many updates :-)

Dockerfile

@@ -1,14 +1,38 @@
-FROM osrf/ros:humble-desktop-full
+FROM osrf/ros:iron-desktop-full AS base-ros-nvim
-ARG ROS_DISTR=humble
-
 ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update \
+    && apt-get -y install --no-install-recommends apt-utils dialog 2>&1 \
+    && apt-get install -y \
+    ripgrep \
+    ninja-build \
+    gettext \
+    cmake \
+    unzip \
+    curl \
+    clang-format \
+    xclip \
+    wl-clipboard \
+    && mkdir -p /etc/apt/keyrings \
+    && curl -fsSL https://deb.nodesource.com/gpgkey/nodesource-repo.gpg.key | gpg --dearmor -o /etc/apt/keyrings/nodesource.gpg \
+    && NODE_MAJOR=20 \
+    && echo "deb [signed-by=/etc/apt/keyrings/nodesource.gpg] https://deb.nodesource.com/node_$NODE_MAJOR.x nodistro main" | tee /etc/apt/sources.list.d/nodesource.list \
+    && apt update \
+    && apt-get remove nodejs \
+    && apt-get install nodejs \
+    && git clone https://github.com/neovim/neovim.git \
+    && cd neovim && git checkout stable && make CMAKE_BUILD_TYPE=RelWithDebInfo \
+    && sudo make install \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+    
+
+FROM base-ros-nvim AS base-ros-nvim-graphics
+ARG ROS_DISTR=iron
 ENV NVIDIA_VISIBLE_DEVICES \
     ${NVIDIA_VISIBLE_DEVICES:-all}
 ENV NVIDIA_DRIVER_CAPABILITIES \
     ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
-ARG USERNAME=ros-user
-ARG USER_UID=1000
-ARG USER_GID=$USER_UID
 ENV ROS_DISTR=$ROS_DISTR
 
 RUN apt-get update \
@@ -25,40 +49,26 @@ RUN apt-get update \
     libnss-mdns \
     iputils-ping \
     sudo \
-    ripgrep \
     wget \
-    byobu \
     ros-${ROS_DISTR}-rqt-tf-tree \
     ros-${ROS_DISTR}-apriltag \
     ros-${ROS_DISTR}-plotjuggler-ros \
-    clang-format \
-    xclip \
-# neovim build depends \
-    ninja-build \
-    gettext \
-    cmake \
-    unzip \
-    curl \
-# end neovim build depends \
 #   && rosdep install --from-paths /ros2_underlay/src -y --ignore-src \
 #   && rosdep install --from paths /ros2/src -y --ignore-src \
-    && mkdir -p /etc/apt/keyrings \
-    && curl -fsSL https://deb.nodesource.com/gpgkey/nodesource-repo.gpg.key | gpg --dearmor -o /etc/apt/keyrings/nodesource.gpg \
-    && NODE_MAJOR=20 \
-    && echo "deb [signed-by=/etc/apt/keyrings/nodesource.gpg] https://deb.nodesource.com/node_$NODE_MAJOR.x nodistro main" | tee /etc/apt/sources.list.d/nodesource.list \
-    && apt update \
-    && apt-get remove nodejs \
-    && apt-get install nodejs \
-    && git clone https://github.com/neovim/neovim.git \
-    && cd neovim && git checkout stable && make CMAKE_BUILD_TYPE=RelWithDebInfo \
-    && sudo make install \
-    && groupadd --gid $USER_GID $USERNAME \
-    && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
-    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
-    && chmod 0440 /etc/sudoers.d/$USERNAME \
     && apt-get autoremove -y \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
+
+FROM base-ros-nvim-graphics AS individual
+ARG USERNAME=ros-user
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+
 USER ${USERNAME}
 ENV TERM xterm-256color
 RUN sh -c "$(wget -O- https://github.com/deluan/zsh-in-docker/releases/download/v1.1.1/zsh-in-docker.sh)" -- \
@@ -80,8 +90,13 @@ RUN sh -c "$(wget -O- https://github.com/deluan/zsh-in-docker/releases/download/
     -a 'export COLORTERM=truecolor' \
     && mkdir -p "$HOME/.zsh" \
     && git clone https://github.com/sindresorhus/pure.git "$HOME/.zsh/pure" \
-    && echo "source /opt/ros/$ROS_DISTR/setup.zsh" >> /home/$USERNAME/.zshrc
+    && echo "source /opt/ros/$ROS_DISTR/setup.zsh" >> /home/$USERNAME/.zshrc \
-
+    && pip3 install yapf pre-commit ruff \
+    && sudo wget https://hippocampusrobotics.github.io/docs/_downloads/6055b3168d4f0a8cd764ebc481280219/ros-iron-px4-msgs_2.0.1-0jammy_amd64.deb \
+    && sudo apt-get install ./ros-iron-px4-msgs_2.0.1-0jammy_amd64.deb \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
 
