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| # VSCode ROS2 Workspace Template | ||
| # ROS 2 Development Container for the TurtleBot4 | ||
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| This template will get you set up using ROS2 with VSCode as your IDE. | ||
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| See [how I develop with vscode and ros2](https://www.allisonthackston.com/articles/vscode_docker_ros2.html) for a more in-depth look on how to use this workspace. | ||
| You want to get started with ROS 2 and the [Turtlebot 4](https://clearpathrobotics.com/turtlebot-4/), however you don't want to upgrade your main OS to Ubuntu 22.04? | ||
| This repository contains a setup that uses a Docker container as an isolated environment for ROS 2 development. | ||
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| ## Features | ||
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| ### Style | ||
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| ROS2-approved formatters are included in the IDE. | ||
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| * **c++** uncrustify; config from `ament_uncrustify` | ||
| * **python** autopep8; vscode settings consistent with the [style guide](https://index.ros.org/doc/ros2/Contributing/Code-Style-Language-Versions/) | ||
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| ### Tasks | ||
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| There are many pre-defined tasks, see [`.vscode/tasks.json`](.vscode/tasks.json) for a complete listing. Feel free to adjust them to suit your needs. | ||
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| Take a look at [how I develop using tasks](https://www.allisonthackston.com/articles/vscode_tasks.html) for an idea on how I use tasks in my development. | ||
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| ### Debugging | ||
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| This template sets up debugging for python files, gdb for cpp programs and ROS launch files. See [`.vscode/launch.json`](.vscode/launch.json) for configuration details. | ||
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| ### Continuous Integration | ||
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| The template also comes with basic continuous integration set up. See [`.github/workflows/ros.yaml`](/.github/workflows/ros.yaml). | ||
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| To remove a linter just delete it's name from this line: | ||
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| ```yaml | ||
| matrix: | ||
| linter: [cppcheck, cpplint, uncrustify, lint_cmake, xmllint, flake8, pep257] | ||
| ``` | ||
| ## How to use this template | ||
| ### Prerequisites | ||
| You should already have Docker and VSCode with the remote containers plugin installed on your system. | ||
| * [docker](https://docs.docker.com/engine/install/) | ||
| * [vscode](https://code.visualstudio.com/) | ||
| * [vscode remote containers plugin](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) | ||
| ### Get the template | ||
| Click on "use this template" | ||
|  | ||
| ### Create your repository | ||
| On the next dialog, name the repository you would like to start and decide if you want all of the branches, or just the latest LTS: humble. | ||
|  | ||
| Github will then create a new repository with the contents of this one in your account. It grabs the latest changes as "initial commit". | ||
| ### Clone your repo | ||
| Now you can clone your repo as normal | ||
|  | ||
| ### Open it in vscode | ||
| Now that you've cloned your repo onto your computer, you can open it in VSCode (File->Open Folder). | ||
| When you open it for the first time, you should see a little popup that asks you if you would like to open it in a container. Say yes! | ||
|  | ||
| If you don't see the pop-up, click on the little green square in the bottom left corner, which should bring up the container dialog | ||
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| In the dialog, select "Remote Containers: Reopen in container" | ||
| VSCode will build the dockerfile inside of `.devcontainer` for you. If you open a terminal inside VSCode (Terminal->New Terminal), you should see that your username has been changed to `ros`, and the bottom left green corner should say "Dev Container" | ||
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|  | ||
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| ### Update the template with your code | ||
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| 1. Specify the repositories you want to include in your workspace in `src/ros2.repos` or delete `src/ros2.repos` and develop directly within the workspace. | ||
| 2. If you are using a `ros2.repos` file, import the contents `Terminal->Run Task..->import from workspace file` | ||
| 3. Install dependencies `Terminal->Run Task..->install dependencies` | ||
