Robert Hamel roberthamel

Debug ROS2 C++ node on VSCode (Ubuntu)

Description

This is a small tutorial on how to debug a ROS2 C++ node usign VSCode.

Requeriments

This implementation was done using:

58 bytes of CSS to look great nearly everywhere

When making this website, i wanted a simple, reasonable way to make it look good on most displays. Not counting any minimization techniques, the following 58 bytes worked well for me:

main {
  max-width: 38rem;
  padding: 2rem;
  margin: auto;
}

Istio Auth Policy and Mesh Policy Results

Test the behavior of various implementations of mTLS for Auth Policies AND Mesh Policies so that we have the right logic implemented when we determine the config mTLS state for the Details API

Set Up

For testing these scenarios, I installed AspenMesh in a bare cluster without enabling mTls by default (use install/kubernetes/aspenmesh.yaml) but otherwise set it up normally according to the Aspen Mesh and Istio Docs.

I used the Istio setup described here

Follow the setup steps in this doc

	###
	### [2023-06-19] UPDATE: Just tried to use my instructions again on a fresh install and it failed in a number of places.
	###. Not sure if I'll update this gist (though I realise it seems to still have some traffic), but here's a list of
	###. things to watch out for:
	### - Check out the `nix-darwin` instructions, as they have changed.
	### - There's a home manager gotcha https://github.com/nix-community/home-manager/issues/4026
	###

	# I found some good resources but they seem to do a bit too much (maybe from a time when there were more bugs).
	# So here's a minimal Gist which worked for me as an install on a new M1 Pro.

	// usage:
	// testDB := testhelpers.NewTestDatabase(t)
	// defer testDB.Close(t)
	// println(testDB.ConnectionString(t))
	package testhelpers

	import (
	"context"
	"fmt"
	"testing"

	#!/usr/bin/python3
	import rclpy
	from rclpy.node import Node
	import cv2
	import os
	import sys
	from sensor_msgs.msg import Image
	from cv_bridge import CvBridge, CvBridgeError

	class ImagePublisher(Node):

	Add the following in .zshrc:

	...
	plugins=(osx git zsh-autosuggestions zsh-syntax-highlighting zsh-nvm docker kubectl)
	...

	### Fix slowness of pastes with zsh-syntax-highlighting.zsh
	pasteinit() {
	OLD_SELF_INSERT=${${(s.:.)widgets[self-insert]}[2,3]}
	zle -N self-insert url-quote-magic # I wonder if you'd need `.url-quote-magic`?

	brew install caddy mkcert nss dnsmasq

	mkcert -install

	mkcert '.app.test' '.cdn.test'

	# rename the certs and move them under /usr/local/etc/caddy/certs

	cat <<EOF > /usr/local/etc/caddy/Caddyfile
	.app.test:443, .cdn.test:443 {