 USER root
 RUN mkdir /zsh_history \
@@ -91,7 +106,7 @@ ADD ros2-vim/nvim /home/$USERNAME/.config/nvim
 RUN chown -R $USERNAME /home/$USERNAME/
 USER ${USERNAME}
 RUN nvim --headless "+Lazy! sync" +qa
-RUN nvim --headless +"MasonInstall lua-language-server clangd python-lsp-server yaml-language-server" +q
+RUN nvim --headless +"MasonInstall lua-language-server clangd python-lsp-server yaml-language-server yapf" +q
 WORKDIR /home/$USERNAME
 
 USER root

README.md

@@ -1,7 +1,7 @@
 # Update The Base Image
 
 ~~~ bash
-docker pull osrf/ros:humble-desktop-full
+docker pull osrf/ros:iron-desktop-full
 ~~~
 
 # Rebuild The Image from Dockerfile

cpp.vim

@@ -1,4 +0,0 @@
-setlocal cindent
-setlocal shiftwidth=2
-setlocal expandtab
-setlocal tabstop=2

docker-compose.yml

@@ -40,6 +40,9 @@ services:
       - type: bind
         source: ${HOME}/Documents/ros2-vim/nvim
         target: /home/ros-user/.config/nvim
+      - type: bind
+        source: $XDG_RUNTIME_DIR/${WAYLAND_DISPLAY}
+        target: /tmp/${WAYLAND_DISPLAY}
       - "ros2_zsh_history:/zsh_history"
       - nvim_data:/home/ros-user/.local/share/nvim
       - $SSH_AUTH_SOCK:/ssh-agent
@@ -47,6 +50,8 @@ services:
 
     environment:
       - DISPLAY=${DISPLAY}
+      - XDG_RUNTIME_DIR=/tmp
+      - WAYLAND_DISPLAY=${WAYLAND_DISPLAY}
       - QT_X11_NO_MITSHM=1
       - SHELL=/usr/bin/zsh
       - ROS_WORKSPACE=/home/ros-user/uuv/ros2

