diff --git a/README.md b/README.md
index 3f2798a4805137d69cdb2b1ae774c1fd1e172e24..c55317fabaf2698aa51b05e2c33cf5aedb8ec37a 100644
--- a/README.md
+++ b/README.md
@@ -54,6 +54,7 @@ python3 -m pipx ensurepath
pipx install git+https://github.com/osrf/rocker.git
pipx inject rocker git+https://github.com/sloretz/off-your-rocker.git
pipx inject rocker git+https://github.com/miguelprada/mp_rocker.git
+pipx inject rocker git+https://github.com/anfemosa/roscker_extensions.git # WIP
```
**Nvidia-container-toolkit**
@@ -76,7 +77,7 @@ Clone the repository:
git clone git@git.code.tecnalia.com:andres.montano/development_environment.git
```
-## Usage/Examples
+## How to use it
### Before generate a docker image
@@ -113,7 +114,7 @@ pyk4a
# EOF
```
-**TIP** To obtain the dependencies list for you workspace you can use the command `rosdep check --from-paths src --ignore-src`
+**TIP** To obtain the dependencies list for you workspace you can use the command `rosdep check --from-paths src --ignore-src` or `rosdep install --reinstall --simulate --from-path src --ignore-src --skip-keys --rosdistro ${ROS_DISTRO}`
If some extra libs are needed, they can be added in extra_libs folder, where a common_libs.txt file is located jointly with ROS_DISTRO_libs.txt files. These libs are packages downloaded and installed in the docker image during the build process. Therefore, files containing urls with links to the sources of the libs.
@@ -121,15 +122,13 @@ Example of common_libs.txt file:
```bash
# List with links to additional libraries to install in devenv image
-# bat-musl
-https://github.com/sharkdp/bat/releases/download/v0.24.0/bat-musl_0.24.0_amd64.deb
# lsd-musl
-https://github.com/lsd-rs/lsd/releases/download/v1.0.0/lsd-musl_1.0.0_amd64.deb
-# ripgrep
-https://github.com/BurntSushi/ripgrep/releases/download/14.1.0/ripgrep_14.1.0-1_amd64.deb
+https://github.com/lsd-rs/lsd/releases/download/v1.1.5/lsd-musl_1.1.5_amd64.deb
```
-### TECNALIA login info
+The package dependencies as binaries can be passed to the dockerfile with the option `--build-arg PACKAGES=${ws_packages}` e.g. `docker build --build-arg PACKAGES=neurondones_humble -t deven:humble .`
+
+### TECNALIA login info (Deprecated?)
An auth.conf file with TECNALIA login info is required to add access to the Tecnalia's artifactory repository.
@@ -141,50 +140,106 @@ password AVERYLONGPASSWORDGENERATEDBYTOKENINARTIFACTORY
### dotfiles
-#### docker.sh
+There are a bunch of useful optional functions to simplify the docker or ros usage at [dotfiles](https://github.com/andres-montano/dotfiles). Check repo readme to get more info.
+
+**Summary**
+
+```bash
+ echo "${BLUE} dockbuild: Build a docker image for ROS"
+ echo "Usage: dockbuild <ROS_DISTRO> [build_args]"
+ echo "ROS_DISTRO: Ros distribution. e.g. melodic, noetic, humble, etc."
+ echo "build_args:"
+ echo " --shell: shell to use in the container. e.g. bash or zsh"
+ echo " --ws: file name with packages to install in the workspace. e.g. neurondones_humble.txt"
+ echo " --force: force rebuild the image"
+ echo "Whiout build_args, default shell: ${ext}${NC}"
+```
+
+```bash
+ echo "${BLUE} dockrun: Run a docker image for ROS"
+ echo "Usage: dockrun <ROS_DISTRO> [options]"
+ echo "ROS_DISTRO:"
+ echo " melodic, noetic, humble, jazzy,etc."
