m5p3nc3r/ros-raspbot-v2
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Migrate to a new physical robot

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Uses the mecanum controller properly across physical and virtual
There is a timing issue with i2c which is why the control update is limited to 10hz
The sonar and LED's arent yet working, this will come soon.
This commit is contained in:
Matt Spencer
2026-05-27 13:25:20 +00:00
parent c1319a6357
commit ec554bcf2c
96 changed files with 2874 additions and 3730 deletions
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.devcontainer/Dockerfile
+9 -52
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@@ -1,4 +1,5 @@
FROM ros:kilted
# FROM ros:kilted
FROM osrf/ros:kilted-desktop-full
ARG USERNAME=USERNAME
ARG USER_UID=1000
ARG USER_GID=$USER_UID
@@ -8,7 +9,7 @@ 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 -s /bin/bash \
&& 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 \
@@ -18,25 +19,26 @@ RUN groupadd --gid $USER_GID $USERNAME \
RUN apt-get update && apt-get upgrade -y
# C++ development tools
RUN apt-get update && apt-get install -y \
RUN apt-get install -y \
build-essential \
cmake \
gdb \
clang \
clang-format \
clang-tidy \
libboost-all-dev
libboost-all-dev \
xterm
# Python development tools
RUN apt-get update && apt-get install -y \
RUN apt-get install -y \
python3-pip \
python3-venv \
python3-dev \
python3-argcomplete \
python3-colcon-common-extensions \
python3-colcon-mixin \
python3-rosdep \
python3-vcstool
python3-vcstool \
python3-smbus
# ROS 2 ament build tools
# RUN apt-get install -y \
@@ -46,51 +48,6 @@ RUN apt-get update && apt-get install -y \
# ros-${ROS_DISTRO}-ament-lint-auto \
# ros-${ROS_DISTRO}-ament-lint-common
# URDF / xacro tooling — needed to generate flat URDF for IDE preview
RUN apt-get update && apt-get install -y \
ros-${ROS_DISTRO}-xacro \
ros-${ROS_DISTRO}-robot-state-publisher
# Gazebo Harmonic + ROS 2 integration
RUN apt-get update && apt-get install -y \
ros-${ROS_DISTRO}-ros-gz \
ros-${ROS_DISTRO}-gz-ros2-control
# Navigation and SLAM
RUN apt-get update && apt-get install -y \
ros-${ROS_DISTRO}-nav2-bringup \
ros-${ROS_DISTRO}-slam-toolbox \
ros-${ROS_DISTRO}-joint-state-publisher \
ros-${ROS_DISTRO}-joint-state-broadcaster \
ros-${ROS_DISTRO}-joint-trajectory-controller \
ros-${ROS_DISTRO}-controller-manager
# Node.js for frontend development
RUN curl -fsSL https://deb.nodesource.com/setup_22.x | bash - \
&& apt-get install -y nodejs
# Python venv for webui backend (isolated from system packages)
RUN python3 -m venv /opt/webui-venv \
&& /opt/webui-venv/bin/pip install --no-cache-dir \
fastapi \
"uvicorn[standard]" \
numpy
# Docker CLI for accessing the host daemon via the mounted socket
# docker-compose-plugin is only in Docker's official repo, not Ubuntu's.
# .docker_gid is written by initializeCommand on the host before the build,
# ensuring the in-container docker group GID matches the host socket GID.
COPY .docker_gid /tmp/.docker_gid
RUN apt-get update && apt-get install -y ca-certificates curl gnupg \
&& install -m 0755 -d /etc/apt/keyrings \
&& curl -fsSL https://download.docker.com/linux/ubuntu/gpg | gpg --dearmor -o /etc/apt/keyrings/docker.gpg \
&& chmod a+r /etc/apt/keyrings/docker.gpg \
&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(. /etc/os-release && echo "$VERSION_CODENAME") stable" \
> /etc/apt/sources.list.d/docker.list \
&& apt-get update && apt-get install -y docker-ce-cli docker-compose-plugin \
&& groupadd -g "$(cat /tmp/.docker_gid)" docker \
&& usermod -aG docker $USERNAME
ENV SHELL /bin/bash
# ********************************************************
.devcontainer/devcontainer.json
+11 -13
View File
@@ -2,7 +2,6 @@
"name": "ROS 2 Development Container",
"privileged": true,
"remoteUser": "matt",
"initializeCommand": "stat -c %g /var/run/docker.sock > .devcontainer/.docker_gid",
"build": {
"dockerfile": "Dockerfile",
"args": {
@@ -13,34 +12,33 @@
"workspaceMount": "source=${localWorkspaceFolder},target=/home/ws,type=bind",
"customizations": {
"vscode": {
"extensions":[
"ms-vscode.cpptools",
"ms-vscode.cpptools-themes",
"extensions": [
"twxs.cmake",
"donjayamanne.python-extension-pack",
"eamodio.gitlens",
"ms-iot.vscode-ros",
"morningfrog.urdf-visualizer",
"anthropic.claude-code",
"morningfrog.urdf-visualizer"
"redhat.vscode-xml"
]
}
},
"containerEnv": {
"DISPLAY": "unix:0",
"ROS_AUTOMATIC_DISCOVERY_RANGE": "LOCALHOST",
"ROS_DOMAIN_ID": "42"
"ROS_DOMAIN_ID": "0",
// "FASTDDS_BUILTIN_TRANSPORTS": "LARGE_DATA?max_msg_size=1MB&sockets_size=1MB&non_blocking=true&tcp_negotiation_timeout=50"
"FASTDDS_BUILTIN_TRANSPORTS": "LARGE_DATA"
},
"runArgs": [
"--net=host",
"--pid=host",
"--ipc=host",
"-e", "DISPLAY=${env:DISPLAY}"
"-e",
"DISPLAY=${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=${localEnv:HOME}/.gitconfig,target=/home/matt/.gitconfig,type=bind,consistency=cached,readonly",
"source=/var/run/docker.sock,target=/var/run/docker.sock,type=bind"
"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 lidar/src robot/src --ignore-src -y && sudo chown -R $(whoami) /home/ws/ && npm --prefix /home/ws/webui/frontend install"
"postCreateCommand": "sudo apt update && sudo rosdep update && sudo rosdep install -y --from-paths src --ignore-src -y && sudo chown -R $(whoami) /home/ws/"
}