fix(launcher): run NAV2 modules through host runtime

.gitignore

@@ -5,3 +5,22 @@ out/
 .env.*
 *.log
 .DS_Store
+
+# Direct `tsc -p` output. Electron Vite owns application compilation.
+/electron.vite.config.js
+/electron.vite.config.d.ts
+/src/main/*.js
+/src/main/*.d.ts
+/src/main/**/*.js
+/src/main/**/*.d.ts
+/src/preload/*.js
+/src/preload/*.d.ts
+/src/preload/**/*.js
+/src/preload/**/*.d.ts
+/src/renderer/src/*.js
+/src/renderer/src/*.jsx
+/src/renderer/src/*.d.ts
+/src/renderer/src/**/*.js
+/src/renderer/src/**/*.jsx
+/src/renderer/src/**/*.d.ts
+*.tsbuildinfo

src/main/lms-web-bridge.ts

@@ -176,6 +176,28 @@ function containerName(folderName: string): string | null {
   return /^[A-Za-z0-9_.-]+-[A-Za-z0-9_.-]+_v[A-Za-z0-9_.-]+$/.test(name) ? name : null
 }
 
+function isNav2ModuleFolder(folderName: string): boolean {
+  return /^\[lms-nav2-[^\]]+\].+_v[^/]+_ws$/.test(folderName)
+}
+
+function resolveLocalNav2RuntimeImage(module: CourseModule, body: Record<string, unknown>, rosParams: string): string {
+  const configured = module.dockerImage?.trim() ?? ''
+  if (configured && /^[A-Za-z0-9._/:@-]+$/.test(configured)) return configured
+
+  const gazeboModule = /^\[lms-nav2-gazebo-/i.test(module.folderName)
+    || (/lms-nav2-mkmini/i.test(module.folderName) && /(?:^|\s)simulator:=gazebo(?:\s|$)/.test(rosParams))
+  const runtimeImages = Array.isArray(body.runtimeImages) ? body.runtimeImages : []
+  const matched = runtimeImages.find((value) => {
+    if (!value || typeof value !== 'object' || Array.isArray(value)) return false
+    const image = (value as RuntimeImageArtifact).image?.trim() ?? ''
+    return gazeboModule
+      ? /nav2.*gazebo|gazebo.*nav2/i.test(image)
+      : /nav2/i.test(image) && !/gazebo|ros-bridge/i.test(image)
+  }) as RuntimeImageArtifact | undefined
+
+  return matched?.image?.trim() || (gazeboModule ? 'future-nav2-gazebo:humble' : 'future-nav2:humble')
+}
+
 function nav2LaunchSpec(folderName: string): { packageName: string; launchFile: string } | null {
   const module = folderName.match(/^\[lms-nav2-(?:gazebo-)?([a-z]+)\]/)?.[1]
   const specs: Record<string, { packageName: string; launchFile: string }> = {
@@ -930,7 +952,6 @@ export class LmsWebBridge {
     const module = this.moduleFromBody(body)
     const root = expandWorkspaceRoot(typeof body.workspaceRoot === 'string' ? body.workspaceRoot : undefined)
     const target = resolve(root, module.folderName)
-    const runtimeConfigRoot = resolve(homedir(), 'autonomy-studio', 'runtime', 'config')
     if (!existsSync(target)) throw new Error('설치된 모듈을 찾을 수 없습니다.')
     const container = containerName(module.folderName)
     if (!container) throw new Error('모듈 컨테이너 이름이 올바르지 않습니다.')
@@ -940,6 +961,23 @@ export class LmsWebBridge {
     const rosParams = typeof body.rosParams === 'string' ? body.rosParams.trim() : ''
     const rosDomainId = typeof body.rosDomainId === 'number' || typeof body.rosDomainId === 'string' ? String(body.rosDomainId).replace(/[^0-9]/g, '') || '0' : '0'
     const gpuEnabled = body.gpuEnabled === true
+    if (isNav2ModuleFolder(module.folderName)) {
