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simplify Setup ROS 2 with devcontainer. #4161

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Mar 11, 2024
Merged

simplify Setup ROS 2 with devcontainer. #4161

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584d407
simplify Setup ROS 2 with devcontainer.
fujitatomoya Feb 12, 2024
4ef9410
address review comments.
fujitatomoya Feb 14, 2024
611df1f
address review comments.
fujitatomoya Mar 11, 2024
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42 changes: 15 additions & 27 deletions source/How-To-Guides/Setup-ROS-2-with-VSCode-and-Docker-Container.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -79,36 +79,28 @@ Add a workspace in order to build and open them in a container, e.g.:
.. code-block:: console

cd ~/
mkdir ws_[project]
cd ws_[project]
mkdir ws
cd ws
mkdir src

Now create a .devcontainer folder in the root of your workspace and add a devcontainer.json and Dockerfile to this .devcontainer folder.
Additionally, you need to create a cache folder in which you can cache the build and install folders for different ROS 2 distros.
Now create a ``.devcontainer`` folder in the root of your workspace and add a ``devcontainer.json`` and ``Dockerfile`` to this ``.devcontainer`` folder.
The workspace structure should look like this:

::

ws_[project]
├── cache
| ├── [ROS2_DISTRO]
| | ├── build
| | ├── install
| | └── log
| └── ...
|
ws
├── .devcontainer
│ ├── devcontainer.json
│ └── Dockerfile
├── src
├── .devcontainer
│ ├── devcontainer.json
│ └── Dockerfile
├── package1
└── package2


With ``File->Open Folder...`` or ``Ctrl+K Ctrl+O``, open the ``src`` folder of your workspace in VS Code.
With ``File->Open Folder...`` or ``Ctrl+K Ctrl+O``, open the ``ws`` folder of your workspace in VS Code.

Edit devcontainer.json for your environment
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Edit ``devcontainer.json`` for your environment
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

For the Dev Container to function properly, we have to build it with the correct user.
Therefore add the following to ``.devcontainer/devcontainer.json``:
Expand Down Expand Up @@ -150,10 +142,7 @@ Therefore add the following to ``.devcontainer/devcontainer.json``:
],
"mounts": [
"source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
"source=/dev/dri,target=/dev/dri,type=bind,consistency=cached",
"source=${localWorkspaceFolder}/../cache/ROS_DISTRO/build,target=/home/ws/build,type=bind",
"source=${localWorkspaceFolder}/../cache/ROS_DISTRO/install,target=/home/ws/install,type=bind",
"source=${localWorkspaceFolder}/../cache/ROS_DISTRO/log,target=/home/ws/log,type=bind"
"source=/dev/dri,target=/dev/dri,type=bind,consistency=cached"
],
"postCreateCommand": "sudo rosdep update && sudo rosdep install --from-paths src --ignore-src -y && sudo chown -R $(whoami) /home/ws/"
}
Expand All @@ -166,9 +155,8 @@ If you do not know your username, you can find it by running ``echo $USERNAME``
Also replace ``ROS_DISTRO``, with the ROS 2 distribution that you want to use and added to the cache previously, for example, "humble" or "foxy".



Edit Dockerfile
^^^^^^^^^^^^^^^
Edit ``Dockerfile``
^^^^^^^^^^^^^^^^^^^

Open the Dockerfile and add the following contents:

Expand Down Expand Up @@ -201,14 +189,14 @@ Open the Dockerfile and add the following contents:
USER $USERNAME
CMD ["/bin/bash"]

Search here also for ``ROS_DISTRO`` with the ROS 2 distribution you wish to use and added to the cache previously.
Search here also for ``ROS_DISTRO`` with the ROS 2 distribution you wish to use.
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It is unclear to me why you would "search" here for the ROS_DISTRO. You search and then do...what?

(this was an existing problem with this sentence)

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i added Replace... sentence for this, how does it look? 611df1f

besides it, caching directories are removed, and removed that sentence as well.



Open and Build Development Container
------------------------------------

Use ``View->Command Palette...`` or ``Ctrl+Shift+P`` to open the command palette.
Search for the command ``Dev Containers: (Re-)build and Reopen in Container`` and execute it.
Search for the command ``Dev Containers: Reopen in Container`` and execute it.
This will build your development docker container for your. It will take a while - sit back or go for a coffee.


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