feat: autostart webserver, add eventlet to requirements.txt

requirements.txt

@@ -6,6 +6,7 @@ certifi==2025.1.31
 charset-normalizer==3.4.1
 click==8.1.7
 colorama==0.4.6
+eventlet==0.39.0
 flask==3.0.3
 Flask-Cors==5.0.0
 Flask-Login==0.6.3

setup/Dockerfile

@@ -78,4 +78,4 @@ RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
 RUN echo "source /home/jetson/ros2_ws/install/local_setup.bash" >> ~/.bashrc
 ENV ROS_DOMAIN_ID=42
 
-WORKDIR /home/jetson
\ No newline at end of file
+WORKDIR /home/jetson/uppaal2jetracer
\ No newline at end of file

setup/compose.yml

@@ -20,7 +20,10 @@ services:
       /bin/bash -c "
       source /opt/ros/jazzy/setup.bash &&
       source /home/jetson/ros2_ws/install/local_setup.bash &&
-      ros2 launch jetracerros2 jetracerros2_launch.py
+      python3 -m uppaal2jetracer.webinterface.run &
+      source /opt/ros/jazzy/setup.bash &&
+      source /home/jetson/ros2_ws/install/local_setup.bash &&
+      ros2 launch jetracerros2 minimal_launch.py
       "
     stdin_open: true
     tty: true
@@ -43,6 +46,9 @@ services:
       /bin/bash -c "
       source /opt/ros/jazzy/setup.bash &&
       source /home/jetson/ros2_ws/install/local_setup.bash &&
+      python3 -m uppaal2jetracer.webinterface.run &
+      source /opt/ros/jazzy/setup.bash &&
+      source /home/jetson/ros2_ws/install/local_setup.bash &&
       ros2 launch jetracerros2 minimal_launch.py
       "
     stdin_open: true

setup/scripts/u2j.py

@@ -16,7 +16,7 @@ import argparse
 CONFIG = os.path.join(os.path.dirname(__file__), "..", "config.ini")
 COMPOSE_DIR = os.path.join(os.path.dirname(__file__), "..")
 PROFILES_TAG = "profiles"
-VALID_PROFILES = ["jetracer", "simulation", "minimal"]
+VALID_PROFILES = ["jetracer", "minimal"]
 
 
 def load_config():

uppaal2jetracer/jetracerros2/jetracerros2/speed_controller.py

@@ -34,8 +34,6 @@ class SetSpeedClientAsync(Node):
     def __init__(self):
         super().__init__("set_speed_client_async", namespace = "/jetracerros2")
         self._set_speed_client = self.create_client(Speed, "set_speed")
-        while not self._set_speed_client.wait_for_service(timeout_sec = 1.0):
-            logger.warning("set_speed service not ready! wait_for_service() timed out!")
 
     def send_speed_request(self, speed: float) -> Future:
         """
@@ -46,6 +44,8 @@ class SetSpeedClientAsync(Node):
         :return: The future to wait for the result.
         :rtype: Future
         """
+        while not self._set_speed_client.wait_for_service(timeout_sec = 1.0):
+            logger.warning("set_speed service not ready! wait_for_service() timed out!")
 
         speed_request = Speed.Request()
         speed_request.speed = speed