quality of life improvements

Author: Hector Azpurua

.devcontainer/.vscode/extensions.json

@@ -0,0 +1,4 @@
+-c
+-I/opt/ros/$ROS_DISTRO/include
+-std=c++11
+-fno-exceptions

.devcontainer/compile_flags.txt

@@ -5,7 +5,7 @@
     "remoteUser": "ubuntu",
     "service": "ros1",
     "dockerComposeFile": [
-        "../compose_linux_nvidia.yaml"
+        "../compose_macos.yaml"
     ],
     "waitFor": "postCreateCommand",
     "workspaceFolder": "/home/ubuntu",
@@ -37,6 +37,7 @@
                 "github.copilot"
             ],
             "settings": {
+                "python.defaultInterpreterPath": "${workspaceFolder}/.py3.8/bin/python",
                 "terminal.integrated.profiles.linux": {
                     "bash": {
                         "path": "/usr/bin/bash",

.devcontainer/devcontainer.json

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+catkin config --profile release -x _release --extend /opt/ros/noetic --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
+catkin config --profile debug -x _debug --extend /opt/ros/noetic --cmake-args -DCMAKE_BUILD_TYPE=Debug -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
+catkin profile set release

.devcontainer/initialize_workspace.sh

@@ -4,6 +4,7 @@ services:
     build:
       context: .
       dockerfile: docker/Dockerfile.arm64
+    hostname: ros_docker
     ipc: host
     pid: host
     privileged: true

.github/workflows/build-arm64.yaml

@@ -4,6 +4,7 @@ services:
     build:
       context: .
       dockerfile: docker/Dockerfile.amd64
+    hostname: ros_docker
     ipc: host
     pid: host
     privileged: true

compose_jetson.yaml

@@ -4,6 +4,7 @@ services:
     build:
       context: .
       dockerfile: docker/Dockerfile.amd64
+    hostname: ros_docker
     ipc: host
     pid: host
     privileged: true

compose_linux_nogpu.yaml

@@ -4,6 +4,7 @@ services:
     build:
       context: .
       dockerfile: docker/Dockerfile.amd64
+    hostname: ros_docker
     ipc: host
     pid: host
     privileged: true
@@ -12,19 +13,20 @@ services:
       - "3080:3080"
       - "3081:3081"
       - "3022:3022"
+      - "11311:11311"
     environment:
-      - DISPLAY=${DISPLAY:-:0}
-      - NVIDIA_DRIVER_CAPABILITIES=all
       - TZ=${TZ:-UTC}
-      - ROS_LOG_DIR=/var/log/val_logger/noetic_devel
       - ROS_MASTER_URI=http://localhost:11311/
       - DEBIAN_FRONTEND=noninteractive
+      - ROS_LOG_DIR=/tmp
     volumes:
       - ${localWorkspaceFolder:-./}local_mount/:/home/ubuntu/ros_ws
       - /etc/localtime:/etc/localtime:ro
       - /etc/timezone:/etc/timezone:ro
       - /tmp/.X11-unix:/tmp/.X11-unix
-      - /var/log/val_logger:/var/log/val_logger
+    device_cgroup_rules:
+      - 'c 81:* rmw'
+      - 'c 189:* rmw'
     cap_add:
       - NET_ADMIN
       - SYS_MODULE

compose_linux_nvidia.yaml

@@ -1,8 +1,13 @@
 [program:sshd]
 command=/usr/sbin/sshd -D -p 3022
 
+[group:vnc-workers]
+programs=vnc,novnc
+
 [program:vnc]
-command=gosu 'ubuntu' bash '/home/ubuntu/.vnc/vnc_run.sh'
+command=gosu 'ubuntu' bash -c '(rm -f /tmp/.X11-unix/X2 || true) && sleep 2 && exec /home/ubuntu/.vnc/vnc_run.sh'
+priority=100
 
 [program:novnc]
-command=bash -c 'websockify --web=/usr/lib/novnc 3080 localhost:5902'
+command=bash -c 'websockify --web=/usr/lib/novnc 3080 localhost:5902'
+priority=200