fix(launcher): stabilize remote connection and optimize update progress

.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

electron.vite.config.ts

@@ -8,9 +8,13 @@ const { version } = JSON.parse(readFileSync('./package.json', 'utf-8'))
 
 export default defineConfig({
   main: {
+    resolve: { extensions: ['.ts', '.tsx', '.mjs', '.js', '.json'] },
+    build: { rollupOptions: { input: resolve('src/main/index.ts') } },
     plugins: [externalizeDepsPlugin()]
   },
   preload: {
+    resolve: { extensions: ['.ts', '.tsx', '.mjs', '.js', '.json'] },
+    build: { rollupOptions: { input: resolve('src/preload/index.ts') } },
     plugins: [externalizeDepsPlugin()]
   },
   renderer: {
@@ -19,6 +23,7 @@ export default defineConfig({
       'import.meta.env.VITE_APP_VERSION': JSON.stringify(version)
     },
     resolve: {
+      extensions: ['.ts', '.tsx', '.mjs', '.js', '.jsx', '.json'],
       alias: {
         '@renderer': resolve('src/renderer/src')
       }

package.json

@@ -1,6 +1,6 @@
 {
   "name": "autonomy-studio-launcher",
-  "version": "1.1.0",
+  "version": "1.1.5",
   "description": "Autonomy Studio v2 Frontend",
   "main": "./out/main/index.js",
   "author": {
@@ -14,13 +14,13 @@
     "typecheck:node": "tsc --noEmit -p tsconfig.node.json --composite false",
     "typecheck:web": "tsc --noEmit -p tsconfig.web.json --composite false",
     "typecheck": "npm run typecheck:node && npm run typecheck:web",
-    "start": "electron-vite preview",
+    "start": "electron-vite preview --config electron.vite.config.ts",
-    "dev": "electron-vite dev",
+    "dev": "electron-vite dev --config electron.vite.config.ts",
-    "build": "npm run typecheck && electron-vite build",
+    "build": "npm run typecheck && electron-vite build --config electron.vite.config.ts",
     "postinstall": "electron-builder install-app-deps",
     "build:unpack": "npm run build && electron-builder --dir",
     "build:win": "npm run build && electron-builder --win",
-    "build:mac": "electron-vite build && electron-builder --mac",
+    "build:mac": "electron-vite build --config electron.vite.config.ts && electron-builder --mac",
     "build:linux": "npm run build && electron-builder --linux"
   },
   "build": {

