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 +1,13 @@
+<!-- ~/.ros2/dds/cyclonedds.xml -->
+<?xml version="1.0" encoding="UTF-8" ?>
+<CycloneDDS xmlns="https://cdds.io/config"
+            xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+            xsi:schemaLocation="https://cdds.io/config
+            https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
+  <Domain Id="any">
+    <Discovery>
+      <ParticipantIndex>auto</ParticipantIndex>
+      <MaxAutoParticipantIndex>1000</MaxAutoParticipantIndex>
+    </Discovery>
+  </Domain>
+</CycloneDDS>
@@ -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 $USERNAME
+CMD ["/bin/bash"]
@@ -0,0 +1,42 @@
+{
+    "name": "ROS 2 Jazzy",
+    "privileged": true,
+    "remoteUser": "${localEnv:USER}",
+    "build": {
+        "context": "../..",
+        "dockerfile": "Dockerfile.jazzy",
+        "args": {
+            "USERNAME": "${localEnv:USER}"
+        }
+    },
+    "workspaceFolder": "/workspaces/agv_pro_ros2",
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-python.python",
+                "anthropic.claude-code"
+            ]
+        }
+    },
+    "containerEnv": {
+        "DISPLAY": ":0",
+        "ROS_AUTOMATIC_DISCOVERY_RANGE": "SUBNET",
+        "ROS_DOMAIN_ID": "0",
+        "RMW_IMPLEMENTATION": "rmw_cyclonedds_cpp",
+        "CYCLONEDDS_URI": "/workspaces/agv_pro_ros2/.devcontainer/cyclonedds.xml"
+    },
+    "runArgs": [
+        "--network=robot-sim",
+        "--pid=host",
+        "--ipc=host",
+        "-e",
+        "DISPLAY=${env:DISPLAY}"
+    ],
+    "mounts": [
+        "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
+        "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached",
+        "source=/usr/local/share/ca-certificates,target=/usr/local/share/host-certificates,type=bind,consistency=cached",
+        "source=${localEnv:HOME}/.ssh,target=/home/${localEnv:USER}/.ssh,type=bind,consistency=cached"
+    ],
+    "postCreateCommand": "bash .devcontainer/post-create.sh"
+}
@@ -0,0 +1,43 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+ROSDEP_APT_LIST_FILE="${ROOT_DIR}/.devcontainer/${ROS_DISTRO}/rosdep-apt-packages.txt"
+
+
+if [[ -f /usr/local/share/host-certificates/AMD_CA.crt ]]; then
+	sudo cp /usr/local/share/host-certificates/AMD_CA.crt /usr/local/share/ca-certificates/
+	sudo update-ca-certificates
+fi
+
+if [[ ! -f "${ROSDEP_APT_LIST_FILE}" ]]; then
+	echo "Missing ${ROSDEP_APT_LIST_FILE}."
+	echo "Run .devcontainer/refresh-rosdep-cache.sh and rebuild the devcontainer."
+	exit 1
+fi
+
+tmp_packages="$(mktemp)"
+cleanup() {
+	rm -f "${tmp_packages}"
+}
+trap cleanup EXIT
+
+export DEBIAN_FRONTEND=noninteractive
+sudo apt-get update -qq
+
+rosdep keys --from-paths src --ignore-src 2>/dev/null \
+	| xargs -r rosdep resolve --rosdistro "${ROS_DISTRO}" --filter-for-installers=apt 2>/dev/null \
+	| sed -e '/^#/d' -e '/^$/d' \
+	| LC_ALL=C sort -u > "${tmp_packages}"
+
+if ! diff -u <(grep -Ev '^\s*($|#)' "${ROSDEP_APT_LIST_FILE}") "${tmp_packages}" >/dev/null; then
+	echo "rosdep-resolved apt packages differ from ${ROSDEP_APT_LIST_FILE}."
+	echo "Run .devcontainer/refresh-rosdep-cache.sh and rebuild the devcontainer."
+	exit 1
+fi
+
+echo "rosdep apt cache is current; no post-create package installation needed."
+
+if compgen -G "${ROOT_DIR}/src/robotnik/robotnik_simulation/debs/ros-jazzy-*.deb" > /dev/null; then
+	sudo apt-get install -y "${ROOT_DIR}"/src/robotnik/robotnik_simulation/debs/ros-jazzy-*.deb
+fi
@@ -0,0 +1,38 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+ROS_DISTRO="${ROS_DISTRO:-jazzy}"
+CACHE_DIR="${ROOT_DIR}/.devcontainer/${ROS_DISTRO}"
+APT_LIST_FILE="${CACHE_DIR}/rosdep-apt-packages.txt"
+
+cd "${ROOT_DIR}"
+
+mkdir -p "${CACHE_DIR}"
+
+if [[ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]]; then
+    sudo rosdep init
+fi
+
+rosdep update
+export DEBIAN_FRONTEND=noninteractive
+sudo apt-get update -qq
+
+tmp_packages="$(mktemp)"
+cleanup() {
+    rm -f "${tmp_packages}"
+}
+trap cleanup EXIT
+
+rosdep keys --from-paths src --ignore-src 2>/dev/null \
+    | xargs -r rosdep resolve --rosdistro "${ROS_DISTRO}" --filter-for-installers=apt 2>/dev/null \
+    | sed -e '/^#/d' -e '/^$/d' \
+    | LC_ALL=C sort -u > "${tmp_packages}"
+
+{
+    echo "# Generated by .devcontainer/refresh-rosdep-cache.sh"
+    echo "# apt packages resolved from rosdep keys in src"
+    cat "${tmp_packages}"
+} > "${APT_LIST_FILE}"
+
+echo "Updated ${APT_LIST_FILE}"