nvim/after/plugin/lsp.lua

@@ -1,61 +0,0 @@
-require('mason').setup({
-    ui = {
-        border = 'rounded'
-    }
-})
--- Install language servers
-require('mason-lspconfig').setup {
-    ensure_installed = {
-        'lua_ls', 'clangd', 'pylsp', 'yamlls'
-    }
-}
-local lsp = require('lsp-zero').preset({
-    manage_nvim_cmp = {
-        set_sources = 'lsp',
-        set_basic_mappings = true,
-        set_extra_mappings = false,
-        use_luasnip = true,
-        set_format = true,
-        documentation_window = true,
-    }
-})
-
-lsp.on_attach(function(client, bufnr)
-    lsp.default_keymaps({ buffer = bufnr })
-end)
-
--- (Optional) Configure lua language server for neovim
-require('lspconfig').lua_ls.setup(lsp.nvim_lua_ls())
-
-lsp.setup()
-
-local cmp = require('cmp')
-local cmp_action = require('lsp-zero').cmp_action()
-
--- configure auto complete key
-cmp.setup({
-    mapping = {
-        ['<Tab>'] = cmp_action.tab_complete(),
-        ['<S-Tab>'] = cmp_action.select_prev_or_fallback(),
-        ['<C-e>'] = cmp.mapping.abort(),
-        ['<C-space>'] = cmp.mapping.complete(),
-        ['<C-j>'] = cmp.mapping.scroll_docs(1),
-        ['<C-k>'] = cmp.mapping.scroll_docs(-1),
-        ['<CR>'] = cmp.mapping.confirm({ select = false }),
-    },
-    window = {
-        completion = cmp.config.window.bordered(),
-        documentation = cmp.config.window.bordered(),
-    },
-})
-
-require('lspconfig').pylsp.setup {
-    settings = {
-        pylsp = {
-            plugins = {
-                autopep8 = { enabled = false },
-                yapf = { enabled = true, args = '--style={based_on_style: google column_limit: 80}' },
-            }
-        }
-    }
-}

nvim/init.lua

@@ -15,3 +15,4 @@ vim.g.mapleader = ' ' -- needs to be set before lazy im
 require('lazy').setup('plugins')
 
 require('lennartalff')
+require('plugins.lsp')

nvim/lua/lennartalff/remap.lua

@@ -33,9 +33,6 @@ vim.keymap.set('n', '<C-k>', '<cmd>cprev<CR>zz')
 vim.keymap.set('n', '<leader>j', '<cmd>lnext<CR>zz')
 vim.keymap.set('n', '<leader>k', '<cmd>lprev<CR>zz')
 
-vim.keymap.set('n', '<leader>i', vim.lsp.buf.hover)
-vim.keymap.set('n', '<leader>r', vim.lsp.buf.rename)
-
 vim.keymap.set('n', '<leader>dq', vim.diagnostic.setqflist)
 local function quickfix()
     vim.lsp.buf.code_action({

nvim/lua/lennartalff/set.lua

@@ -4,6 +4,8 @@
 vim.opt.nu = true
 vim.opt.relativenumber = true
 
+vim.opt.breakindent = true
+
 -- default indentation
 vim.opt.tabstop = 4
 vim.opt.softtabstop = 4
@@ -14,7 +16,7 @@ vim.opt.smartindent = true
 
 vim.opt.wrap = false
 
-vim.api.nvim_create_autocmd("FileTYpe", {
+vim.api.nvim_create_autocmd("FileType", {
     pattern = "cpp",
     callback = function()
         vim.opt_local.shiftwidth = 2
@@ -27,3 +29,15 @@ vim.opt.signcolumn = 'yes'
 vim.opt.updatetime = 500
 vim.opt.colorcolumn = '80'
 
+vim.api.nvim_create_autocmd('FileType', {
+    pattern = 'rst',
+    callback = function()
+        vim.opt.wrap = true      -- softwrap the text
+        vim.opt.linebreak = true -- do not break in the middle of words
+        -- rst uses 3 space indents
+        vim.opt.tabstop = 3
+        vim.opt.softtabstop = 3
+        vim.opt.shiftwidth = 3
+        vim.opt.expandtab = true
+    end
+})

