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jungee-hongjungee-hong
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Initialize rolling
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‎.devcontainer/Dockerfile‎

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FROM althack/ros2:rolling-dev
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# Set up dev packages
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ENV DEBIAN_FRONTEND=noninteractive
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RUN apt-get update \
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&& apt-get -y install --no-install-recommends \
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bash-completion \
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git-core \
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openssh-client \
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python3-argcomplete \
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python3-colcon-common-extensions \
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python3-vcs2l \
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sudo \
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&& rm -rf /var/lib/apt/lists/*
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ENV DEBIAN_FRONTEND=dialog
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# Set up auto-source of workspace for ros user
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ARG WORKSPACE
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ARG USERNAME=ros
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ARG USER_UID=1000
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ARG USER_GID=$USER_UID
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# Find and replace any user with matching UID
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RUN set -eux; \
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existing_user=$(getent passwd "$USER_UID" | cut -d: -f1 || true); \
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if [ -n "$existing_user" ]; then \
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usermod -l $USERNAME -d /home/$USERNAME -m $existing_user && \
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groupmod -n $USERNAME $existing_user && \
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echo "Renamed $existing_user to $USERNAME"; \
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else \
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groupadd --gid $USER_GID $USERNAME && \
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useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME && \
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echo "Created new user $USERNAME"; \
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fi
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# Ensure necessary directories and permissions
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RUN mkdir -p /home/$USERNAME /run/user/$USER_UID && \
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chown -R $USER_UID:$USER_GID /home/$USERNAME /run/user/$USER_UID
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# Add sudo support for the non-root user
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RUN echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/$USERNAME \
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&& chmod 0440 /etc/sudoers.d/$USERNAME \
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&& touch /home/$USERNAME/.sudo_as_admin_successful
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# Set up autocompletion for user
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RUN echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
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&& echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/$USERNAME/.bashrc \
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&& echo "if [ -f /usr/share/vcs2l-completion/vcs.bash ]; then source /usr/share/vcs2l-completion/vcs.bash; fi" >> /home/$USERNAME/.bashrc \
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# Set up auto-source of workspace for ros user
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&& echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc

‎.devcontainer/devcontainer.json‎

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// For format details, see https://aka.ms/devcontainer.json. For config options, see the
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// README at: https://github.com/devcontainers/templates/tree/main/src/ubuntu
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{
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"dockerFile": "Dockerfile",
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"build": {
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"args": {
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"WORKSPACE": "${containerWorkspaceFolder}"
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},
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"options": ["--pull"]
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},
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"runArgs": [
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"--network=host",
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"--cap-add=SYS_PTRACE",
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"--security-opt=seccomp:unconfined",
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"--security-opt=apparmor:unconfined",
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"--volume=/tmp/.X11-unix:/tmp/.X11-unix",
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"--volume=/mnt/wslg:/mnt/wslg",
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"--ipc=host"
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// uncomment to use intel iGPU
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// "--device=/dev/dri"
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],
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"containerEnv": {
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"DISPLAY": "${localEnv:DISPLAY}", // Needed for GUI try ":0" for windows
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"WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
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"XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
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"PULSE_SERVER": "${localEnv:PULSE_SERVER}",
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"LIBGL_ALWAYS_SOFTWARE": "1" // Needed for software rendering of opengl
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},
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// Set *default* container specific settings.json values on container create.
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"customizations": {
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"vscode": {
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"extensions": [
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"althack.ament-task-provider",
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"betwo.b2-catkin-tools",
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"DotJoshJohnson.xml",
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"ms-azuretools.vscode-docker",
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"ms-python.autopep8",
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"ms-python.python",
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"ms-vscode.cpptools",
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"Ranch-Hand-Robotics.rde-pack",
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"redhat.vscode-yaml",
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"streetsidesoftware.code-spell-checker",
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"twxs.cmake",
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"yzhang.markdown-all-in-one",
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"zachflower.uncrustify"
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]
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}
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}
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}

‎.devcontainer/repos_to_submodules.py‎

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import glob
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import os
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import subprocess
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import yaml
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prefix="src"
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def add_git_submodule(repo_name, repo_url, repo_version):
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subprocess.call(['git', 'submodule', 'add', '-b', repo_version, repo_url, repo_name])
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def is_submodule(repo_name):
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try:
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subprocess.check_output(['git', 'submodule', 'status', repo_name], stderr=subprocess.DEVNULL)
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return True
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except subprocess.CalledProcessError:
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return False
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def parse_repos_file(file_path):
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with open(file_path, 'r') as file:
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repos_data = yaml.safe_load(file)
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repositories = repos_data['repositories']
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for repo_name, repo_info in repositories.items():
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if 'type' in repo_info and repo_info['type'] == 'git':
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repo_url = repo_info['url']
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repo_version = repo_info['version']
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submodule_name = os.path.join(prefix, repo_name)
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if not is_submodule(submodule_name):
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add_git_submodule(submodule_name, repo_url, repo_version)
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print(f"Added {repo_name} as a submodule.")
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# Find .repos files within the src directory
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repos_files = glob.glob('src/**/*.repos', recursive=True)
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# Process each .repos file
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for repos_file in repos_files:
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parse_repos_file(repos_file)

‎.env‎

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PYTHONPATH=src:install/lib/python3.12/site-packages

‎.github/actions/lint/action.yml‎

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name: 'Lint'
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description: 'Lint using devcontainer'
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runs:
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using: 'docker'
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image: '../../../.devcontainer/Dockerfile'
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entrypoint: ".github/actions/lint/run.sh"

‎.github/actions/lint/run.sh‎

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#!/bin/bash
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set -e
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./setup.sh
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ament_${LINTER} src/

‎.github/actions/test/action.yml‎

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name: 'Test'
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description: 'Test using devcontainer'
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runs:
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using: 'docker'
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image: '../../../.devcontainer/Dockerfile'
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entrypoint: ".github/actions/test/run.sh"

‎.github/actions/test/run.sh‎

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#!/bin/bash
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set -e
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./setup.sh
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./build.sh
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./test.sh

‎.github/dependabot.yml‎

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version: 2
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updates:
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- package-ecosystem: github-actions
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directory: "/"
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schedule:
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interval: daily
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open-pull-requests-limit: 10

‎.github/workflows/docs.yaml‎

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name: docs
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on:
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release:
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push:
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tags:
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- 'v*'
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workflow_dispatch:
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jobs:
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publish:
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runs-on: ubuntu-latest
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steps:
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- name: Checkout
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uses: actions/checkout@v4
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- name: Build and push docs
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uses: athackst/mkdocs-simple-plugin@v3.2.0

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