docker setup

.env.dev

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+GPS_PORT=/dev/null
+WEBCAM_PORT=/dev/null
+RLSENSE_PORT=/dev/null
+TEENSY_PORT=/dev/null
+FEATHER_PORT=/dev/null

Dockerfile

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+# FROM nvidia/cuda:11.6.2-base-ubuntu20.04 as CUDA
+
+FROM ros:humble
+
+# COPY --from=CUDA /usr/local/cuda /usr/local/
+
+
+RUN apt update
+RUN apt-get install -y -qq \
+    python3-pip \
+    python3-tk \
+    vim git tmux tree sl htop x11-apps
+
+RUN apt-get install -y -qq \
+    ros-${ROS_DISTRO}-foxglove-bridge \
+    ros-${ROS_DISTRO}-microstrain-inertial-driver \
+    ros-${ROS_DISTRO}-mavros ros-${ROS_DISTRO}-mavros-extras ros-${ROS_DISTRO}-mavros-msgs
+
+COPY python-requirements.txt python-requirements.txt
+RUN pip3 install -r python-requirements.txt
+
+
+RUN echo 'source "/opt/ros/humble/setup.bash" --' >> ~/.bashrc
+# RUN 	echo 'source "/opt/ros/humble/setup.bash" --' >> ~/.bashrc && \
+#     echo 'cd rb_ws' >> ~/.bashrc && \
+#     echo 'catkin_make >/dev/null' >> ~/.bashrc && \
+#     echo 'source devel/setup.bash' >> ~/.bashrc
+
+
+
+# RUN echo "exec firefox" > ~/.xinitrc && chmod +x ~/.xinitrc
+# CMD ["x11vnc", "-create", "-forever"]
+
+# add mouse to tmux
+RUN echo 'set -g mouse on' >> ~/.tmux.conf

docker-dev.yml

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+services:
+  main:
+    build: ./
+    volumes:
+      - ./rb_ws:/rb_ws
+      - "${RLSENSE_PORT:-/dev/null}:/dev/bus/usb"
+      - /tmp/.X11-unix:/tmp/.X11-unix
+    devices:
+      - "${TEENSY_PORT:-/dev/null}:/dev/ttyUSB0"
+      - "${WEBCAM_PORT:-/dev/null}:/dev/ttyUSB1"
+      - "${GPS_PORT:-/dev/null}:/dev/ttyACM0"
+      - "${FEATHER_PORT:-/dev/null}:/dev/ttyACM1"
+    stdin_open: true # docker run -i
+    tty: true # docker run -t
+    environment:
+      - DISPLAY=host.docker.internal:0
+    hostname: main
+    ports:
+      - "0.0.0.0:8765:8765" # foxglove bridge
+      - "0.0.0.0:8760:8760" # Asset server for loading stuff into foxglove
+    platform: "linux/amd64"
+    device_cgroup_rules:
+      - "c *:* rmw"
+  tileserver:
+    image: maptiler/tileserver-gl
+    volumes:
+      - "./maps:/data"
+    stdin_open: true # docker run -i
+    tty: true # docker run -t
+    command: [ "-p", "80", "-c", "/data/conf.json" ]
+    ports:
+      - "8080:80"

python-requirements.txt

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+matplotlib
+NavPy
+numba
+numpy
+osqp
+pandas
+pymap3d
+scipy
+setuptools==58.2.0
+trimesh
+utm
+keyboard
+tk

rb_ws/.gitignore

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+
+devel
+logs
+build
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+install/
+log/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
+
+.DS_Store
+.vscode

setup_dev.sh

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+#!/bin/bash
+
+dockerfile="docker-dev.yml"
+
+echo "Killing old development containers..."
+docker stop $(docker ps -a -q)
+
+echo "Building containers..."
+docker compose -f $dockerfile build
+
+echo "Starting containers..."
+docker compose -f $dockerfile --env-file .env.dev up -d
+
+sleep 0.5
+
+echo "DEBUG: Buggy Docker Container Up!"
+echo "Run docker_exec in order to go into the Docker container"