Improved NVIDIA support out-of-the-box and other fixes

.github/workflows/_test-user-setup.yml

@@ -43,8 +43,8 @@ jobs:
           node CI/generate.js \
             --distro   humble \
             --variant  ros-base \
-            --tools    "bashrc,locale,sudo" \
-            --usertype custom \
+            --tools    "bashrc,locale,sudo,zsh" \
+            --usertype user \
             --username ros-dev \
             --uid      1000 \
             --out      ./build-context
@@ -77,6 +77,7 @@ jobs:
             -e EXPECTED_USER=ros-dev \
             -e EXPECTED_UID=1000 \
             -e EXPECT_SUDO=true \
+            -e EXPECT_ZSH=true \
             -v "${{ github.workspace }}/CI/validate.sh:/validate.sh:ro" \
             ros2-test-user-custom:ci \
             bash /validate.sh

.github/workflows/ci.yml

@@ -58,30 +58,33 @@ jobs:
           base: ${{ github.base_ref || 'main' }}
           filters: |
             generator:
+              - 'src/**'
               - 'CI/generate.js'
               - 'CI/validate.sh'
               - '.github/workflows/ci.yml'
               - '.github/workflows/_test-base.yml'
             user_setup:
+              - 'src/**'
               - 'CI/generate.js'
               - 'CI/validate.sh'
               - '.github/workflows/_test-user-setup.yml'
             gui:
+              - 'src/**'
               - 'CI/generate.js'
               - 'CI/validate.sh'
               - '.github/workflows/_test-gui.yml'
             nvidia:
+              - 'src/**'
               - 'CI/generate.js'
               - 'CI/validate.sh'
               - '.github/workflows/_test-nvidia.yml'
             any:
               - 'src/**'
-              - 'data/**'
-              - 'bin/**'
               - 'CI/**'
               - '.github/workflows/**'
               - 'index.html'
               - 'README.md'
+              - 'tests/**'
 
   # ── Version Consistency ──────────────────────────────────────
   version-check:
@@ -92,9 +95,18 @@ jobs:
       - uses: actions/setup-python@v5
         with:
           python-version: '3.12'
+      - uses: actions/setup-node@v4
+        with:
+          node-version: '20'
       - name: Run Version Check
         run: |
           PYTHONPATH=src python3 tests/test_version.py
+      - name: Run Output Shape Tests
+        run: |
+          PYTHONPATH=src python3 tests/test_output_shape.py
+      - name: Run Web Bundle Tests
+        run: |
+          PYTHONPATH=src python3 tests/test_web_bundle.py
 
   # ── Python Build Verification ─────────────────────────────────
   build-check:

.github/workflows/publish.yml

@@ -26,6 +26,8 @@ jobs:
       - name: Run tests
         run: |
           python3 tests/test_version.py
+          PYTHONPATH=src python3 tests/test_output_shape.py
+          PYTHONPATH=src python3 tests/test_web_bundle.py
           python3 tests/test_parity.py
 
   build:

.gitignore

@@ -33,3 +33,5 @@ dist/
 venv/
 *.egg-info/
 __pycache__/
+
+act

CHANGELOG.md

@@ -7,6 +7,39 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+## [1.2.0] - 2026-04-11
+
+### Added
+- **Modern NVIDIA Container Support**: Support for `runtime: nvidia` in generated `docker-compose.yml` and the `__GLX_VENDOR_LIBRARY_NAME=nvidia` environment variable to ensure correct GPU offloading and OpenGL vendor selection.
+- **Enhanced Hybrid GPU Support**: Native support for Intel/NVIDIA hybrid laptops via mandatory `/dev/dri` volume mounts for Linux hosts and explicit installation of `libgl1`, `libglvnd-dev`, and `libegl1` for vendor-neutral GL dispatch.
+- **Intelligent Choice Relationships**: Variant selections like `desktop-full` now automatically imply required packages (`rviz2`, `gazebo`/`gz_sim`), and GUI packages automatically enable `x11` display forwarding.
+- **Core Engine Upgrades**: New `resolve_config()` method in both Python and JS core modules to handle automatic dependency resolution and OS-specific scaffolding.
+- Output-shape regression tests in `tests/test_output_shape.py` to verify repo-root workspace mounts, shell config generation, NVIDIA compose behavior, and README/package consistency.
+- Web bundle regression tests in `tests/test_web_bundle.py` to verify the website zip export contains the expected files and preserves byte-identical generated content.
+- Readiness checks in `CI/validate.sh` for writable default workspaces, `colcon mixin list`, and Oh My Zsh ownership in generated non-root containers.
+- CI workflow coverage for the new readiness invariants, including mounted default workspace validation and source-change triggers for heavier generator test jobs.
+- A lightweight zip bundler for the web UI and a local `scripts/run_act.sh` helper for reproducible sequential `act` runs without introducing third-party JS dependencies.
+
+### Changed
+- Modernized GPU acceleration logic in `docker-compose.yml` to prefer the `runtime: nvidia` directive over the legacy `deploy: resources` block for broader compatibility outside of Swarm.
+- Updated generated README with specific troubleshooting guidance and caveats for users on hybrid GPU laptop hardware (e.g., `prime-select nvidia` hints).
+- Generated `docker-compose.yml` now mounts the current directory into the configured ROS workspace by default instead of creating a nested `./ros2_ws` bind mount.
+- Generated Dockerfiles now install Oh My Zsh in the selected user's home after switching to that user, while keeping Zsh as a normal optional tool selection.
+- Generated shell bootstrap now writes ROS/environment setup into `.bashrc` when `bashrc` is selected and into `.zshrc` when `zsh` is selected.
+- The CLI wizard now preselects propagated package and tool defaults for presets such as `desktop-full`, matching the web UI instead of only applying those implications at final generation time.
+- Generated README content now reflects the repo-root workspace workflow, includes clearer NVIDIA host/runtime guidance, and documents the new local `act` runner behavior.
+- CLI/web generation and CI helpers now consistently use the standard non-root `user` mode and current host UID mapping for dev-container readiness.
+- Shared defaults now drive Web, CLI, and CI generation consistently, including the default `ros2-<distro>` container name and default tool selection set.
+- TensorRT now behaves like a real selectable package and emits install steps from the NVIDIA CUDA image package repositories instead of acting as a placeholder selection.
+- The web UI now exports a real zip bundle containing `Dockerfile`, `docker-compose.yml`, and `README.md`, and local `act` runs now execute jobs sequentially with matrix fan-out capped to keep disk usage manageable.
+
+### Fixed
+- Resolved generated non-root dev environments depending on Docker auto-creating a writable workspace directory with the correct ownership.
+- Resolved generated Zsh environments installing Oh My Zsh under `/root` instead of the selected non-root user.
+- Removed misleading generated SSH port documentation when host networking is enabled and Docker would discard published ports.
+- Resolved website download bundles requiring manual renaming of `Dockerfile` before the generated compose setup could build.
+- Resolved generated Gazebo environments missing the ROS plugin library path, which could prevent Gazebo from launching until `GAZEBO_PLUGIN_PATH` was exported manually.
+
 ## [1.1.0] - 2026-03-25
 
 ### Added

CI/generate.js

@@ -18,18 +18,24 @@ function getArg(name, fallback = '') {
 const distro = getArg('distro', 'humble');
 const variant = getArg('variant', 'ros-base');
 const pkgArg = getArg('packages', '');
-const toolArg = getArg('tools', 'colcon,rosdep,python3,git,bashrc,locale,sudo');
-const username = getArg('username', 'ros-dev');
-const uid = parseInt(getArg('uid', '1000'), 10);
 const outDir = getArg('out', './ci-output');
-const cname = getArg('container', 'ros2_dev');
-const userType = getArg('usertype', 'user'); // Changed from 'custom' to match core.js expected values: 'user' | 'root'
+const cname = getArg('container', '');
 
 // ── Load Config & Init Core ───────────────────────────────────
 const _ROOT = path.join(__dirname, '..');
 const configPath = path.join(_ROOT, 'src', 'ros2_dockergen', 'data', 'config.json');
 const configData = JSON.parse(fs.readFileSync(configPath, 'utf8'));
 CORE.init(configData);
+const defaults = configData.defaults;
+const defaultTools = Object.entries(configData.tools)
+  .filter(([, tool]) => tool.default)
+  .map(([key]) => key)
+  .join(',');
+const toolArg = getArg('tools', defaultTools);
+const rawUserType = getArg('usertype', defaults.user_type);
+const userType = rawUserType === 'custom' ? 'user' : rawUserType;
+const username = getArg('username', defaults.username);
+const uid = parseInt(getArg('uid', String(defaults.uid)), 10);
 
 const config = {
   distro,
@@ -39,8 +45,13 @@ const config = {
   username,
   uid,
   userType,
-  containerName: cname,
-  workspace: getArg('workspace', userType === 'root' ? '/root/ros2_ws' : `/home/${username}/ros2_ws`)
+  containerName: cname || CORE.defaultContainerName(distro),
+  workspace: getArg(
+    'workspace',
+    userType === 'root'
+      ? defaults.root_workspace
+      : defaults.user_workspace.replace('{username}', username)
+  )
 };
 