scripts/test-appimage-fuse.cjs

@@ -0,0 +1,70 @@
+const { test } = require('node:test')
+const assert = require('node:assert/strict')
+const { readFileSync } = require('node:fs')
+const { join } = require('node:path')
+const ts = require('typescript')
+const source = readFileSync(join(__dirname, '../src/main/appImageFuse.ts'), 'utf8')
+const compiled = ts.transpileModule(source, { compilerOptions: { module: ts.ModuleKind.CommonJS } }).outputText
+const api = {}
+new Function('exports', compiled)(api)
+const cache = 'libfuse.so.2 (libc6,x86-64) => /lib/x86_64-linux-gnu/libfuse.so.2'
+
+function fixture(options = {}) {
+  let installed = Boolean(options.installed)
+  const calls = []
+  const prepare = api.createFusePreparation({
+    platform: options.platform ?? 'linux', arch: 'x64',
+    readOsRelease: () => `ID=ubuntu\nVERSION_ID="${options.version ?? '24.04'}"\nPRETTY_NAME="Ubuntu"`,
+    confirm: async () => { calls.push('confirm'); return options.accept !== false },
+    run: async (command, args) => {
+      calls.push([command, ...args])
+      if (command === '/sbin/ldconfig') return { stdout: installed ? cache : '', stderr: '' }
+      if (command === '/usr/bin/apt-cache') return { stdout: options.noCandidate ? 'Candidate: (none)' : 'Candidate: 2.9.9', stderr: '' }
+      if (command === 'pkexec') {
+        if (options.fail) throw new Error('authentication cancelled')
+        installed = options.stillMissing !== true
+        return { stdout: '', stderr: '' }
+      }
+      throw new Error(`Unexpected command ${command}`)
+    },
+  })
+  return { prepare, calls }
+}
+
+test('FUSE 3 and a foreign architecture do not satisfy FUSE 2', () => {
+  assert.equal(api.hasFuseLibrary(cache, 'x64'), true)
+  assert.equal(api.hasFuseLibrary(cache, 'arm64'), false)
+  assert.equal(api.hasFuseLibrary('libfuse3.so.3 (libc6,x86-64)', 'x64'), false)
+})
+test('existing library and non-Linux skip installation', async () => {
+  for (const options of [{ installed: true }, { platform: 'darwin' }]) {
+    const f = fixture(options)
+    await f.prepare()
+    assert.equal(f.calls.includes('confirm'), false)
+  }
+})
+test('Ubuntu versions choose the appropriate package and recheck installation', async () => {
+  for (const [version, pkg] of [['22.04', 'libfuse2'], ['24.04', 'libfuse2t64'], ['26.04', 'libfuse2t64']]) {
+    const f = fixture({ version })
+    await f.prepare()
+    assert.deepEqual(f.calls.find((call) => call[0] === 'pkexec'), ['pkexec', '/usr/bin/apt-get', 'install', '-y', '--no-remove', pkg])
+    assert.equal(f.calls.filter((call) => call[0] === '/sbin/ldconfig').length, 2)
+  }
+})
+test('cancel does not install and can be retried', async () => {
+  const f = fixture({ accept: false })
+  await assert.rejects(f.prepare(), /취소/)
+  await assert.rejects(f.prepare(), /취소/)
+  assert.equal(f.calls.some((call) => call[0] === 'pkexec'), false)
+})
+test('missing candidate, failed authentication and failed postcheck reject', async () => {
+  for (const options of [{ noCandidate: true }, { fail: true }, { stillMissing: true }]) {
+    await assert.rejects(fixture(options).prepare())
+  }
+})
+test('concurrent preparations share one prompt and installation', async () => {
+  const f = fixture()
+  await Promise.all([f.prepare(), f.prepare()])
+  assert.equal(f.calls.filter((call) => call === 'confirm').length, 1)
+  assert.equal(f.calls.filter((call) => call[0] === 'pkexec').length, 1)
+})

