Add devcontainer

2026-07-13 09:42:48 +00:00
parent f5c6fa19ac
commit 759f77f58a
5 changed files with 212 additions and 0 deletions
@@ -0,0 +1,76 @@
+FROM osrf/ros:jazzy-desktop-full
+ARG USERNAME=USERNAME
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Delete user if it exists in container (e.g Ubuntu Noble: ubuntu)
+RUN if id -u $USER_UID ; then userdel `id -un $USER_UID` ; fi
+
+# Create the user
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    #
+    # [Optional] Add sudo support. Omit if you don't need to install software after connecting.
+    && apt-get update \
+    && apt-get install -y --no-install-recommends sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME \
+    && rm -rf /var/lib/apt/lists/*
+
+# Make sure the base image is completely up to date
+RUN apt-get update \
+    && apt-get upgrade -y \
+    && rm -rf /var/lib/apt/lists/*
+
+
+# C++ development tools
+RUN apt-get update \
+    && apt-get install -y --no-install-recommends \
+    build-essential \
+    cmake \
+    gdb \
+    clang \
+    clang-format \
+    clang-tidy \
+    libboost-all-dev \
+    && rm -rf /var/lib/apt/lists/*
+
+# Python development tools
+RUN apt-get update \
+    && apt-get install -y --no-install-recommends \
+    python3-pip \
+    python3-dev \
+    python3-argcomplete \
+    python3-colcon-common-extensions \
+    python3-colcon-mixin \
+    python3-rosdep \
+    python3-vcstool \
+    && rm -rf /var/lib/apt/lists/*
+
+# Optional: pre-install apt dependencies resolved from rosdep on a previous run.
+COPY .devcontainer/jazzy/ /tmp/devcontainer-jazzy/
+
+RUN apt-get update \
+    && if [ -f /tmp/devcontainer-jazzy/rosdep-apt-packages.txt ]; then \
+    grep -Ev '^\s*($|#)' /tmp/devcontainer-jazzy/rosdep-apt-packages.txt | xargs -r apt-get install -y --no-install-recommends; \
+    fi \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update \
+    && apt-get install -y --no-install-recommends \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+    && rm -rf /var/lib/apt/lists/*
+
+# ROS 2 ament build tools
+# RUN apt-get install -y \
+#     ros-${ROS_DISTRO}-ament-cmake \
+#     ros-${ROS_DISTRO}-ament-cmake-auto \
+#     ros-${ROS_DISTRO}-ament-python \
+#     ros-${ROS_DISTRO}-ament-lint-auto \
+#     ros-${ROS_DISTRO}-ament-lint-common
+
+ENV SHELL=/bin/bash
+
+# [Optional] Set the default user. Omit if you want to keep the default as root.
+USER $USERNAME
+CMD ["/bin/bash"]