+ echo "Options:"
+ echo " --ws: path to workspace. e.g. odin_ws"
+ echo " --share: resource to share with the container, e.g. video, pcan or dev"
+ echo " --shell: shell to use in the container. By default zsh"
+ echo " --parse: parse_args to use in the container, e.g. --oyr-spacenav. By default none"
+ echo " --image: use an specific image. By default uses the ROS base image"
+ echo "Examples:"
+ echo "dockrun humble --ws mairon_ws"
+ echo "dockrun noetic --ws neurondones_ws --share pcan"
+ echo "dockrun melodic --ws odinrobot_ws --share video --shell bash${NC}"
+```
-dotfile with useful commands to simplify the docker use.
+**Summary**
-Useful commands:
+There are four configuration files:
+- distro_dependencies -- common to all workspaces at the same ros distro
+- ws_dependencies -- particular dependencies for a given workspace
+- extra_libs -- deb packages to install in the docker image
+- auth.conf -- TECNALIA's artifactory login info
+
+To build a docker image:
```bash
-Usage: dockbuild <ROS_DISTRO> [build_args]
-ROS_DISTRO: Ros distribution. e.g. melodic, noetic, humble, etc.
-build_args:
- --shell: shell to use in the container. e.g. bash or zsh
- Without build_args, default shell: zsh
+docker build -t devenv:${ros_distro} ${build_options} -f devenv.Dockerfile .
+or
+dockbuild humble --shell zsh --ws neurondones_humble --force
```
+where build_options could be:
+
```bash
-Usage: dockrun <ROS_DISTRO> [options]
-ROS_DISTRO:
- melodic, noetic, humble, etc.
-Options:
- --ws: path to workspace. e.g. odin_ws
- --share: resource to share with the container, e.g. video, pcan or dev
- --shell: shell to use in the container. By default zsh
- --parse: parse_args to use in the container, e.g. --oyr-spacenav.
- By default none
-Examples:
-dockrun humble --ws mairon_ws
-dockrun noetic --ws neurondones_ws --share pcan
-dockrun melodic --ws odinrobot_ws --share video --shell bash
+--build-arg ROS_DISTRO=${ros_distro} # Mandatory
+--build-arg PACKAGES=${ws_packages}
+--build-arg SHELL=${ext}
+--build-arg SHELL=${shell_path}
+--no-cache
```
+To run a container:
+
```bash
-Usage: dockexec <ROS_DISTRO> [options]
-ROS_DISTRO: Ros distribution. e.g. melodic, noetic, humble, etc.
-options:
- --ws: path to workspace. e.g. odin_ws
- --shell: shell to use in the container. e.g. bash or zsh
-Example:
-dockexec noetic --ws neurondones_ws --shell bash
+rocker --home --ssh --git --user --user-preserve-groups --privileged --nvidia --x11 --network host --name ${container_name} ${image} zsh
+or
+dockrun melodic --ws odinrobot_ws --share dev
```
+## ROS and VS-Code
+
+To use ROS with VS Code there a lot of resources but most of them are focused on launch a docker image and then attach VS-Code to it. The problem with this approach is it does not allow to properly debug ROS nodes in VS-Code.
+
+Resources list:
+
+- [Setup ROS 2 with VSCode and Docker](https://docs.ros.org/en/rolling/How-To-Guides/Setup-ROS-2-with-VSCode-and-Docker-Container.html)
+- [ROS 2 and VSCode](https://picknik.ai/vscode/docker/ros2/2024/01/23/ROS2-and-VSCode.html)
+- [VSCode ROS2 Workspace Template](https://github.com/athackst/vscode_ros2_workspace)
+- [Step By Step Integration of ROS in VS Code](https://github.com/lzptr/VS_Code_ROS)
+- [IDE Visual Studio Code](https://health_software.pages.code.tecnalia.com/software_good_practices/ide/ide-vscode/)
+- [IDEs and Debugging](https://docs.ros.org/en/rolling/How-To-Guides/ROS-2-IDEs.html)
+
+One of the most complete guide is [Setup ROS 2 with VSCode and Docker](https://docs.ros.org/en/rolling/How-To-Guides/Setup-ROS-2-with-VSCode-and-Docker-Container.html), it is a good starting point and is maintained by the ROS Community.