nvim/lua/plugins/cmp.lua

@@ -0,0 +1,45 @@
+return {
+    'hrsh7th/nvim-cmp',
+    dependencies = {
+        {'hrsh7th/cmp-nvim-lsp'},
+        {'hrsh7th/cmp-nvim-lua'},
+        {'L3MON4D3/LuaSnip'},
+    },
+    config = function()
+        local cmp = require('cmp')
+        cmp.setup({
+            snippet = {
+                expand = function(args)
+                    require('luasnip').lsp_expand(args.body)
+                end,
+            },
+            sources = {
+                { name = 'nvim_lsp' },
+                { name = 'nvim_lua' },
+            },
+            mapping = cmp.mapping.preset.insert({
+                ['<Tab>'] = cmp.mapping(function(fallback)
+                    if cmp.visible() then
+                        cmp.select_next_item()
+                    else
+                        fallback()
+                    end
+                end),
+                ['<S-Tab>'] = cmp.mapping(function(fallback)
+                    if cmp.visible() then
+                        cmp.select_prev_item()
+                    else
+                        fallback()
+                    end
+                end),
+                ['<C-e>'] = cmp.mapping.abort(),
+                ['<C-space>'] = cmp.mapping.complete(),
+                ['<CR>'] = cmp.mapping.confirm({ select = false }),
+            }),
+            window = {
+                completion = cmp.config.window.bordered(),
+                documentation = cmp.config.window.bordered(),
+            },
+        })
+    end
+}

nvim/lua/plugins/init.lua

@@ -1,5 +1,10 @@
 return {
     { 'nvim-treesitter/nvim-treesitter', build = ':TSUpdate' },
+    {
+        'L3MON4D3/LuaSnip',
+        tag = 'v2.*',
+        build = 'make install_jsregexp',
+    },
     'lewis6991/gitsigns.nvim',
     {
         'nvim-telescope/telescope.nvim',
@@ -9,28 +14,22 @@ return {
     { 'rose-pine/neovim',                name = 'rose-pine' },
     { 'catppuccin/nvim',                 name = 'catppuccin', priority = 1000 },
     { 'tpope/vim-fugitive',              name = 'fugitive' },
-    {
-        'VonHeikemen/lsp-zero.nvim',
-        branch = 'v2.x',
-        dependencies = {
-            -- LSP Support
-            { 'neovim/nvim-lspconfig' },             -- Required
-            { 'williamboman/mason.nvim' },           -- Optional
-            { 'williamboman/mason-lspconfig.nvim' }, -- Optional
-
-            -- Autocompletion
-            { 'hrsh7th/nvim-cmp' },     -- Required
-            { 'hrsh7th/cmp-nvim-lsp' }, -- Required
-            { 'L3MON4D3/LuaSnip' },     -- Required
-        },
-    },
     {
         'ThePrimeagen/harpoon',
         dependencies = {
             { 'nvim-lua/plenary.nvim' },
         },
     },
-    { 'ray-x/lsp_signature.nvim', event = 'VeryLazy', opts = {},
+    {
-        config = function(_, opts) require('lsp_signature').setup(opts) end },
+        'ray-x/lsp_signature.nvim',
-
+        event = 'VeryLazy',
+        opts = {},
+        config = function(_, opts) require('lsp_signature').setup(opts) end
+    },
+    'rcarriga/nvim-notify',
+    {
+        'danymat/neogen',
+        dependencies = 'nvim-treesitter/nvim-treesitter',
+        config = true,
+    },
 }