src/main/appImageFuse.ts

@@ -0,0 +1,65 @@
+export type FusePackage = 'libfuse2' | 'libfuse2t64'
+
+export function parseOsRelease(content: string): Record<string, string> {
+  return Object.fromEntries(content.split('\n').flatMap((line) => {
+    const match = line.match(/^([A-Z_]+)=(.*)$/)
+    return match ? [[match[1], match[2].replace(/^(["'])(.*)\1$/, '$2')]] : []
+  }))
+}
+
+export function fusePackageCandidates(os: Record<string, string>): FusePackage[] {
+  const modern = (os.ID === 'ubuntu' && Number.parseFloat(os.VERSION_ID) >= 24.04)
+    || (os.ID === 'debian' && Number.parseFloat(os.VERSION_ID) >= 13)
+  return modern ? ['libfuse2t64', 'libfuse2'] : ['libfuse2', 'libfuse2t64']
+}
+
+export function hasFuseLibrary(cache: string, arch: string): boolean {
+  const architecture = arch === 'x64' ? 'x86-64' : arch === 'arm64' ? 'AArch64' : null
+  return cache.split('\n').some((line) => /^\s*libfuse\.so\.2\s/.test(line)
+    && (!architecture || line.includes(architecture)))
+}
+
+type Dependencies = {
+  platform: string
+  arch: string
+  readOsRelease: () => string
+  run: (command: string, args: string[], timeout?: number) => Promise<{ stdout: string; stderr: string }>
+  confirm: (details: string) => Promise<boolean>
+}
+
+export function createFusePreparation(deps: Dependencies): () => Promise<void> {
+  let pending: Promise<void> | null = null
+  const ready = async (): Promise<boolean> => {
+    const result = await deps.run('/sbin/ldconfig', ['-p'], 10000)
+    return hasFuseLibrary(result.stdout, deps.arch)
+  }
+  const prepare = async (): Promise<void> => {
+    if (deps.platform !== 'linux' || await ready()) return
+    const os = parseOsRelease(deps.readOsRelease())
+    if (![os.ID, ...(os.ID_LIKE ?? '').split(/\s+/)].some((id) => id === 'ubuntu' || id === 'debian')) {
+      throw new Error('LMS 실행에 libfuse.so.2가 필요합니다. 이 운영체제에서는 자동 설치를 지원하지 않습니다. 배포판의 FUSE 2 라이브러리를 설치한 뒤 다시 실행하세요.')
+    }
+    let selected: FusePackage | undefined
+    for (const candidate of fusePackageCandidates(os)) {
+      const result = await deps.run('/usr/bin/apt-cache', ['policy', candidate], 10000)
+      if (/Candidate:\s*(?!\(none\))\S+/.test(result.stdout)) {
+        selected = candidate
+        break
+      }
+    }
+    if (!selected) throw new Error('FUSE 2 설치 패키지를 찾지 못했습니다. 시스템 패키지 목록과 Ubuntu 저장소 설정을 확인한 뒤 다시 시도하세요.')
+    if (!await deps.confirm(`${os.PRETTY_NAME ?? os.ID}\n\nLMS 실행에 필요한 ${selected} 라이브러리가 없습니다. 설치를 누르면 관리자 인증 후 설치합니다.`)) {
+      throw new Error('필수 구성요소 설치를 취소했습니다. 다음 설치 또는 실행 시 다시 진행할 수 있습니다.')
+    }
+    try {
+      await deps.run('pkexec', ['/usr/bin/apt-get', 'install', '-y', '--no-remove', selected], 600000)
+    } catch (error) {
+      throw new Error(`필수 구성요소 설치가 완료되지 않았습니다. 관리자 인증 취소, 네트워크 또는 패키지 관리자 잠금 상태를 확인하세요.\n${error instanceof Error ? error.message : String(error)}`)
+    }
+    if (!await ready()) throw new Error('설치 후에도 libfuse.so.2를 확인하지 못했습니다. 시스템 패키지 상태를 확인한 뒤 다시 시도하세요.')
+  }
+  return () => {
+    if (!pending) pending = prepare().finally(() => { pending = null })
+    return pending
+  }
+}

src/main/index.ts

@@ -6,6 +6,7 @@ import { get as httpsGet } from 'https'
 import { spawn, exec, execFile, ChildProcess } from 'child_process'
 import { electronApp, optimizer, is } from '@electron-toolkit/utils'
 import { LmsWebBridge } from './lms-web-bridge'
+import { createFusePreparation } from './appImageFuse'
 
 protocol.registerSchemesAsPrivileged([
   { scheme: 'appdocs', privileges: { secure: true, standard: true, supportFetchAPI: true, corsEnabled: true } }
@@ -14,6 +15,35 @@ protocol.registerSchemesAsPrivileged([
 let splash: BrowserWindow | null = null
 let pendingGoogleOAuthPayload: { loginToken?: string; error?: string } | null = null
 const lmsWebBridge = new LmsWebBridge()
+const prepareLmsFuse = createFusePreparation({
+  platform: process.platform,
+  arch: process.arch,
+  readOsRelease: () => readFileSync('/etc/os-release', 'utf8'),
+  run: (command, args, timeout) => runCommand(command, args, timeout, { LC_ALL: 'C', LANG: 'C' }),
+  confirm: async (detail) => {
+    const options = {
+      type: 'info' as const,
+      title: 'LMS 실행 환경 준비',
+      message: '필수 구성요소를 설치하시겠습니까?',
+      detail,
+      buttons: ['설치', '취소'],
+      defaultId: 0,
+      cancelId: 1,
+      noLink: true,
+    }
+    const parent = BrowserWindow.getFocusedWindow()
+    const result = parent ? await dialog.showMessageBox(parent, options) : await dialog.showMessageBox(options)
+    return result.response === 0
+  },
+})
+
+async function prepareAppRuntime(payload: { appName: string; execPath?: string; devAppPath?: string }): Promise<void> {
+  if (payload.appName.trim().toLowerCase() !== 'lms') return
+  const devPath = resolveDevAppPath(payload.devAppPath) ?? getDefaultDevAppPath(payload.appName)
+  if (is.dev && devPath && isRunnableDevAppPath(devPath)) return
+  const path = resolveExecPath(payload.execPath, payload.appName)
+  if (path?.toLowerCase().endsWith('.appimage')) await prepareLmsFuse()
+}
 