+
+To summarize, some configuration files should be added to workspace. '.devconatiner' folder including 'devcontainer.json' and 'Dockerfile'. '.vscode' folder including 'launch.json', 'tasks.json', 'c_cpp_properties.json' and 'settings.json'.
+
+- devcontainer.json contains the configuration to launch the container on VS-Code. Including Mount points, VS-Code extensions and Shared resources.
+- Dockerfile contains the configuration to add $USER to the container avoiding permission issues.
+- launch.json contains the configuration to launch a ROS node in the container.
+- tasks.json contains the configuration to define tasks in VS-Code.
+- c_cpp_properties.json and settings.json are autogenerated by VS-Code.
+
+Examples of functional commented files are stored at [vscode_config](https://git.code.tecnalia.com/andres.montano/development_environment/-/blob/master/vscode_config)' folder.
+
+As final remarks, the launch.json and tasks.json should be adapted to workspace/project needs. The launch.json contains the configuration to launch a ROS node in the container, it is recommended to avoid debug nodes as RViz or Gazebo (GZ), therefore the launch file should only be used to launch core project nodes.
+
+In order to make easy to use the configurations, a local env could be loaded with [direnv](https://github.com/direnv/direnv) (.envrc file), but it is not mandatory.
-## Authors
+## Contributors
- [@andres.montano](https://git.code.tecnalia.com/andres.montano)
+- [@jon.onativia](https://git.code.tecnalia.com/jon.onativia)
+- [@javier.gonzalez](https://git.code.tecnalia.com/javier.gonzalez)
## Feedback
diff --git a/vscode_config/.devcontainer/Dockerfile b/vscode_config/.devcontainer/Dockerfile
new file mode 100644
index 0000000000000000000000000000000000000000..3d2d32e8202b6054fe57836766fe441a6091f6c8
--- /dev/null
+++ b/vscode_config/.devcontainer/Dockerfile
@@ -0,0 +1,38 @@
+ARG ROS_DISTRO
+ARG IMAGE_BASE
+FROM ${IMAGE_BASE}:${ROS_DISTRO}
+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
+RUN apt-get install -y python3-pip
+
+# Set the shell by dafault
+ARG SHELL=/bin/zsh
+ENV SHELL ${SHELL}
+
+# [Optional] Set the default user. Omit if you want to keep the default as root.
+USER $USERNAME
+
+# [Optional] Clone dotfiles and apply configuration
+RUN git clone https://github.com/andsens/homeshick.git /home/$USERNAME/.homesick/repos/homeshick \
+ && /home/$USERNAME/.homesick/repos/homeshick/bin/homeshick clone anfemosa/dotfiles \
+ && /home/$USERNAME/.homesick/repos/homeshick/bin/homeshick link dotfiles
+
+# ********************************************************
+# * Anything else you want to do like clean up goes here *
+# ********************************************************
+
+CMD ["/bin/zsh"]
\ No newline at end of file
diff --git a/vscode_config/.devcontainer/devcontainer.json b/vscode_config/.devcontainer/devcontainer.json
new file mode 100644
index 0000000000000000000000000000000000000000..da5efdb177fae136eb84972f2faf994a2b9da85c
--- /dev/null
+++ b/vscode_config/.devcontainer/devcontainer.json
@@ -0,0 +1,129 @@
+{
+ // Name of the tool
+ "name": "ROS2 Development Container",
+ "privileged": true,
+ "remoteUser": "${env:USERNAME}",
+ // Dockerfile used to generate the image, alternatively a given image could be use by "image" parameter, e.g. "image":"devenv:humble"
+ // But build and image cannot be used together
+ "build": {
+ "dockerfile": "Dockerfile",
+ "args": {
+ "IMAGE_BASE": "${env:IMAGE_BASE}",
+ "ROS_DISTRO": "${env:ROS_DISTRO}",
+ "SHELL": "${env:SHELL}",
+ "USERNAME": "${env:USERNAME}"
+ }
+ },
+ //"image": "${localEnv:IMAGE_BASE}:${localEnv:ROS_DISTRO}",
+ // Arguments to pass to the container. The same arguments are passed to the docker run command
+ "runArgs": [
+ "--cap-add=SYS_PTRACE", // Allows the container to trace processes using ptrace system call
+ "--security-opt=seccomp=unconfined", // Disables seccomp security profiles for the container
+ "--net=host",
+ "--pid=host",
+ "--ipc=host",
+ "--rm", // Remove the container when stop it.
