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/devcontainer.json
+11 -13
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@@ -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/"
}