devcontainer template for ros2 colcon workspace

#devcontainer_template_for_ros2_colcon_workspace.md

Devcontainer usage

Setup

• Create a directory for your new workspace

  mkdir dev_ros2
  cd dev_ros2

• Download the zip and extract inside your workspace directory as .devcontainer

  wget -qO- https://gist.github.com/zflat/445b2ef3427dd947e2a3d46b61420b9b/archive/main.tar.gz | tar -xz --transform "s/^445b2e.*main/.devcontainer/"

• Create the workspace volume. Run from the root of your workspace:

  docker volume create "$(basename $(pwd))_colcon_ws_volume"

• Clone repositories into the workspace
• Run and attach to the devcontainer

  devcontainer up --workspace-folder .
  devcontainer exec --workspace-folder . byobu

Helpful commands

• Install workspace dependencies

  sudo apt update
  rosdep update
  rosdep install --from-paths src --ignore-src -r -y
  

create_workspace.sh

#!/bin/bash

mkdir -p /opt/colcon_ws/src

ln -sf $CONTAINER_WS_DIR /opt/colcon_ws/src/

devcontainer.json

// For format details, see https://aka.ms/devcontainer.json. For config options, see the
// examples at: https://github.com/devcontainers/templates
{
  "name": "${localWorkspaceFolderBasename}-dev",

  "runArgs": [    
    "--env=AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1",
    "--env=DISPLAY=${localEnv:DISPLAY}",
    "--env=QT_QPA_PLATFORM=xcb",
    "--env=QT_X11_NO_MITSHM=1",
    "--env=WAYLAND_DISPLAY=${localEnv:WAYLAND_DISPLAY}",
    "--name=${localWorkspaceFolderBasename}-dev",
    "--network=host",
    "--workdir=/opt/colcon_ws"

  ],

  "build": {
    "dockerfile": "Dockerfile"
  },

  "containerEnv": {
    "CONTAINER_WS_DIR": "${containerWorkspaceFolder}"
  },

  // Features to add to the dev container. More info: https://containers.dev/features.
  // "features": {},

  // Use 'forwardPorts' to make a list of ports inside the container available locally.
  // "forwardPorts": [],

  // Use 'postCreateCommand' to run commands after the container is created.
  "postCreateCommand": "/tmp/create_workspace.sh",

  // Configure tool-specific properties.
  // "customizations": {},

  // Use the non-root user to help with permissions and GUI display.
  // Comment to connect as root (or other image default container) instead..
  "remoteUser": "ubuntu",

  "mounts": [
    "source=${localWorkspaceFolderBasename}_colcon_ws_volume,target=/opt/colcon_ws,type=volume,consistency=cached",
    "source=/dev/dri,target=/dev/dri,type=bind",
    "source=${localEnv:XAUTHORITY},target=/home/ubuntu/.Xauthority,type=bind,consistency=cached",
  ]
}

Dockerfile

FROM osrf/ros:rolling-desktop-full

RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
    byobu \
    emacs-nox \
    && apt-get clean && rm -rf /var/lib/apt/lists/*

RUN echo 'ubuntu:ubuntu' | chpasswd

COPY ./create_workspace.sh /tmp/
RUN chmod +x /tmp/create_workspace.sh
RUN echo  "alias ws='cd /opt/colcon_ws && [ -e /opt/colcon_ws/install/setup.bash ] && . /opt/colcon_ws/install/setup.bash'" \
    | tee -a /root/.bashrc /home/ubuntu/.bashrc
RUN echo  "function build_and_test() { colcon build --packages-select \$(basename \${1}) && colcon test --event-handlers console_direct+ --packages-select \$(basename \${1}); }; " \
    | tee -a /root/.bashrc /home/ubuntu/.bashrc

example-dir-locals.el

;;; Directory Local Variables            -*- no-byte-compile: t -*-
;;; For more information see (info "(emacs) Directory Variables")
;;; and the following guides:
;;; https://docs.projectile.mx/projectile/projects.html#storing-project-settings
;;; https://endlessparentheses.com/a-quick-guide-to-directory-local-variables.html
;;; http://joelmccracken.github.io/entries/project-local-variables-in-projectile-with-dirlocals/
((c++-mode . (
              ;; Command to run from the project root when (project-compile) is invoked:
              (compile-command . "./scripts/build.bash")))
 (nil . (
         ;; An alternative to setting a major mode 'compile-command is
         ;; to set the variable 'projectile-project-compilation-cmd
         ;; which will be used by (projectile-compile-project) as long
         ;; as the 'projectile-compilation-cmd-map is cleared.
         ;;
         ;; To clear the cached command for a project, run:
         ;; (remhash (projectile-project-root) projectile-compilation-cmd-map)
         (eval . (progn
                   (remhash (projectile-project-root) projectile-compilation-cmd-map)
                   (setq projectile-project-compilation-cmd
                         (concat
                          (getenv "HOME") "/.asdf/shims/devcontainer exec --workspace-folder "
                          (projectile-project-root) "../"
                          " bash -c 'cd /opt/colcon_ws && . /opt/ros/rolling/setup.bash"
                          " && colcon build --packages-select lib_my_example"
                          " && . install/setup.bash"
                          " && colcon test --event-handlers console_direct+ --packages-select lib_my_example'")))))))