nvim/lua/plugins/lsp/init.lua

@@ -0,0 +1,88 @@
+--local lspconfig = require('lspconfig')
+--local lsp_defaults = lspconfig.util.default_config
+--
+--lsp_defaults.capabilities = vim.tbl_deep_extend(
+--    'force',
+--    lsp_defaults.capabilities,
+--    require('cmp_nvim_lsp').default_capabilities()
+--)
+
+vim.api.nvim_create_autocmd('LspAttach', {
+    desc = 'LSP actions',
+    callback = function(event)
+        local opts = { buffer = event.buf }
+        vim.keymap.set('n', '<leader>i', '<cmd>lua vim.lsp.buf.hover()<cr>', opts)
+        vim.keymap.set('n', 'gd', '<cmd>lua vim.lsp.buf.definition()<cr>', opts)
+        vim.keymap.set('n', 'gD', '<cmd>lua vim.lsp.buf.declaration()<cr>', opts)
+        vim.keymap.set('n', 'gi', '<cmd>lua vim.lsp.buf.implementation()<cr>', opts)
+        vim.keymap.set('n', 'go', '<cmd>lua vim.lsp.buf.type_definition()<cr>', opts)
+        vim.keymap.set('n', 'gr', '<cmd>lua vim.lsp.buf.references()<cr>', opts)
+        vim.keymap.set('n', 'gs', '<cmd>lua vim.lsp.buf.signature_help()<cr>', opts)
+        vim.keymap.set('n', '<leader>r', '<cmd>lua vim.lsp.buf.rename()<cr>', opts)
+        vim.keymap.set('n', '<leader>f', '<cmd>lua vim.lsp.buf.format({async=true})<cr>', opts)
+        vim.keymap.set('n', '<leader>ca', '<cmd>lua vim.lsp.buf.code_action()<cr>', opts)
+        vim.keymap.set('n', 'gl', '<cmd>lua vim.diagnostic.open_float()<cr>', opts)
+        vim.keymap.set('n', '[d', '<cmd>lua vim.diagnostic.goto_prev({float = {border = "rounded"}})<cr>', opts)
+        vim.keymap.set('n', ']d', '<cmd>lua vim.diagnostic.goto_next({float = {border = "rounded"}})<cr>', opts)
+        vim.keymap.set('n', '<leader>vd', '<cmd>lua vim.diagnostic.open_float({border = "rounded"})<cr>', opts)
+    end
+})
+
+
+local handlers = {
+    function(server)
+        require('lspconfig')[server].setup({})
+    end,
+    pylsp = function()
+        require('lspconfig').pylsp.setup({
+            settings = {
+                pylsp = {
+                    plugins = {
+                        pyflakes = { enabled = false },
+                        mccabe = { enabled = false },
+                        pycodestyle = { enabled = false },
+                        flake8 = { enabled = false },
+                        pylint = { enabled = false },
+                        autopep8 = { enabled = false },
+                        yapf = { enabled = true },
+                    },
+                },
+            },
+        })
+    end,
+    ruff_lsp = function()
+        require('lspconfig').ruff_lsp.setup({
+            on_attach = function(client, bufnr)
+                client.server_capabilities.hoverProvider = false
+                client.server_capabilities.documentFormattingProver = false
+            end,
+        })
+    end,
+}
+
+return {
+    {
+        'williamboman/mason.nvim',
+        config = function()
+            require('mason').setup({
+                ui = {
+                    border = 'rounded'
+                }
+            })
+            require('mason-registry'):on('package:install:success', require('plugins.lsp.python').mason_post_install)
+        end
+    },
+    {
+        'williamboman/mason-lspconfig.nvim',
+        dependencies = {
+            'rcarriga/nvim-notify',
+        },
+        opts = {
+            handlers = handlers,
+            ensure_installed = {
+                'lua_ls', 'clangd', 'pylsp', 'yamlls', 'esbonio', 'ruff_lsp',
+            },
+        },
+    },
+    { 'neovim/nvim-lspconfig' },
+}

nvim/lua/plugins/lsp/python.lua

@@ -0,0 +1,34 @@
+local M = {}
+local notify = require('notify')
+
+M.mason_post_install = function(pkg)
+    --if pkg.name ~= 'python-lsp-server' then
+    --    return
+    --end
+    --local venv = vim.fn.stdpath('data') .. '/mason/packages/python-lsp-server/venv'
+    --local job = require('plenary.job')
+    --job:new({
+    --    command = venv .. '/bin/pip',
+    --    args = {
+    --        'install',
+    --        '-U',
+    --        '--disable-pip-version-check',
+    --        'pylsp-mypy',
+    --    },
+    --    cwd = venv,
+    --    env = { VIRTUAL_ENV = venv },
+    --    on_exit = function()
+    --        notify('Finished installing pylsp modules.')
+    --    end,
+    --    on_start = function()
+    --        notify('Installing pylsp modules...')
+    --    end,
+    --}):start()
+end
+
+M.ruff = function()
+    local config = {}
+    return config
+end
+
+return M