robotics-demo-ubuntu24-x86_64.yml

# Robotics AI Suite: Visual Demo Image Template
# Ubuntu 24.04 LTS + ROS2 Jazzy + Turtlesim + rqt tools
#
# Minimal image for running visual ROS2 demos in a QEMU VM.
# Includes turtlesim, rqt_graph, rqt_plot, and X11 forwarding support.
#
# Usage:
#   sudo -E ./os-image-composer build image-templates/robotics-demo-ubuntu24-x86_64.yml
#
# VM prerequisites:
#   sudo apt install -y qemu-system-x86 ovmf
#   cp /usr/share/OVMF/OVMF_CODE_4M.fd .
#   cp /usr/share/OVMF/OVMF_VARS_4M.fd .
#
# VM launch:
#   qemu-system-x86_64 -machine q35 -enable-kvm -cpu host -smp 4 -m 4096 \
#     -drive if=pflash,format=raw,readonly=on,file=OVMF_CODE_4M.fd \
#     -drive if=pflash,format=raw,file=OVMF_VARS_4M.fd \
#     -drive file=robotics-demo-ubuntu24-24.04.raw,format=raw,if=virtio \
#     -device virtio-net-pci,netdev=net0 \
#     -netdev user,id=net0,hostfwd=tcp::2222-:22 \
#     -nographic
#
# Connect with X11 forwarding (replace <user> with your configured user):
#   ssh -X -p 2222 <user>@localhost
#
# ROS2 is auto-sourced on login. If needed manually:
#   source /opt/ros/jazzy/setup.bash
#
# Run demos:
#   # Demo 1: Turtlesim — visual turtle control with arrow keys
#   ros2 run turtlesim turtlesim_node &
#   ros2 run turtlesim turtle_teleop_key
#
#   # Demo 2: rqt_graph — live node/topic graph (refresh to see connections)
#   ros2 run rqt_graph rqt_graph &
#
#   # Demo 3: rqt_plot — real-time data chart (move turtle to see updates)
#   ros2 run rqt_plot rqt_plot /turtle1/pose/x /turtle1/pose/y /turtle1/pose/theta &
#
#   # Demo 4: Talker/Listener — add more nodes to the graph
#   ros2 run demo_nodes_cpp talker &
#   ros2 run demo_nodes_cpp listener &

# AI-searchable metadata for template discovery
metadata:
  description: Minimal ROS2 Jazzy demo image with visual tools (turtlesim, rqt) for QEMU VM testing
  use_cases:
    - Visual ROS2 demos in QEMU virtual machines
    - Turtlesim keyboard-controlled robot simulation
    - rqt_graph node/topic visualization
    - rqt_plot real-time data charting
    - ROS2 talker/listener pub/sub testing
    - X11 forwarding GUI demos over SSH
  keywords:
    - robotics
    - ros2
    - jazzy
    - turtlesim
    - rqt
    - demo
    - qemu
    - vm
    - x11
    - visualization
    - ubuntu

image:
  name: robotics-demo-ubuntu24
  version: "24.04"

target:
  os: ubuntu
  dist: ubuntu24
  arch: x86_64
  imageType: raw

# 12GiB is sufficient for this minimal demo image
disk:
  name: robotics-demo
  artifacts:
    - type: raw
      compression: gz
  size: 12GiB
  partitionTableType: gpt
  partitions:
    - id: boot
      type: esp
      flags:
        - esp
        - boot
      start: 1MiB
      end: 513MiB
      fsType: fat32
      mountPoint: /boot/efi
      mountOptions: umask=0077
    - id: rootfs
      type: linux-root-amd64
      start: 513MiB
      end: "0"
      fsType: ext4
      mountPoint: /
      mountOptions: defaults

packageRepositories:
  # ROS2 Jazzy repository
  - codename: "noble"
    url: "http://packages.ros.org/ros2/ubuntu"
    pkey: "https://raw.githubusercontent.com/ros/rosdistro/master/ros.key"
    component: "main"

systemConfig:
  name: robotics-demo
  description: Intel Robotics AI Suite - Visual Demo (Turtlesim + rqt)

  immutability:
    enabled: false

  packages:
    # Base system
    - ubuntu-minimal
    - systemd
    - systemd-resolved
    - systemd-boot
    - openssh-server
    - network-manager
    - sudo
    - curl
    - vim

    # Boot/initramfs (required for UKI)
    - dracut-core
    - cryptsetup-bin

    # X11 forwarding support (required for GUI over SSH)
    - xauth
    - x11-apps

    # ROS2 Jazzy Core
    - ros-jazzy-ros-base
    - ros-jazzy-rmw-cyclonedds-cpp

    # Visual demo packages
    - ros-jazzy-turtlesim
    - ros-jazzy-rqt
    - ros-jazzy-rqt-graph
    - ros-jazzy-rqt-plot

    # Demo nodes (talker/listener)
    - ros-jazzy-demo-nodes-cpp
    - ros-jazzy-demo-nodes-py

  kernel:
    version: "6.17"
    cmdline: "console=ttyS0,115200 console=tty0 loglevel=7"
    packages:
      - linux-image-generic-hwe-24.04

  configurations:
    # ROS2 environment setup
    - cmd: "echo 'source /opt/ros/jazzy/setup.bash' >> /etc/bash.bashrc"
    - cmd: "echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> /etc/bash.bashrc"

    # Enable required services
    - cmd: "systemctl enable NetworkManager"
    - cmd: "systemctl enable ssh"

    # Fix SSH X11 forwarding (IPv6 socket allocation fails in QEMU)
    - cmd: "sh -c \"mkdir -p /etc/ssh/sshd_config.d && printf 'AddressFamily inet\\n' > /etc/ssh/sshd_config.d/10-addressfamily.conf\""

    # Disable IPv6 (avoids DNS/connection timeouts in VM environments)
    - cmd: "echo 'net.ipv6.conf.all.disable_ipv6 = 1' >> /etc/sysctl.d/99-disable-ipv6.conf"
    - cmd: "echo 'net.ipv6.conf.default.disable_ipv6 = 1' >> /etc/sysctl.d/99-disable-ipv6.conf"

    # Set hostname
    - cmd: "echo 'robotics-demo' > /etc/hostname"