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andrewjongandrewjong
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Make vscode devcontainers work seamlessly for debugging
New paths: now mounts entire AirStack folder inside for vscode docker containers development. Paths are /home/robot/AirStack and /home/gcs/AirStack
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15 files changed

+73
-39
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15 files changed

+73
-39
lines changed

‎.devcontainer/gcs/devcontainer.json‎

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{
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"name": "GCS Container",
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"dockerComposeFile": [
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"../../docker-compose.yaml",
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],
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"runServices": [
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"gcs"
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],
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"service": "gcs",
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"workspaceFolder": "/home/gcs/AirStack",
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"remoteEnv": {
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"AUTOLAUNCH": "false"
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},
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"customizations": {
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"vscode": {
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"extensions": [
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"Ranch-Hand-Robotics.rde-pack",
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"ms-vscode.cpptools",
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"ms-python.black-formatter"
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]
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}
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}
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}

‎.devcontainer/gcs_container/devcontainer.json‎

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‎.devcontainer/robot/devcontainer.json‎

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{
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"name": "Robot Container",
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"runServices": [
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"robot"
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],
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"dockerComposeFile": [
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"../../docker-compose.yaml"
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],
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"service": "robot",
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"workspaceFolder": "/home/robot/AirStack",
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"remoteEnv": {
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"AUTOLAUNCH": "false",
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},
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"customizations": {
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"vscode": {
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"extensions": [
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"Ranch-Hand-Robotics.rde-pack",
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"ms-vscode.cpptools",
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"ms-python.black-formatter"
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]
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}
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}
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}

‎.devcontainer/robot_container/devcontainer.json‎

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‎gcs/docker/.bashrc‎

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# --- ROS2 workspace setup ---
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# Define the ROS2 workspace directory
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ROS2_WS_DIR="$HOME/ros_ws"
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ROS2_WS_DIR="$HOME/AirStack/gcs/ros_ws"
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# needed for communication with Isaac Sim ROS2 # https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html#enabling-the-ros-bridge-extension
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export FASTRTPS_DEFAULT_PROFILES_FILE="$ROS2_WS_DIR/fastdds.xml"
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# for local development, prevent conflict with other desktops

‎gcs/docker/Dockerfile.gcs‎

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RUN git clone https://github.com/tmux-plugins/tpm /home/gcs/.tmux/plugins/tpm
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WORKDIR /home/gcs/ros_ws
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WORKDIR /home/gcs/AirStack/gcs/ros_ws
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# Make it so that files created within the container reflect the user's UID/GID so they don't have to change file permissions from root. See https://github.com/boxboat/fixuid
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# need to give access to docker to access container name
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# creates user "gcs" with UID 1000, home directory /home/gcs, and shell /bin/sh

‎gcs/docker/gcs-base-docker-compose.yaml‎

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- ../../common/ros_packages:/home/gcs/ros_ws/src/common:rw
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- ../../common/inputrc:/etc/inputrc:rw
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# autonomy stack stuff
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- ../ros_ws:/home/gcs/ros_ws:rw
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- ../../common/ros_packages/fastdds.xml:/home/gcs/ros_ws/fastdds.xml:rw
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- ../..:/home/gcs/AirStack
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- ../../common/ros_packages:/home/gcs/AirStack/gcs/ros_ws/src/common:rw # common ROS packages
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- ../../common/ros_packages/fastdds.xml:/home/gcs/AirStack/gcs/ros_ws/fastdds.xml:rw # fastdds.xml

‎gcs/ros_ws/src/gcs_bringup/config/gcs.perspective‎

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"plugin": {
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"keys": {
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"command_config_filename": {
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"repr": "'/root/ros_ws/install/rqt_gcs/share/rqt_gcs/config/gui_config.yaml'",
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"repr": "'/home/gcs/AirStack/gcs/ros_ws/install/rqt_gcs/share/rqt_gcs/config/gui_config.yaml'",
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"type": "repr"
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},
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"trajectory_config_filename": {
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"repr": "'/root/ros_ws/install/rqt_gcs/share/rqt_gcs/config/fixed_trajectories.yaml'",
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"repr": "'/home/gcs/AirStack/gcs/ros_ws/install/rqt_gcs/share/rqt_gcs/config/fixed_trajectories.yaml'",
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"type": "repr"
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}
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},

‎robot/docker/.bashrc‎

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# --- ROS2 workspace setup ---
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# Define the ROS2 workspace directory
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ROS2_WS_DIR="$HOME/ros_ws"
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ROS2_WS_DIR="$HOME/AirStack/robot/ros_ws"
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# needed for communication with Isaac Sim ROS2 # https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html#enabling-the-ros-bridge-extension
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export FASTRTPS_DEFAULT_PROFILES_FILE="$ROS2_WS_DIR/fastdds.xml"
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# for local development, prevent conflict with other desktops

‎robot/docker/Dockerfile.robot‎

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# TMux config
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RUN git clone https://github.com/tmux-plugins/tpm /home/robot/.tmux/plugins/tpm
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WORKDIR /home/robot/ros_ws
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WORKDIR /home/robot/AirStack/robot/ros_ws
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# Make it so that files created within the container reflect the user's UID/GID so they don't have to change file permissions from root. See https://github.com/boxboat/fixuid
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# need to give access to docker to access container name
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mkdir -p /etc/fixuid && \
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printf "user: $USER\ngroup: $GROUP\n" > /etc/fixuid/config.yml
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# Cleanup. Prevent people accidentally doing git commits from within Docker
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RUN apt purge git -y \
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&& apt autoremove -y \
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# Cleanup
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RUN apt autoremove -y \
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&& apt clean -y \
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&& rm -rf /var/lib/apt/lists/*
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