checksumSha256?.trim().toLowerCase()
-  if (!existsSync(targetPath)) await downloadArtifact(artifactUrl, targetPath)
+  // Module artifact URLs are intentionally stable (for example, `latest`).
+  // Do not reuse a same-named local file, or a source update can run with an
+  // older install tree even though R2 already contains the current artifact.
+  await rm(targetPath, { force: true })
+  await downloadArtifact(artifactUrl, targetPath)
   if (expected) {
     let actual = createHash('sha256').update(await readFile(targetPath)).digest('hex').toLowerCase()
     if (actual !== expected) {
@@ -2507,7 +2542,7 @@ function bridgeContainerCommand(stack: VisualizationStack): string {
 function normalizeVisualizationStack(value?: string | null): VisualizationStack {
   if (value === 'slam') return 'slam'
   if (value === 'slam3d') return 'slam3d'
-  return value === 'nav2' ? 'nav2' : 'autoware'
+  return value === 'nav2' || value === 'local' || value === 'platform' ? 'nav2' : 'autoware'
 }
 
 async function readContainerEnvironmentValue(containerName: string, key: string): Promise<string | null> {
@@ -2722,10 +2757,7 @@ function withRuntimeProfileDefaults(
   if (!profile) return profile
   const target = normalizeRuntimeTarget(profile.target)
   const prefix = target === 'remote-jetson' ? `JETSON_${stackEnvPrefix(stack)}` : `LOCAL_${stackEnvPrefix(stack)}`
-  const dedicatedReadOnlyBridge = profile.type?.toLowerCase() === 'real_slam_3d'
-  const bridgeImage = dedicatedReadOnlyBridge
-    ? profile.bridge?.image
-    : envValue(`${prefix}_BRIDGE_IMAGE`) ?? profile.bridge?.image
+  const bridgeImage = envValue(`${prefix}_BRIDGE_IMAGE`) ?? profile.bridge?.image
   const runtimeImage = envValue(`${prefix}_RUNTIME_IMAGE`)
   const agentUrl = target === 'remote-jetson'
     ? envValue(`${prefix}_AGENT_URL`) ?? envValue('JETSON_AGENT_URL') ?? profile.agent?.url
@@ -2790,7 +2822,7 @@ async function startVisualizationBridge(
   rosNetwork?: RosNetworkConfig | null,
   savedMapDatabasePath?: string | null,
 ): Promise<VisualizationBridgeStatus> {
-  const stack = normalizeVisualizationStack(environmentProfile?.type?.toLowerCase() ?? stackInput)
+  const stack = normalizeVisualizationStack(stackInput ?? environmentProfile?.type?.toLowerCase())
   const resolvedProfile = withRuntimeProfileDefaults(environmentProfile, stack)
   const target = normalizeRuntimeTarget(resolvedProfile?.target)
   const bridge = resolvedProfile?.bridge
@@ -2869,7 +2901,7 @@ async function startVisualizationBridge(
       '-e',
       `ROS_DOMAIN_ID=${requestedRosDomainId}`,
       '-e',
-      'ROS_LOCALHOST_ONLY=0',
+      `ROS_LOCALHOST_ONLY=${rosNetworkEnabled(rosNetwork) ? '0' : '1'}`,
       '-e',
       `AUTONOMY_STUDIO_ROS_NETWORK=${requestedRosNetworkKey}`,
       '-e',
@@ -3150,8 +3182,9 @@ async function installRemoteWorkspaceModule(
     '    if not url: continue',
     '    name = item.get("fileName") or os.path.basename(url.split("?", 1)[0]) or "artifact.tar"',
     '    path = os.path.join(cache, name)',
-    '    if not os.path.exists(path):',
-    '        subprocess.run(["curl", "-fL", url, "-o", path], check=True)',
+    '    # Stable latest URLs must not reuse a same-named local artifact.',
+    '    if os.path.exists(path): os.unlink(path)',
+    '    subprocess.run(["curl", "-fL", url, "-o", path], check=True)',
     '    expected = (item.get("checksumSha256") or "").strip().lower()',
     '    if expected:',
     '        import hashlib',
@@ -3531,6 +3564,7 @@ function buildNav2DockerRunScript(): string {
     'GPU_ENABLED=${6:-false}',
     'shift 6 || true',
     'FASTDDS_CONFIG_PATH=${FASTDDS_CONFIG_PATH:-}',
+    'ROS_LOCALHOST_ONLY_VALUE=${ROS_LOCALHOST_ONLY:-1}',
     'LOCALIZATION_MODE=slam',
     'filtered_args=()',
     'for arg in "$@"; do',
@@ -3591,6 +3625,7 @@ function buildNav2DockerRunScript(): string {
     '  --rm -d --network host --ipc=host',
     '  --name "$CONTAINER_NAME"',
     '  -e "ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VALUE"',
+    '  -e "ROS_LOCALHOST_ONLY=$ROS_LOCALHOST_ONLY_VALUE"',
     '  -e "TURTLEBOT3_MODEL=${TURTLEBOT3_MODEL:-burger}"',
     '  -e "MODULE_ROOT=/modules"',
     '  -e "MODULE_FOLDER=$MODULE_FOLDER"',
@@ -3603,7 +3638,7 @@ function buildNav2DockerRunScript(): string {
     '  args+=(--gpus all -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics)',
     'fi',
     'if [ -n "$FASTDDS_CONFIG_PATH" ] && [ -f "$FASTDDS_CONFIG_PATH" ]; then',
-    '  args+=(-v "$FASTDDS_CONFIG_PATH:/fastdds_profiles.xml:ro" -e "FASTDDS_DEFAULT_PROFILES_FILE=/fastdds_profiles.xml" -e "FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds_profiles.xml" -e ROS_LOCALHOST_ONLY=0)',
+    '  args+=(-v "$FASTDDS_CONFIG_PATH:/fastdds_profiles.xml:ro" -e "FASTDDS_DEFAULT_PROFILES_FILE=/fastdds_profiles.xml" -e "FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds_profiles.xml")',
     'fi',
     'if [ -d /dev/dri ]; then args+=(--device /dev/dri); fi',
     'if [ -n "${DISPLAY:-}" ] && [ -d /tmp/.X11-unix ]; then',
@@ -3999,7 +4034,6 @@ async function startWorkspaceModule(
   const dockerInfo = parseModuleDockerInfo(targetFolderName)
   if (!dockerInfo || !isAllowedContainerName(dockerInfo.containerKey)) throw new Error('모듈 폴더명 형식이 올바르지 않습니다.')
 
