refactor: Restructure VS Code integration removing VS Code layer and …

…adding dedicated VS Code Docker Compose file
2b-t · Feb 17, 2024 · 1fa7380 · 1fa7380
1 parent 453d87d
commit 1fa7380
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Showing 18 changed files with 69 additions and 106 deletions.
diff --git a/templates/ros/.devcontainer/devcontainer.json b/templates/ros/.devcontainer/devcontainer.json
@@ -1,7 +1,7 @@
 {
   "name": "ROS Docker",
   "dockerComposeFile": [
-    "../docker/docker-compose-gui.yml" // Alternatives: "../docker/docker-compose-gui.yml", "../docker/docker-compose-gui-nvidia.yml", "../docker/docker-compose-nvidia.yml"
+    "../docker/docker-compose-vscode.yml"
   ],
   "service": "ros_docker",
   "workspaceFolder": "/catkin_ws",

diff --git a/templates/ros/.vscode/ros_source.bash b/templates/ros/.vscode/ros_source.bash
diff --git a/templates/ros/.vscode/tasks.json b/templates/ros/.vscode/tasks.json
@@ -12,7 +12,8 @@
       "command": "vcs import < .repos",
       "options": {
         "cwd": "${workspaceFolder}/src"
-      }
+      },
+      "problemMatcher": []
     },
     // Install ROS dependencies
     {
@@ -22,7 +23,8 @@
       "command": "sudo apt-get update && rosdep update && rosdep install --from-paths src --ignore-src -y",
       "options": {
         "cwd": "${workspaceFolder}"
-      }
+      },
+      "problemMatcher": []
     },
     // Build tasks
     {
@@ -62,7 +64,8 @@
       "group": {
         "kind": "test",
         "isDefault": true
-      }
+      },
+      "problemMatcher": []
     },
     // Clean
     {
@@ -72,7 +75,8 @@
       "command": "catkin clean --yes",
       "options": {
         "cwd": "${workspaceFolder}"
-      }
+      },
+      "problemMatcher": []
     },
     {
       "label": "purge",
@@ -81,7 +85,8 @@
       "command": "rm -fr .catkin_tools build install log && py3clean .",
       "options": {
         "cwd": "${workspaceFolder}"
-      }
+      },
+      "problemMatcher": []
     },
     // Start ROS Master node
     {
@@ -91,7 +96,8 @@
       "command": "roscore",
       "options": {
         "cwd": "${workspaceFolder}"
-      }
+      },
+      "problemMatcher": []
     },
   ],
   "inputs": [

diff --git a/templates/ros/docker/Dockerfile b/templates/ros/docker/Dockerfile
@@ -39,9 +39,13 @@ ENV DEBIAN_FRONTEND=noninteractive
 
 RUN apt-get update \
  && apt-get install -y \
+    ack \
+    htop \
     iperf3 \
     iputils-ping \
+    mlocate \
     net-tools \
+    psmisc \
     python3-vcstool \
  && rm -rf /var/lib/apt/lists/*
 
@@ -52,8 +56,6 @@ RUN apt-get update \
 
 # Install additional developer tools here...
 
-ENV DEBIAN_FRONTEND=dialog
-
 RUN apt-get update \
  && apt-get install -y sudo \
  && rm -rf /var/lib/apt/lists/* \
@@ -62,18 +64,13 @@ RUN apt-get update \
  && echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} \
  && chown -R ${UID}:${GID} /home/${USERNAME} \
  && chown -R ${UID}:${GID} ${CATKIN_WORKSPACE_DIR}
+
+ENV DEBIAN_FRONTEND=dialog
 
-USER ${USERNAME}
-
-
-############################
-# Visual Studio Code image #
-############################
-FROM dev as vsc
-
-COPY ".vscode" "${CATKIN_WORKSPACE_DIR}/.vscode"
-RUN echo "alias rsource='source ${CATKIN_WORKSPACE_DIR}/.vscode/ros_source.bash ${ROS_DISTRO}'" >> /home/${USERNAME}/.bash_aliases \
+RUN echo "alias rsource='source ${CATKIN_WORKSPACE_DIR}/devel/setup.bash'" >> /home/${USERNAME}/.bash_aliases \
  && echo "alias rbuild='(cd ${CATKIN_WORKSPACE_DIR} && catkin build)'" >> /home/${USERNAME}/.bash_aliases \
  && echo "alias rclean='(cd ${CATKIN_WORKSPACE_DIR} && catkin clean -y)'" >> /home/${USERNAME}/.bash_aliases \
- && echo "rsource" >> /home/${USERNAME}/.bashrc
+ && echo "rsource || source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/${USERNAME}/.bashrc
+
+USER ${USERNAME}
 