 // ── Validate inputs ───────────────────────────────────────────

CI/validate.sh

@@ -85,13 +85,77 @@ check_bashrc() {
   fi
 }
 
+check_zshrc() {
+  local expect_zsh="${EXPECT_ZSH:-false}"
+  if [ "$expect_zsh" != "true" ]; then
+    skip "zsh not expected for this config"
+    return
+  fi
+
+  section ".zshrc source line"
+  local user
+  user=$(whoami)
+  local zshrc
+  zshrc=$( [ "$user" = "root" ] && echo "/root/.zshrc" || echo "/home/${user}/.zshrc" )
+
+  if [ ! -f "$zshrc" ]; then
+    fail "$zshrc does not exist"
+    return
+  fi
+
+  local count
+  count=$(grep -c "source /opt/ros/${DISTRO}/setup.bash" "$zshrc" || echo "0")
+  if [ "$count" -eq 1 ]; then
+    pass ".zshrc sources setup.bash exactly once"
+  elif [ "$count" -eq 0 ]; then
+    fail ".zshrc is missing setup.bash source line"
+  else
+    fail ".zshrc sources setup.bash ${count} times"
+  fi
+
+  section "Oh My Zsh ownership"
+  local user_home
+  user_home=$( [ "$user" = "root" ] && echo "/root" || echo "/home/${user}" )
+  if [ -d "${user_home}/.oh-my-zsh" ]; then
+    local owner
+    owner=$(stat -c '%U' "${user_home}/.oh-my-zsh")
+    if [ "$owner" = "$user" ]; then
+      pass "${user_home}/.oh-my-zsh exists and is owned by $user"
+    else
+      fail "${user_home}/.oh-my-zsh owned by $owner (expected: $user)"
+    fi
+  else
+    fail "${user_home}/.oh-my-zsh does not exist"
+  fi
+}
+
+check_workdir_ready() {
+  section "Default workdir"
+  local expected_workspace="${EXPECTED_WORKSPACE:-$PWD}"
+  if [ "$PWD" = "$expected_workspace" ]; then
+    pass "current workdir = $PWD"
+  else
+    fail "current workdir = $PWD (expected: $expected_workspace)"
+  fi
+
+  section "Workdir write access"
+  local probe=".ci-write-test"
+  if touch "$probe" 2>/dev/null; then
+    rm -f "$probe"
+    pass "default workdir is writable"
+  else
+    fail "default workdir is not writable"
+  fi
+}
+
 # =============================================================
 # SUITE: base
 # =============================================================
 run_base() {
   check_ros2_setup
   check_ros2_cli
   check_bashrc
+  check_workdir_ready
 
   section "ros2 topic list (basic DDS check)"
   source "/opt/ros/${DISTRO}/setup.bash" 2>/dev/null || true
@@ -113,10 +177,17 @@ run_base() {
 run_build_tools() {
   check_ros2_setup
   check_ros2_cli
+  check_workdir_ready
 
   section "colcon"
   if command -v colcon &>/dev/null; then
     pass "colcon found: $(colcon --version 2>&1 | head -1)"
+    if colcon mixin list >/tmp/colcon-mixin.log 2>&1; then
+      pass "colcon mixin list works from default workdir"
+    else
+      fail "colcon mixin list failed from default workdir"
+      cat /tmp/colcon-mixin.log
+    fi
   else
     fail "colcon not found"
   fi
@@ -183,7 +254,7 @@ check_colcon_build() {
   source "/opt/ros/${DISTRO}/setup.bash" 2>/dev/null || true
 
   local tmpdir
-  tmpdir=$(mktemp -d)
+  tmpdir=$(mktemp -d -p "$PWD" ci-colcon-XXXXXX)
   mkdir -p "$tmpdir/src/test_pkg"
 
   # Create a minimal package.xml and CMakeLists.txt
@@ -260,7 +331,7 @@ run_user() {
     fi
 
     section "Workspace"
-    local ws="/home/${current_user}/ros2_ws"
+    local ws="${EXPECTED_WORKSPACE:-/home/${current_user}/ros2_ws}"
     if [ -d "$ws" ]; then
       local ws_owner
       ws_owner=$(stat -c '%U' "$ws")
@@ -273,6 +344,8 @@ run_user() {
       fail "$ws not found"
     fi
 
+    check_workdir_ready
+
     section "sudo"
     if [ "$expect_sudo" = "true" ]; then
       if sudo -n true 2>/dev/null; then
@@ -285,9 +358,11 @@ run_user() {
     fi
   else
     pass "Running as root (root-mode build)"
+    check_workdir_ready
   fi
 
   check_bashrc
+  check_zshrc
 }
 
 # =============================================================
@@ -365,6 +440,7 @@ run_nvidia() {
   check_ros2_setup
   check_ros2_cli
   check_bashrc
+  check_workdir_ready
 }
 
 # =============================================================

README.md

@@ -58,6 +58,23 @@ The interactive wizard will walk you through 8 steps to configure your environme
 ros2-dockergen --help    # Show help
 ros2-dockergen --version # Show version
 ```
+---
+
+## Local CI With `act`
+
+To reproduce the main GitHub Actions workflow locally, install [`act`](https://nektosact.com/installation/) and run:
+
+```bash
+./scripts/run_act.sh
+```
+
+By default this runs the CI jobs one-by-one so local Docker usage stays manageable and each job's output is easy to read.
+
+If you want the original full-workflow `act` behavior instead, run:
+
+```bash
+./scripts/run_act.sh full
+```
 
 ---