 type CommandResult = {
   ok: boolean
@@ -320,12 +350,17 @@ function downloadFile(
 
       const total = Number(response.headers['content-length'] ?? 0)
       let received = 0
+      let lastProgress = -1
       const file = createWriteStream(tmpPath)
 
       response.on('data', (chunk: Buffer) => {
         received += chunk.length
         if (total > 0) {
-          onProgress(Math.min(99, Math.round((received / total) * 100)))
+          const progress = Math.min(99, Math.round((received / total) * 100))
+          if (progress !== lastProgress) {
+            lastProgress = progress
+            onProgress(progress)
+          }
         }
       })
 
@@ -512,6 +547,38 @@ function tailscaleCommandEnv(loginServer: string): NodeJS.ProcessEnv | undefined
   return /^http:\/\//i.test(loginServer.trim()) ? { TS_DEBUG_ALLOW_HTTP: '1' } : undefined
 }
 
+function getLauncherOsUser(): string {
+  const user = (process.env.USER ?? process.env.LOGNAME ?? '').trim()
+  return /^[a-z_][a-z0-9_-]*\$?$/i.test(user) ? user : ''
+}
+
+async function ensureTailscaleOperator(): Promise<CommandResult> {
+  const operator = getLauncherOsUser()
+  if (!operator) {
+    return { ok: false, message: '현재 OS 사용자를 확인하지 못했습니다.' }
+  }
+
+  const args = ['set', `--operator=${operator}`]
+  try {
+    await runCommand('tailscale', args, 15000)
+    return { ok: true, message: 'Tailscale 제어 권한이 준비되었습니다.' }
+  } catch (error) {
+    if (!isTailscalePermissionError(error)) {
+      return { ok: false, message: commandErrorMessage(error, 'Tailscale 제어 권한 설정 실패') }
+    }
+
+    try {
+      await runCommand('pkexec', ['/usr/bin/tailscale', ...args], 30000)
+      return { ok: true, message: 'Tailscale 제어 권한이 준비되었습니다.' }
+    } catch (pkexecError) {
+      return {
+        ok: false,
+        message: commandErrorMessage(pkexecError, commandErrorMessage(error, 'Tailscale 제어 권한 설정 실패')),
+      }
+    }
+  }
+}
+
 async function installTailscale(): Promise<CommandResult> {
   const installScript = [
     'set -e',
@@ -590,13 +657,6 @@ async function resetTailscaleSession(commandEnv?: NodeJS.ProcessEnv): Promise<vo
   await runCommandIfPossible('tailscale', ['down'], 10000, commandEnv)
 }
 