| 4. (optional) Adjust scripts to your liking. These scripts are used both within tasks and CI. | ||
| * `setup.sh` The setup commands for your code. Default to import workspace and install dependencies. | ||
| * `build.sh` The build commands for your code. Default to `--merge-install` and `--symlink-install` | ||
| * `test.sh` The test commands for your code. | ||
| 5. Develop! | ||
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| ## FAQ | ||
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| ### WSL2 | ||
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| #### The gui doesn't show up | ||
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| This is likely because the DISPLAY environment variable is not getting set properly. | ||
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| 1. Find out what your DISPLAY variable should be | ||
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| In your WSL2 Ubuntu instance | ||
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| ``` | ||
| echo $DISPLAY | ||
| ``` | ||
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| 2. Copy that value into the `.devcontainer/devcontainer.json` file | ||
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| ```jsonc | ||
| "containerEnv": { | ||
| "DISPLAY": ":0", | ||
| } | ||
| ``` | ||
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| #### I want to use vGPU | ||
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| If you want to access the vGPU through WSL2, you'll need to add additional components to the `.devcontainer/devcontainer.json` file in accordance to [these directions](https://github.com/microsoft/wslg/blob/main/samples/container/Containers.md) | ||
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| ```jsonc | ||
| "runArgs": [ | ||
| "--network=host", | ||
| "--cap-add=SYS_PTRACE", | ||
| "--security-opt=seccomp:unconfined", | ||
| "--security-opt=apparmor:unconfined", | ||
| "--volume=/tmp/.X11-unix:/tmp/.X11-unix", | ||
| "--volume=/mnt/wslg:/mnt/wslg", | ||
| "--volume=/usr/lib/wsl:/usr/lib/wsl", | ||
| "--device=/dev/dxg", | ||
| "--gpus=all" | ||
| ], | ||
| "containerEnv": { | ||
| "DISPLAY": "${localEnv:DISPLAY}", // Needed for GUI try ":0" for windows | ||
| "WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}", | ||
| "XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}", | ||
| "PULSE_SERVER": "${localEnv:PULSE_SERVER}", | ||
| "LD_LIBRARY_PATH": "/usr/lib/wsl/lib", | ||
| "LIBGL_ALWAYS_SOFTWARE": "1" // Needed for software rendering of opengl | ||
| }, | ||
| ``` | ||
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| ### Repos are not showing up in VS Code source control | ||
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| This is likely because vscode doesn't necessarily know about other repositories unless you've added them directly. | ||
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| ``` | ||
| File->Add Folder To Workspace | ||
| ``` | ||
|  | ||
| - GPU support | ||
| - Display forwarding | ||
| - VS Code configuration | ||
| - ROS 2 approved formatters | ||
| - Pre-defined tasks | ||
| - Debugging setup | ||
| - Basic continues integration setup | ||
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| ## Credits | ||
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| Or you've added them as a git submodule. | ||
| This repository is based on public template from Allison Thackston for a [generic ROS 2 Dev-Container setup](https://github.com/athackst/vscode_ros2_workspace). | ||
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|  | ||
| ## Set Up | ||
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| To add all of the repos in your *.repos file, run the script | ||
| 1. Install [Docker](https://docs.docker.com/get-docker/) and [VS Code](https://code.visualstudio.com/download) | ||
| 2. Install the VS Code [Dev-Containers Extension](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers), click [here](vscode:extension/ms-vscode-remote.remote-containers) to install. | ||
| 3. If you have a Nvidia GPU, install the [NVIDIA Container Toolkit](https://github.com/NVIDIA/nvidia-container-toolkit) to get GPU acceleration inside the container.Instructions can be found [here](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html#setting-up-nvidia-container-toolkit). | ||
| 4. Open VS Code press `F1` and use `Dev Containers: Open Folder in Container.` or use the pop up in the lower right corner. | ||
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| ```bash | ||
| python3 .devcontainer/repos_to_submodules.py | ||
| ``` | ||
| ## TODOs | ||
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| or run the task titled `add submodules from .repos` | ||
| - [ ] Provide setup scripts for the discovery server setup. | ||
| - [ ] Does WSL work? | ||
| - [ ] Build docker image in CI and publish to container registry |