diff --git a/templates/ros/docker/docker-compose-gui-nvidia.yml b/templates/ros/docker/docker-compose-gui-nvidia.yml
@@ -8,3 +8,4 @@ services:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
     runtime: nvidia
+
diff --git a/templates/ros/docker/docker-compose-gui.yml b/templates/ros/docker/docker-compose-gui.yml
@@ -10,3 +10,4 @@ services:
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - /tmp/.docker.xauth:/tmp/.docker.xauth:rw
+
diff --git a/templates/ros/docker/docker-compose-nvidia.yml b/templates/ros/docker/docker-compose-nvidia.yml
@@ -7,3 +7,4 @@ services:
     environment:
      - NVIDIA_VISIBLE_DEVICES=all
     runtime: nvidia
+
diff --git a/templates/ros/docker/docker-compose-vscode.yml b/templates/ros/docker/docker-compose-vscode.yml
@@ -0,0 +1,9 @@
+version: "3.9"
+services:
+  ros_docker:
+    extends:
+      file: docker-compose-gui.yml
+      service: ros_docker
+    volumes:
+      - ../.vscode:${CATKIN_WORKSPACE_DIR}/.vscode
+
diff --git a/templates/ros/docker/docker-compose.yml b/templates/ros/docker/docker-compose.yml
@@ -4,7 +4,7 @@ services:
     build:
       context: ..
       dockerfile: docker/Dockerfile
-      target: vsc
+      target: dev
       args:
         - CATKIN_WORKSPACE_DIR=${CATKIN_WORKSPACE_DIR}
         - USERNAME=${USERNAME:-developer}

diff --git a/templates/ros2/.devcontainer/devcontainer.json b/templates/ros2/.devcontainer/devcontainer.json
@@ -1,7 +1,7 @@
 {
   "name": "ROS2 Docker",
   "dockerComposeFile": [
-    "../docker/docker-compose-gui.yml" // Alternatives: "../docker/docker-compose-gui.yml", "../docker/docker-compose-gui-nvidia.yml"
+    "../docker/docker-compose-vscode.yml"
   ],
   "service": "ros2_docker",
   "workspaceFolder": "/ament_ws",

diff --git a/templates/ros2/.vscode/ros2_source.bash b/templates/ros2/.vscode/ros2_source.bash
diff --git a/templates/ros2/.vscode/tasks.json b/templates/ros2/.vscode/tasks.json
@@ -12,7 +12,8 @@
       "command": "vcs import < .repos",
       "options": {
         "cwd": "${workspaceFolder}/src"
-      }
+      },
+      "problemMatcher": []
     },
     // Install ROS dependencies
     {
@@ -22,7 +23,8 @@
       "command": "sudo apt-get update -y && rosdep update && rosdep install --from-paths src --ignore-src -y",
       "options": {
         "cwd": "${workspaceFolder}"
-      }
+      },
+      "problemMatcher": []
     },
     // Build tasks
     {
@@ -62,7 +64,8 @@
       "group": {
         "kind": "test",
         "isDefault": true
-      }
+      },
+      "problemMatcher": []
     },
     // Clean tasks
     {
@@ -72,7 +75,8 @@
       "command": "colcon clean workspace --yes",
       "options": {
         "cwd": "${workspaceFolder}"
-      }
+      },
+      "problemMatcher": []
     },
     {
       "label": "purge",
@@ -81,7 +85,8 @@
       "command": "rm -fr build install log && py3clean .",
       "options": {
         "cwd": "${workspaceFolder}"
-      }
+      },
+      "problemMatcher": []
     }
   ],
   "inputs": [

diff --git a/templates/ros2/docker/Dockerfile b/templates/ros2/docker/Dockerfile
@@ -44,9 +44,13 @@ ENV DEBIAN_FRONTEND=noninteractive
 
