Initial commit

Nothing has been tested yet.
2026-04-15 18:12:23 +01:00
commit 845f61e710
27 changed files with 1840 additions and 0 deletions
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+FROM ros:kilted
+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 sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+RUN apt-get update && apt-get upgrade -y
+
+# C++ development tools
+RUN apt-get install -y \
+    build-essential \
+    cmake \
+    gdb \
+    clang \
+    clang-format \
+    clang-tidy \
+    libboost-all-dev
+
+# Python development tools
+RUN apt-get install -y \
+    python3-pip \
+    python3-dev \
+    python3-argcomplete \
+    python3-colcon-common-extensions \
+    python3-colcon-mixin \
+    python3-rosdep \
+    python3-vcstool
+
+# 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
+
+# ********************************************************
+# * Anything else you want to do like clean up goes here *
+# ********************************************************
+
+# [Optional] Set the default user. Omit if you want to keep the default as root.
+USER $USERNAME
+CMD ["/bin/bash"]
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+{
+    "name": "ROS 2 Development Container",
+    "privileged": true,
+    "remoteUser": "matt",
+    "build": {
+        "dockerfile": "Dockerfile",
+        "args": {
+            "USERNAME": "matt"
+        }
+    },
+    "workspaceFolder": "/home/ws",
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/ws,type=bind",
+    "customizations": {
+        "vscode": {
+            "extensions":[
+                "ms-vscode.cpptools",
+                "ms-vscode.cpptools-themes",
+                "twxs.cmake",
+                "donjayamanne.python-extension-pack",
+                "eamodio.gitlens",
+                "ms-iot.vscode-ros",
+                "anthropic.claude-code"
+            ]
+        }
+    },
+    "containerEnv": {
+        "DISPLAY": "unix:0",
+        "ROS_AUTOMATIC_DISCOVERY_RANGE": "LOCALHOST",
+        "ROS_DOMAIN_ID": "42"
+    },
+    "runArgs": [
+        "--net=host",
+        "--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"
+    ],
+    "postCreateCommand": "sudo rosdep update && sudo rosdep install --from-paths src --ignore-src -y && sudo chown -R $(whoami) /home/ws/"
+}