-  await prepareRuntimeImages(runtimeImages)
   if (isNav2ModuleFolder(targetFolderName)) {
     await ensureNav2RuntimeAssets()
     const fastDdsConfigPath = await prepareLocalRosNetworkConfig(rosNetwork, rosDomainId)
@@ -4009,6 +4043,7 @@ async function startWorkspaceModule(
       moduleRoot,
       resolveNav2RuntimeImage(runtimeImages, targetFolderName, rosParams),
     )
+    await prepareRuntimeImages(requiredRuntimeImages(runtimeImages, runtimeImage))
     await runCommand(
       'bash',
       [
@@ -4022,12 +4057,16 @@ async function startWorkspaceModule(
         ...splitRosParams(rosParams)
       ],
       undefined,
-      fastDdsConfigPath ? { FASTDDS_CONFIG_PATH: fastDdsConfigPath } : undefined,
+      {
+        ROS_LOCALHOST_ONLY: rosNetworkEnabled(rosNetwork) ? '0' : '1',
+        ...(fastDdsConfigPath ? { FASTDDS_CONFIG_PATH: fastDdsConfigPath } : {}),
+      },
       30000
     )
     return { ok: true, message: '실행 요청을 보냈습니다.' }
   }
 
+  await prepareRuntimeImages(runtimeImages)
   await ensureStudioRuntimeAssets()
   const scriptPath = resolveAutowareDockerRunScript()
   if (!existsSync(scriptPath)) throw new Error(`${scriptPath} 파일을 찾을 수 없습니다.`)
@@ -4082,7 +4121,6 @@ async function buildWorkspaceModule(
   const dockerInfo = parseModuleDockerInfo(targetFolderName)
   if (!dockerInfo || !isAllowedContainerName(dockerInfo.containerKey)) throw new Error('모듈 폴더명 형식이 올바르지 않습니다.')
 
-  await prepareRuntimeImages(runtimeImages)
   if (isNav2ModuleFolder(targetFolderName)) {
     await ensureNav2RuntimeAssets()
     const rosParams = typeof rosParamsOverride === 'string' ? rosParamsOverride.trim() : await readModuleRosParams(moduleRoot)
@@ -4090,6 +4128,7 @@ async function buildWorkspaceModule(
       moduleRoot,
       resolveNav2RuntimeImage(runtimeImages, targetFolderName, rosParams),
     )
+    await prepareRuntimeImages(requiredRuntimeImages(runtimeImages, runtimeImage))
     await runCommand(
       'bash',
       [
@@ -4106,6 +4145,7 @@ async function buildWorkspaceModule(
     return { ok: true, message: '빌드가 완료되었습니다.' }
   }
 