 RUN apt-get update \
  && apt-get install -y \
+    ack \
+    htop \
     iperf3 \
     iputils-ping \
+    mlocate \
     net-tools \
+    psmisc \
     python3-vcstool \
  && rm -rf /var/lib/apt/lists/*
 
@@ -57,8 +61,6 @@ RUN apt-get update \
 
 # Install additional developer tools here...
 
-ENV DEBIAN_FRONTEND=dialog
-
 RUN apt-get update \
  && apt-get install -y sudo \
  && rm -rf /var/lib/apt/lists/* \
@@ -68,17 +70,12 @@ RUN apt-get update \
  && chown -R ${UID}:${GID} /home/${USERNAME} \
  && chown -R ${UID}:${GID} ${AMENT_WORKSPACE_DIR}
 
-USER ${USERNAME}
-
-
-############################
-# Visual Studio Code image #
-############################
-FROM dev as vsc
+ENV DEBIAN_FRONTEND=dialog
 
-COPY ".vscode" "${AMENT_WORKSPACE_DIR}/.vscode"
-RUN echo "alias rsource='source ${AMENT_WORKSPACE_DIR}/.vscode/ros2_source.bash ${ROS_DISTRO}'" >> /home/${USERNAME}/.bash_aliases \
+RUN echo "alias rsource='source ${AMENT_WORKSPACE_DIR}/install/setup.bash'" >> /home/${USERNAME}/.bash_aliases \
  && echo "alias rbuild='(cd ${AMENT_WORKSPACE_DIR} && colcon build)'" >> /home/${USERNAME}/.bash_aliases \
  && echo "alias rclean='(cd ${AMENT_WORKSPACE_DIR} && colcon clean workspace -y)'" >> /home/${USERNAME}/.bash_aliases \
- && echo "rsource" >> /home/${USERNAME}/.bashrc
+ && echo "rsource || source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/${USERNAME}/.bashrc
+
+USER ${USERNAME}
 
diff --git a/templates/ros2/docker/docker-compose-gui-nvidia.yml b/templates/ros2/docker/docker-compose-gui-nvidia.yml
@@ -8,3 +8,4 @@ services:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
     runtime: nvidia
+
diff --git a/templates/ros2/docker/docker-compose-gui.yml b/templates/ros2/docker/docker-compose-gui.yml
@@ -10,3 +10,4 @@ services:
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - /tmp/.docker.xauth:/tmp/.docker.xauth:rw
+
diff --git a/templates/ros2/docker/docker-compose-nvidia.yml b/templates/ros2/docker/docker-compose-nvidia.yml
@@ -7,3 +7,4 @@ services:
     environment:
      - NVIDIA_VISIBLE_DEVICES=all
     runtime: nvidia
+
diff --git a/templates/ros2/docker/docker-compose-vscode.yml b/templates/ros2/docker/docker-compose-vscode.yml
@@ -0,0 +1,9 @@
+version: "3.9"
+services:
+  ros2_docker:
+    extends:
+      file: docker-compose-gui.yml
+      service: ros2_docker
+    volumes:
+      - ../.vscode:${AMENT_WORKSPACE_DIR}/.vscode
+
diff --git a/templates/ros2/docker/docker-compose.yml b/templates/ros2/docker/docker-compose.yml
@@ -4,7 +4,7 @@ services:
     build:
       context: ..
       dockerfile: docker/Dockerfile
-      target: vsc
+      target: dev
       args:
         - AMENT_WORKSPACE_DIR=${AMENT_WORKSPACE_DIR}
         - USERNAME=${USERNAME:-developer}
Original file line number	Diff line number	Diff line change
Expand Up		@@ -8,3 +8,4 @@ services:
		- NVIDIA_VISIBLE_DEVICES=all
		- NVIDIA_DRIVER_CAPABILITIES=all
		runtime: nvidia
Original file line number	Diff line number	Diff line change
Expand Up		@@ -10,3 +10,4 @@ services:
		volumes:
		- /tmp/.X11-unix:/tmp/.X11-unix:rw
		- /tmp/.docker.xauth:/tmp/.docker.xauth:rw
Original file line number	Diff line number	Diff line change
Expand Up		@@ -7,3 +7,4 @@ services:
		environment:
		- NVIDIA_VISIBLE_DEVICES=all
		runtime: nvidia