-async function resetTailscaleSessionWithPkexec(commandEnv?: NodeJS.ProcessEnv): Promise<void> {
-  const loggedOut = await runCommandIfPossible('pkexec', ['/usr/bin/tailscale', 'logout'], 30000, commandEnv)
-  if (!loggedOut) {
-    await runCommandIfPossible('pkexec', ['/usr/bin/tailscale', 'down'], 30000, commandEnv)
-  }
-}
-
 async function readTailscaleStatus(): Promise<TailscaleStatusResult> {
   const attempts: Array<[string, string[]]> = [
     ['tailscale', ['status', '--json']],
@@ -716,16 +776,24 @@ async function loginTailscale(
   } catch (error) {
     if (isTailscalePermissionError(error)) {
       try {
-        if (forceReset) {
-          await resetTailscaleSessionWithPkexec(commandEnv)
-        }
         await runCommand('pkexec', ['/usr/bin/tailscale', ...tailscaleArgs], 60000, commandEnv)
         await waitForTailscaleConnected()
-        return { ok: true, message: 'Tailscale 연결 완료' }
+
+        // Persist unprivileged access after the one privileged recovery login.
+        const operator = await ensureTailscaleOperator()
+        return {
+          ok: true,
+          message: operator.ok
+            ? 'Tailscale 연결 완료'
+            : 'Tailscale 연결 완료. 다음 연결을 위해 제어 권한을 다시 확인하세요.',
+        }
       } catch (pkexecError) {
         return {
           ok: false,
-          message: commandErrorMessage(pkexecError, commandErrorMessage(error, 'Tailscale 제어 권한이 없습니다.')),
+          message: commandErrorMessage(
+            pkexecError,
+            commandErrorMessage(error, 'Tailscale 제어 권한이 없습니다. 다시 연결해 주세요.'),
+          ),
         }
       }
     }
@@ -919,6 +987,10 @@ function createWindow(): void {
     const targetPath = resolveExecPath(payload.execPath, payload.appName)
     if (!targetPath) throw new Error('설치 경로가 설정되지 않았습니다.')
 
+    if (payload.appName.trim().toLowerCase() === 'lms' && targetPath.toLowerCase().endsWith('.appimage')) {
+      await prepareLmsFuse()
+    }
+
     await downloadFile(payload.downloadUrl, targetPath, (progress) => {
       event.sender.send('app-download-progress', {
         appName: payload.appName,
@@ -1027,6 +1099,7 @@ function createWindow(): void {
   })
   ipcMain.handle('launcher-tailscale-status', () => readTailscaleStatus())
   ipcMain.handle('launcher-tailscale-install', () => installTailscale())
+  ipcMain.handle('launcher-tailscale-ensure-operator', () => ensureTailscaleOperator())
   ipcMain.handle('launcher-ssh-key-ensure', () => ensureLauncherSshKey())
   ipcMain.handle(
     'launcher-tailscale-login',
@@ -1060,7 +1133,12 @@ function createWindow(): void {
     return { ok: true }
   })
 
-  ipcMain.on('launch-app', (_, payload: {
+  ipcMain.handle('prepare-app-runtime', async (_event, payload: { appName: string; execPath?: string; devAppPath?: string }) => {
+    await prepareAppRuntime(payload)
+    return { ok: true }
+  })
+
+  ipcMain.on('launch-app', async (_, payload: {
     appName: string
     url?: string
     width?: number
@@ -1070,6 +1148,13 @@ function createWindow(): void {
     handoffCode?: string
     audienceApp?: string
   }) => {
+    try {
+      await prepareAppRuntime(payload)
+    } catch (error) {
+      mainWindow.webContents.send('app-window-closed', payload.appName)
+      dialog.showErrorBox('LMS 실행 환경 준비 실패', error instanceof Error ? error.message : String(error))
+      return
+    }
     const { appName, url, width = 1280, height = 800, devAppPath, execPath, handoffCode, audienceApp = appName } = payload
     const authProtocolUrl = handoffCode && audienceApp === 'ADS IDE' ? `ads-ide://auth?handoffToken=${encodeURIComponent(handoffCode)}` : undefined
     const authLaunchArgs = handoffCode