+ "--name=${localEnv:ROS_DISTRO}" // Name of the container; useful to attache terminals to it using the dotfiles
+ ],
+ // Mount the workspace
+ "workspaceMount": "source=${localWorkspaceFolder},target=${localWorkspaceFolder},type=bind",
+ "workspaceFolder": "${localWorkspaceFolder}",
+ // Uncomment to allow the container to access the X server on the host e.g. to run Rviz and other GUI tools
+ // As rocker is not used nvidia and other features are not supported [WIP]
+ "containerEnv": {
+ "DISPLAY": "${localEnv:DISPLAY}"
+ },
+ "mounts": [
+ ///*
+ // Uncomment to allow the container to access the X server on the host e.g. to run Rviz and other GUI tools
+ {
+ "source": "/tmp/.X11-unix",
+ "target": "/tmp/.X11-unix",
+ "type": "bind"
+ },
+ {
+ "source": "${localEnv:XAUTHORITY:-$HOME/.Xauthority}",
+ "target": "${localEnv:HOME}/.Xauthority",
+ "type": "bind"
+ },
+ // Mount the host's /dev directory allowing the container to access hardware/devices on the host
+ {
+ "source": "/dev",
+ "target": "/dev",
+ "type": "bind"
+ }
+ // [Optional] Mount bash history
+ ,
+ {
+ "source": "${localEnv:HOME}/.bash_eternal_history",
+ "target": "${localEnv:HOME}/.bash_eternal_history",
+ "type": "bind"
+ }
+ //*/
+ ],
+ // Commands to run after creating the container
+ //"postCreateCommand": "sudo rosdep update && sudo rosdep install --from-paths src --ignore-src -y",
+ "postCreateCommand": "direnv allow .",
+ // VS Code settings
+ "customizations": {
+ "vscode": {
+ "settings": {
+ "terminal.integrated.shell.linux": "${localEnv:SHELL}"
+ },
+ "extensions": [
+ "aaron-bond.better-comments",
+ "alefragnani.project-manager",
+ "cheshirekow.cmake-format",
+ "codeium.codeium",
+ "codezombiech.gitignore",
+ "eamodio.gitlens",
+ "github.github-vscode-theme",
+ "hbenl.vscode-test-explorer",
+ "jeff-hykin.better-cpp-syntax",
+ "josetr.cmake-language-support-vscode",
+ "kaih2o.python-resource-monitor",
+ "kevinrose.vsc-python-indent",
+ "llvm-vs-code-extensions.vscode-clangd",
+ "mhutchie.git-graph",
+ "mintlify.document",
+ "ms-azuretools.vscode-docker",
+ "ms-dotnettools.vscode-dotnet-runtime",
+ "ms-iot.vscode-ros",
+ "ms-python.autopep8",
+ "ms-python.black-formatter",
+ "ms-python.debugpy",
+ "ms-python.flake8",
+ "ms-python.isort",
+ "ms-python.python",
+ "ms-python.vscode-pylance",
+ "ms-toolsai.jupyter-keymap",
+ "ms-vscode-remote.remote-containers",
+ "ms-vscode-remote.remote-ssh-edit",
+ "ms-vscode-remote.remote-ssh",
+ "ms-vscode-remote.remote-wsl",
+ "ms-vscode-remote.vscode-remote-extensionpack",
+ "ms-vscode.cmake-tools",
+ "ms-vscode.cpptools-extension-pack",
+ "ms-vscode.cpptools-themes",
+ "ms-vscode.cpptools",
+ "ms-vscode.remote-explorer",
+ "ms-vscode.remote-server",
+ "ms-vscode.test-adapter-converter",
+ "njpwerner.autodocstring",
+ "njqdev.vscode-python-typehint",
+ "oderwat.indent-rainbow",
+ "slevesque.vscode-3dviewer",
+ "streetsidesoftware.code-spell-checker",
+ "theumletteam.umlet",
+ "trabpukcip.wolf",
