sl-webui
82b8f40b39
Lightweight fullscreen kiosk for MageDok 7" display: **Architecture:** - Cage: Minimal Wayland compositor (replaces GNOME) - Chromium: Fullscreen kiosk browser for SaltyFace web UI - PulseAudio: HDMI audio routing (from Issue #369) - Touch: HID input from MageDok USB device **Memory Savings:** - GNOME desktop: ~650MB RAM - Cage + Chromium: ~200MB RAM - Net gain: ~450MB for ROS2 workloads **Files:** - config/cage-magedok.ini — Cage display settings (1024×600@60Hz) - config/wayland-magedok.conf — Wayland output configuration - scripts/chromium_kiosk.sh — Cage + Chromium launcher - systemd/chromium-kiosk.service — Auto-start systemd service - launch/cage_display.launch.py — ROS2 launch configuration - docs/CAGE_CHROMIUM_KIOSK.md — Complete setup & troubleshooting guide **Next:** Issue #370 (Salty Face as web app in Chromium kiosk) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
79 lines
2.2 KiB
Python
79 lines
2.2 KiB
Python
#!/usr/bin/env python3
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"""
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Cage Wayland + Chromium kiosk launch configuration for MageDok 7" display.
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Lightweight alternative to X11 desktop environment:
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- Cage: Minimal Wayland compositor (replaces GNOME/Mutter)
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- Chromium: Fullscreen kiosk browser for SaltyFace web UI
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- PulseAudio: HDMI audio routing
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Memory savings vs GNOME:
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- GNOME + Mutter: ~650MB RAM
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- Cage + Chromium: ~200MB RAM
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- Savings: ~450MB RAM for other ROS2 workloads
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Issue #374: Replace GNOME with Cage + Chromium kiosk
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"""
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import DeclareLaunchArgument, ExecuteProcess
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from launch.substitutions import LaunchConfiguration
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def generate_launch_description():
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"""Generate ROS2 launch description for Cage + Chromium kiosk."""
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# Launch arguments
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url_arg = DeclareLaunchArgument(
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'kiosk_url',
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default_value='http://localhost:3000',
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description='URL for Chromium kiosk (SaltyFace web app)'
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)
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debug_arg = DeclareLaunchArgument(
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'debug',
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default_value='false',
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description='Enable debug logging'
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)
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ld = LaunchDescription([url_arg, debug_arg])
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# Start touch monitor (from Issue #369 - reused)
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# Monitors MageDok USB touch device availability
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touch_monitor = Node(
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package='saltybot_bringup',
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executable='touch_monitor.py',
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name='touch_monitor',
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output='screen',
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)
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ld.add_action(touch_monitor)
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# Start audio router (from Issue #369 - reused)
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# Routes HDMI audio to built-in speakers via PulseAudio
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audio_router = Node(
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package='saltybot_bringup',
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executable='audio_router.py',
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name='audio_router',
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output='screen',
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)
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ld.add_action(audio_router)
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# Start Cage Wayland compositor with Chromium kiosk
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# Replaces X11 server + GNOME desktop environment
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cage_chromium = ExecuteProcess(
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cmd=[
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'/opt/saltybot/scripts/chromium_kiosk.sh',
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'--url', LaunchConfiguration('kiosk_url'),
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],
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condition_condition=None, # Always start
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name='cage_chromium',
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shell=True,
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)
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ld.add_action(cage_chromium)
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return ld
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if __name__ == '__main__':
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print(generate_launch_description())
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