Add awsim-desktop container

.github/workflows/awsim-desktop-build.yml

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+name: Build AWSIM desktop container image
+on:
+  workflow_dispatch:
+  push:
+    paths:
+      - awsim-desktop/Dockerfile
+      - awsim-desktop/entrypoint.sh
+      - .github/workflows/awsim-desktop-build.yml # Self-trigger
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: bounverif/awsim-desktop
+  VERSION: 1.2.1
+
+jobs:
+  build-and-push-image:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+      - name: Log in to the registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          build-args: |
+            VERSION=${{ env.VERSION }} 
+          tags: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ env.VERSION }}
+          push: true
+          file: carla/client.dockerfile
+          cache-from: type=gha
+          cache-to: type=gha,mode=max

awsim-desktop/Dockerfile

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+FROM ubuntu:22.04 as awsim-downloader
+
+ARG VERSION=1.2.1
+ARG AWSIM_VERSION=$VERSION
+ARG AWSIM_RELEASE_PATH=https://github.com/tier4/AWSIM/releases/download/v${AWSIM_VERSION}/AWSIM_v${AWSIM_VERSION}.zip
+ARG AWSIM_ADDITIONAL_MAPS=https://github.com/tier4/AWSIM/releases/download/v${AWSIM_VERSION}/nishishinjuku_autoware_map.zip
+
+RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
+    && apt-get -y install \
+        wget \
+        unzip \
+    && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* 
+
+RUN wget -qO /tmp/awsim_release.zip ${AWSIM_RELEASE_PATH} && \
+    unzip /tmp/awsim_release.zip -d /awsim && \
+    rm /tmp/awsim_release.zip
+
+FROM ghcr.io/selkies-project/nvidia-egl-desktop:22.04 as awsim-desktop
+
+SHELL ["/bin/bash", "-c"]
+
+ARG VERSION=1.2.1
+ARG AWSIM_VERSION=$VERSION
+
+ENV TZ=UTC
+ENV SIZEW=1920 SIZEH=1080
+ENV WEBRTC_ENCODER=nvh264enc
+ENV WEBRTC_ENABLE_RESIZE true
+ENV ENABLE_BASIC_AUTH false
+
+COPY --from=awsim-downloader --chown=root:root /awsim/AWSIM_v${AWSIM_VERSION} /opt/awsim
+
+COPY entrypoint.sh /etc/entrypoint.sh
+RUN sudo chmod +x /etc/entrypoint.sh
+
+EXPOSE 8080

awsim-desktop/README.md

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+# Containerized AWSIM simulator
+
+This container is based on `ghcr.io/selkies-project/nvidia-egl-desktop`, which provides a WebRTC solution for containerized GUI apps. 
+
+1. First start the container using the following command:
+
+```
+docker run --gpus 1 --tmpfs /dev/shm:rw -p 8080:8080 ghcr.io/bounverif/awsim-desktop:1.2.1
+```
+
+2. Open a browser and visit `localhost:8080`. The simulator window will appear in the browser. Then you can control the vehicle using the keyboard.

awsim-desktop/entrypoint.sh

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+#!/bin/bash -e
+
+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+trap "echo TRAPed signal" HUP INT QUIT TERM
+
+# Start DBus without systemd
+sudo /etc/init.d/dbus start
+
+# Default display is :0 across the container
+export DISPLAY=":0"
+# Run Xvfb server with required extensions
+/usr/bin/Xvfb "${DISPLAY}" -ac -screen "0" "8192x4096x${CDEPTH}" -dpi "${DPI}" +extension "COMPOSITE" +extension "DAMAGE" +extension "GLX" +extension "RANDR" +extension "RENDER" +extension "MIT-SHM" +extension "XFIXES" +extension "XTEST" +iglx +render -nolisten "tcp" -noreset -shmem &
+
+# Wait for X11 to start
+echo "Waiting for X socket"
+until [ -S "/tmp/.X11-unix/X${DISPLAY/:/}" ]; do sleep 1; done
+echo "X socket is ready"
+
+# Resize the screen to the provided size
+bash -c ". /opt/gstreamer/gst-env && /usr/local/bin/selkies-gstreamer-resize ${SIZEW}x${SIZEH}"
+
+# Start Fcitx input method framework
+/usr/bin/fcitx &
+
+# Add custom processes right below this line, or within `supervisord.conf` to perform service management similar to systemd
+exec /opt/awsim/AWSIM.x86_64 -screen-fullscreen &
+
+echo "Session Running. Press [Return] to exit."
+read