+ "twxs.cmake",
+ "visualstudioexptteam.intellicode-api-usage-examples",
+ "visualstudioexptteam.vscodeintellicode",
+ "vscode-icons-team.vscode-icons",
+ "xirider.livecode",
+ "yzane.markdown-pdf",
+ "ziyasal.vscode-open-in-github"
+ ]
+ }
+ }
+}
\ No newline at end of file
diff --git a/vscode_config/.envrc b/vscode_config/.envrc
new file mode 100644
index 0000000000000000000000000000000000000000..d2ba466b3867c4846b4d675442c4d70e1a0b7b1a
--- /dev/null
+++ b/vscode_config/.envrc
@@ -0,0 +1,7 @@
+export ROS_DISTRO=humble
+export IMAGE_BASE=devenv
+
+# Set direnv log format easier for the eyes
+export DIRENV_LOG_FORMAT=$'\033[2mdirenv: %s\033[0m'
+# to completely disable direnv logging
+# export DIRENV_LOG_FORMAT=''
diff --git a/vscode_config/.vscode/launch.json b/vscode_config/.vscode/launch.json
new file mode 100644
index 0000000000000000000000000000000000000000..21cb808c52159af2c150c4b24ddef7381a77b504
--- /dev/null
+++ b/vscode_config/.vscode/launch.json
@@ -0,0 +1,20 @@
+{
+ // Use IntelliSense to learn about possible attributes.
+ // Hover to view descriptions of existing attributes.
+ // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+ "version": "0.2.0",
+ "configurations": [
+ {
+ "name": "ROS: Launch servers",
+ "request": "launch",
+ "target": "${workspaceFolder}/src/neurondones_workcell/neurondones_bringup/neurondones_bringup/launch/robot.launch.py",
+ "arguments": [
+ "robot_ip:='192.168.135.50'",
+ "use_sim_time:=true",
+ "use_fake_hardware:=true",
+ "launch_rviz:=false"
+ ],
+ "type": "ros"
+ }
+ ]
+}
\ No newline at end of file
diff --git a/vscode_config/.vscode/tasks.json b/vscode_config/.vscode/tasks.json
new file mode 100644
index 0000000000000000000000000000000000000000..90cf57d53309db6efc183a7576c826f0012a87eb
--- /dev/null
+++ b/vscode_config/.vscode/tasks.json
@@ -0,0 +1,56 @@
+{
+ // See https://go.microsoft.com/fwlink/?LinkId=733558
+ // for the documentation about the tasks.json format
+ "version": "2.0.0",
+ "tasks": [
+ {
+ "label": "colcon: build (debug)",
+ "type": "shell",
+ "command": [
+ "source /opt/ros/humble/setup.zsh;",
+ "colcon build",
+ "--symlink-install",
+ "--cmake-args -DCMAKE_BUILD_TYPE=Debug",
+ "--packages-skip allegro_hand_weiss"
+ ],
+ "problemMatcher": [],
+ "group": {
+ "kind": "build",
+ "isDefault": true
+ }
+ },
+ {
+ "label": "colcon: build",
+ "type": "shell",
+ "command": [
+ "source /opt/ros/humble/setup.zsh;",
+ "colcon build",
+ "--symlink-install",
+ "--packages-skip allegro_hand_weiss"
+ ],
+ "problemMatcher": [],
+ "group": {
+ "kind": "build",
+ "isDefault": false
+ }
+ },
+ {
+ "label": "colcon: clean",
+ "type": "shell",
+ "command": [
+ "rm -rf build/ install/ log/;"
+ ]
+ },
+ {
+ "label": "colcon: test",
+ "type": "shell",
+ "command": [
+ "source /opt/ros/humble/setup.zsh;",
+ "source install/setup.zsh;",
+ "colcon test",
+ "--packages-select <package-name>",
+ "--event-handlers console_direct+;"
+ ]
+ }
+ ]
+}
\ No newline at end of file