+  await prepareRuntimeImages(runtimeImages)
   await runCommand(
     'docker',
     [
@@ -4124,6 +4164,62 @@ async function buildWorkspaceModule(
   return { ok: true, message: '빌드가 완료되었습니다.' }
 }
 
+async function prepareRemoteRuntimeImages(
+  target: RemoteWorkspaceTarget,
+  runtimeImages?: RuntimeImageArtifact[] | null,
+): Promise<void> {
+  const artifacts = (runtimeImages ?? [])
+    .filter((image) => image?.image?.trim())
+    .map((image) => ({
+      image: image.image?.trim() ?? '',
+      url: image.url?.trim() ?? '',
+      fileName: image.url?.trim() ? safeArtifactFileName(image.url.trim(), image.fileName) : '',
+      checksumSha256: image.checksumSha256?.trim() ?? '',
+      required: Boolean(image.required),
+    }))
+  const artifactsJson = JSON.stringify(artifacts)
+
+  await runSsh(
+    target,
+    [
+      'set -e',
+      `RUNTIME_IMAGE_JSON="$(printf %s ${quoteShellSingle(encodeBase64(artifactsJson))} | base64 -d)"`,
+      'ARTIFACT_CACHE="${XDG_CACHE_HOME:-$HOME/.cache}/autonomy-studio/artifacts"',
+      'mkdir -p "$ARTIFACT_CACHE"',
+      'LOCK_FILE="$ARTIFACT_CACHE/runtime-images.lock"',
+      'flock "$LOCK_FILE" python3 - "$RUNTIME_IMAGE_JSON" "$ARTIFACT_CACHE" <<\'PY\'',
+      'import json, os, subprocess, sys',
+      'images = json.loads(sys.argv[1] or "[]")',
+      'cache = sys.argv[2]',
+      'for item in images:',
+      '    image = (item.get("image") or "").strip()',
+      '    if not image: continue',
+      '    exists = subprocess.run(["docker", "image", "inspect", image], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL).returncode == 0',
+      '    if exists: continue',
+      '    url = (item.get("url") or "").strip()',
+      '    if not url:',
+      '        if item.get("required"): raise SystemExit(f"runtime image artifact url is missing: {image}")',
+      '        continue',
+      '    name = item.get("fileName") or os.path.basename(url.split("?", 1)[0]) or "runtime-image.tar"',
+      '    path = os.path.join(cache, name)',
+      '    if os.path.exists(path): os.unlink(path)',
+      '    subprocess.run(["curl", "-fL", url, "-o", path], check=True)',
+      '    expected = (item.get("checksumSha256") or "").strip().lower()',
+      '    if expected:',
+      '        import hashlib',
+      '        with open(path, "rb") as fp: actual = hashlib.sha256(fp.read()).hexdigest().lower()',
+      '        if actual != expected: raise SystemExit(f"runtime image checksum mismatch: {name}")',
+      '    if path.lower().endswith(".tar.zst") or path.lower().endswith(".tzst"):',
+      '        import shlex',
+      '        subprocess.run(f"zstd -dc {shlex.quote(path)} | docker load", shell=True, check=True)',
+      '    else:',
+      '        subprocess.run(["docker", "load", "-i", path], check=True)',
+      'PY'
+    ].join('\n'),
+    900000,
+  )
+}
+
 async function startRemoteWorkspaceModule(
   targetInput: RemoteWorkspaceTarget,
   moduleName: string,
@@ -4140,17 +4236,6 @@ async function startRemoteWorkspaceModule(
 