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,
@@ -1689,7 +1740,7 @@ done`
     const buildOnly = body.buildOnly === true
     const configuredImage = typeof body.dockerImage === 'string' ? body.dockerImage.trim() : module.dockerImage?.trim()
     const nav2Launch = nav2LaunchSpec(module.folderName)
-    const runtimeImage = configuredImage || (nav2Launch ? 'nav2-dev:humble' : AUTOWARE_IMAGE)
+    const runtimeImage = configuredImage || (nav2Launch ? 'future-nav2-gazebo:humble' : AUTOWARE_IMAGE)
     if (!/^[A-Za-z0-9._/:@-]+$/.test(runtimeImage)) throw new Error('모듈 런타임 이미지가 올바르지 않습니다.')
     const nav2RunCommand = nav2Launch
       ? `set -e; source /opt/ros/humble/setup.bash; for setup in /modules/*/install/setup.bash; do [ -f "${'$'}setup" ] && source "${'$'}setup"; done; exec ros2 launch ${nav2Launch.packageName} ${nav2Launch.launchFile} ${'$'}1`

src/preload/index.ts

@@ -14,6 +14,7 @@ const appWindowMeta = { isAppWindow, appName, url: appUrl }
 const launcherTailscale = {
   status: () => ipcRenderer.invoke('launcher-tailscale-status'),
   install: () => ipcRenderer.invoke('launcher-tailscale-install'),
+  ensureOperator: () => ipcRenderer.invoke('launcher-tailscale-ensure-operator'),
   login: (authKey: string, loginServer: string, hostname?: string, forceReset?: boolean) =>
     ipcRenderer.invoke('launcher-tailscale-login', authKey, loginServer, hostname, forceReset),
   logout: () => ipcRenderer.invoke('launcher-tailscale-logout'),

src/renderer/src/App.tsx

@@ -61,7 +61,6 @@ function App(): React.JSX.Element {
     blockLauncherSessionRefresh()
     window.launcherSession?.endUserSession().catch(() => undefined)
     requestLogout(authSession?.accessToken)
-    window.launcherTailscale?.logout().catch(() => undefined)
     window.localStorage.removeItem(AUTH_SESSION_KEY)
     window.sessionStorage.removeItem(AUTH_SESSION_KEY)
     setAuthSession(null)

src/renderer/src/assets/main.css

@@ -355,6 +355,7 @@ body,
   display: flex;
   align-items: center;
   justify-content: center;
+  gap: 7px;
   padding: 7px 16px;
   min-width: 78px;
   background: rgba(255, 255, 255, 0.08);

src/renderer/src/env.d.ts

@@ -40,6 +40,10 @@ declare global {
         ok: boolean
         message: string
       }>
+      ensureOperator: () => Promise<{
+        ok: boolean
+        message: string
+      }>
       login: (authKey: string, loginServer: string, hostname?: string, forceReset?: boolean) => Promise<{
         ok: boolean
         message: string

src/renderer/src/pages/Dashboard.tsx

@@ -24,6 +24,7 @@ const LMS_WEB_BASE_URL = `${(
 ).replace(/\/+$/, '')}/`
 const NOTICE_READ_STORAGE_KEY = 'atnmy.notice.readSignatures'
 const LAST_LAUNCHED_APP_STORAGE_KEY = 'atnmy.launcher.lastLaunchedApp'
+const TAILSCALE_DEVICE_ID_STORAGE_KEY = 'atnmy.launcher.tailscale-device-id'
 const IS_DEV = import.meta.env.DEV
 const TAILSCALE_BACKGROUND_TIMEOUT_MS = 20_000
 
@@ -102,6 +103,21 @@ function isSameTailscaleAccount(statusAccount: string | undefined, loginAccount:
   return normalizeHeadscaleAccount(statusAccount) === normalizeHeadscaleAccount(loginAccount)
 }
 
+function getTailscaleDeviceId(): string {
+  try {
+    const stored = window.localStorage.getItem(TAILSCALE_DEVICE_ID_STORAGE_KEY)?.trim()
+    if (stored && /^[a-z0-9-]{6,24}$/i.test(stored)) return stored
+
+    const next = typeof crypto !== 'undefined' && 'randomUUID' in crypto
+      ? crypto.randomUUID().replace(/-/g, '').slice(0, 10)
+      : `${Date.now().toString(36)}${Math.random().toString(36).slice(2, 8)}`
+    window.localStorage.setItem(TAILSCALE_DEVICE_ID_STORAGE_KEY, next)
+    return next
+  } catch {
+    return 'launcher-client'
+  }
+}
+
 function isTailscaleMissingStatus(status: Awaited<ReturnType<NonNullable<typeof window.launcherTailscale>['status']>> | null): boolean {
   return Boolean(
     status?.backendState === 'Unavailable' &&
@@ -257,6 +273,9 @@ function Dashboard({ authSession, onSessionUpdate, onLogout, onSessionExpired }:
           return
         }
 