+      const runtimeScript = resolve(homedir(), 'autonomy-studio', 'runtime', 'nav2', 'docker', 'docker_run_nav2.sh')
+      if (!existsSync(runtimeScript)) throw new Error(`NAV2 런타임 스크립트를 찾을 수 없습니다: ${runtimeScript}`)
+      await command('bash', [
+        runtimeScript,
+        container,
+        root,
+        module.folderName,
+        resolveLocalNav2RuntimeImage(module, body, rosParams),
+        rosDomainId,
+        gpuEnabled ? 'true' : 'false',
+        ...rosParams.split(/\s+/).filter(Boolean),
+      ], undefined, 45_000)
+      return { ok: true, message: '실행 요청을 보냈습니다.' }
+    }
+
+    const runtimeConfigRoot = resolve(homedir(), 'autonomy-studio', 'runtime', 'config')
     await mkdir(runtimeConfigRoot, { recursive: true })
     const args = ['run', '-d', '--name', container, '--network', 'host', '-v', `${target}:/autoware:rw`, '-v', `${runtimeConfigRoot}:/autoware/config:rw`, '-v', '/etc/localtime:/etc/localtime:ro', '-e', `ROS_DOMAIN_ID=${rosDomainId}`, '-e', 'RCUTILS_COLORIZED_OUTPUT=1', '-e', 'ROS_LOCALHOST_ONLY=1']
     if (process.env.DISPLAY) args.push('-e', `DISPLAY=${process.env.DISPLAY}`, '-v', '/tmp/.X11-unix:/tmp/.X11-unix')
@@ -957,6 +995,19 @@ export class LmsWebBridge {
     const container = containerName(module.folderName)
     if (!container) throw new Error('모듈 컨테이너 이름이 올바르지 않습니다.')
     const rosDomainId = typeof body.rosDomainId === 'number' || typeof body.rosDomainId === 'string' ? String(body.rosDomainId).replace(/[^0-9]/g, '') || '0' : '0'
+    if (isNav2ModuleFolder(module.folderName)) {
+      const runtimeScript = resolve(homedir(), 'autonomy-studio', 'runtime', 'nav2', 'docker', 'docker_build_nav2.sh')
+      if (!existsSync(runtimeScript)) throw new Error(`NAV2 빌드 스크립트를 찾을 수 없습니다: ${runtimeScript}`)
+      const rosParams = typeof body.rosParams === 'string' ? body.rosParams.trim() : ''
+      await command('bash', [
+        runtimeScript,
+        root,
+        module.folderName,
+        resolveLocalNav2RuntimeImage(module, body, rosParams),
+        rosDomainId,
+      ], undefined, 900_000)
+      return { ok: true, message: '빌드가 완료되었습니다.' }
+    }
     await command('docker', [
       'run', '--rm', '--name', `${container}-build`, '--volume', `${target}:/autoware:rw`, '-u', 'root', '--net=host',
       '-e', `ROS_DOMAIN_ID=${rosDomainId}`, '-v', '/etc/localtime:/etc/localtime:ro', '--entrypoint', '/bin/bash', AUTOWARE_IMAGE,

tsconfig.node.json

@@ -2,7 +2,9 @@
   "extends": "@electron-toolkit/tsconfig/tsconfig.node.json",
   "include": ["electron.vite.config.*", "src/main/**/*", "src/preload/**/*"],
   "compilerOptions": {
-    "composite": true,
+    "composite": false,
+    "incremental": false,
+    "noEmit": true,
     "moduleResolution": "bundler",
     "types": ["electron-vite/node"]
   }

tsconfig.web.json

@@ -2,7 +2,9 @@
   "extends": "@electron-toolkit/tsconfig/tsconfig.web.json",
   "include": ["src/renderer/src/**/*"],
   "compilerOptions": {
-    "composite": true,
+    "composite": false,
+    "incremental": false,
+    "noEmit": true,
     "resolveJsonModule": true,
     "moduleResolution": "bundler",
     "paths": {