   const dockerInfo = parseModuleDockerInfo(targetFolderName)
   if (!dockerInfo || !isAllowedContainerName(dockerInfo.containerKey)) throw new Error('모듈 폴더명 형식이 올바르지 않습니다.')
-  const runtimeImageArtifacts = (runtimeImages ?? [])
-    .filter((image) => image?.image?.trim())
-    .map((image) => ({
-      image: image.image?.trim() ?? '',
-      url: image.url?.trim() ?? '',
-      fileName: image.url?.trim() ? safeArtifactFileName(image.url.trim(), image.fileName) : '',
-      checksumSha256: image.checksumSha256?.trim() ?? '',
-      required: Boolean(image.required),
-    }))
-  const runtimeImageJson = JSON.stringify(runtimeImageArtifacts)
-
   const existsOutput = await runSshOutput(target, [
     `ROOT=${quoteShellSingle(target.workspaceRoot)}`,
     ...expandRemotePathVar('ROOT'),
@@ -4172,43 +4257,7 @@ async function startRemoteWorkspaceModule(
     ? await ensureRemoteNav2RuntimeAssets(target)
     : await ensureRemoteStudioRuntimeAssets(target)
   const fastDdsConfigPath = await prepareRemoteRosNetworkConfig(target, runtimeRoot, rosNetwork, rosDomainId)
-  await runSsh(
-    target,
-    [
-      'set -e',
-      `RUNTIME_IMAGE_JSON="$(printf %s ${quoteShellSingle(encodeBase64(runtimeImageJson))} | base64 -d)"`,
-      'ARTIFACT_CACHE="${XDG_CACHE_HOME:-$HOME/.cache}/autonomy-studio/artifacts"',
-      'mkdir -p "$ARTIFACT_CACHE"',
-      'python3 - "$RUNTIME_IMAGE_JSON" "$ARTIFACT_CACHE" <<\'PY\'',
-      'import json, os, subprocess, sys',
-      'images = json.loads(sys.argv[1] or "[]")',
-      'cache = sys.argv[2]',
-      'for item in images:',
-      '    image = (item.get("image") or "").strip()',
-      '    if not image: continue',
-      '    exists = subprocess.run(["docker", "image", "inspect", image], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL).returncode == 0',
-      '    if exists: continue',
-      '    url = (item.get("url") or "").strip()',
-      '    if not url:',
-      '        if item.get("required"): raise SystemExit(f"runtime image artifact url is missing: {image}")',
-      '        continue',
-      '    name = item.get("fileName") or os.path.basename(url.split("?", 1)[0]) or "runtime-image.tar"',
-      '    path = os.path.join(cache, name)',
-      '    if not os.path.exists(path): subprocess.run(["curl", "-fL", url, "-o", path], check=True)',
-      '    expected = (item.get("checksumSha256") or "").strip().lower()',
-      '    if expected:',
-      '        import hashlib',
-      '        with open(path, "rb") as fp: actual = hashlib.sha256(fp.read()).hexdigest().lower()',
-      '        if actual != expected: raise SystemExit(f"runtime image checksum mismatch: {name}")',
-      '    if path.lower().endswith(".tar.zst") or path.lower().endswith(".tzst"):',
-      '        import shlex',
-      '        subprocess.run(f"zstd -dc {shlex.quote(path)} | docker load", shell=True, check=True)',
-      '    else:',
-      '        subprocess.run(["docker", "load", "-i", path], check=True)',
-      'PY'
-    ].join('\n'),
-    900000
-  )
+  await prepareRemoteRuntimeImages(target, runtimeImages)
   const currentStatus = await runSshOutput(target, `timeout 12s docker ps -a --filter ${quoteShellSingle(`name=^/${dockerInfo.containerKey}$`)} --format "{{.Status}}" 2>/dev/null || true`, 20000)
   if (/^Up\b/i.test(currentStatus.trim())) return { ok: true, message: '이미 실행 중입니다.' }
   if (currentStatus.trim()) {
@@ -4257,9 +4306,11 @@ async function startRemoteWorkspaceModule(
           ...expandRemotePathVar('ROOT'),
           `PARAMS=${quoteShellSingle(remoteRosParams)}`,
           `FASTDDS_CONFIG_PATH=${quoteShellSingle(fastDdsConfigPath ?? '')}`,
+          `ROS_LOCALHOST_ONLY=${rosNetworkEnabled(rosNetwork) ? '0' : '1'}`,
           ...expandRemotePathVar('FASTDDS_CONFIG_PATH'),
           'read -r -a EXTRA_ARGS <<< "$PARAMS"',
           'export FASTDDS_CONFIG_PATH',
+          'export ROS_LOCALHOST_ONLY',
           `bash "$RUNTIME_ROOT/docker/docker_run_nav2.sh" ${quoteShellSingle(dockerInfo.containerKey)} "$ROOT" ${quoteShellSingle(targetFolderName)} ${quoteShellSingle(runtimeImage!)} ${quoteShellSingle(String(rosDomainId ?? process.env.ROS_DOMAIN_ID ?? '0').trim() || '0')} ${gpuEnabled ? 'true' : 'false'} "\${EXTRA_ARGS[@]}"`
         ].join('\n')
       : [
@@ -4298,6 +4349,7 @@ async function buildRemoteWorkspaceModule(
       targetFolderName,
       await resolveRemoteNav2RuntimeImage(runtimeImages),
     )
+    await prepareRemoteRuntimeImages(target, runtimeImages)
     await runSsh(target, [
       'set -e',
       `RUNTIME_ROOT=${quoteShellSingle(runtimeRoot)}`,