+        const hasAccountIdentity = Boolean(
+          status?.loginName?.trim() || status?.userName?.trim(),
+        )
         const isSameAccount = Boolean(
           status &&
           (
@@ -264,7 +283,7 @@ function Dashboard({ authSession, onSessionUpdate, onLogout, onSessionExpired }:
             isSameTailscaleAccount(status.userName, userEmail)
           ),
         )
-        if (status?.connected && isSameAccount) {
+        if (status?.connected && (!hasAccountIdentity || isSameAccount)) {
           setTailscaleIssue(null)
           return
         }
@@ -276,7 +295,9 @@ function Dashboard({ authSession, onSessionUpdate, onLogout, onSessionExpired }:
           method: 'POST',
           headers: { 'Content-Type': 'application/json' },
           body: JSON.stringify({
-            hostname: window.navigator.userAgent.includes('Electron') ? 'launcher-client' : 'client',
+            hostname: window.navigator.userAgent.includes('Electron')
+              ? `launcher-client-${getTailscaleDeviceId()}`
+              : `client-${getTailscaleDeviceId()}`,
             usageType: 'launcher-client',
             publicSshKey: sshKey?.publicKey,
           }),
@@ -297,11 +318,17 @@ function Dashboard({ authSession, onSessionUpdate, onLogout, onSessionExpired }:
           return
         }
 
+        const shouldResetSession = Boolean(
+          status &&
+          status.backendState !== 'Unavailable' &&
+          hasAccountIdentity &&
+          !isSameAccount,
+        )
         const result = await launcherTailscale.login(
           provision.tailscaleAuthKey,
           provision.tailscaleLoginServer ?? '',
           provision.tailscaleHostname,
-          Boolean(status && status.backendState !== 'Unavailable' && !isSameAccount),
+          shouldResetSession,
         )
         if (!result.ok) {
           setTailscaleIssue({
@@ -760,6 +787,11 @@ function Dashboard({ authSession, onSessionUpdate, onLogout, onSessionExpired }:
 
     let handoffCode: string | undefined
     try {
+      await window.electron.ipcRenderer.invoke('prepare-app-runtime', {
+        appName: activeApp,
+        execPath: appConfig.execPath,
+        devAppPath: appConfig.devAppPath,
+      })
       const handoffAudienceApp = resolveHandoffAudienceApp(activeApp)
       if (handoffAudienceApp) {
         const [handoffToken] = await Promise.all([
@@ -785,6 +817,8 @@ function Dashboard({ authSession, onSessionUpdate, onLogout, onSessionExpired }:
       })
       window.localStorage.setItem(LAST_LAUNCHED_APP_STORAGE_KEY, activeApp)
       setRunningApps((prev) => new Set([...prev, activeApp]))
+    } catch (error) {
+      alert(error instanceof Error ? error.message : '앱 실행 준비에 실패했습니다.')
     } finally {
       setLaunchingApp(null)
     }
@@ -971,6 +1005,9 @@ function Dashboard({ authSession, onSessionUpdate, onLogout, onSessionExpired }:
                   ) : canLaunch ? (
                     activeAppLaunching ? (
                       <button className="launch-pending-btn" disabled>
+                        <svg aria-hidden="true" className="spin" width="13" height="13" viewBox="0 0 24 24" fill="none" stroke="currentColor" strokeWidth="2.4" strokeLinecap="round">
+                          <path d="M12 2a10 10 0 1 0 10 10" />
+                        </svg>
                         실행중
                       </button>
                     ) : (

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": {