initial commit

Dockerfile

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+FROM px4io/px4-dev-ros2-foxy
+ARG ROS_DISTR=foxy
+
+ENV DEBIAN_FRONTEND=noninteractive
+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 \
+    && apt-get -y install --no-install-recommends apt-utils dialog 2>&1 \
+    && apt-get install -y \
+    libgl1-mesa-dri \
+    libgl1-mesa-glx \
+    python3-pip \
+    ros-${ROS_DISTR}-desktop \
+    avahi-daemon \
+    avahi-utils \
+    libnss-mdns \
+    iputils-ping \
+    sudo \
+    vim \
+    wget \
+    byobu \
+    xmlstarlet \
+    clang-format \
+    && pip3 install yapf \
+    rope \
+    flake8 \
+    && 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/*
+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)" -- \
+    -p https://github.com/zsh-users/zsh-autosuggestions \
+    -p git \
+    -t "" \
+    -a 'fpath+=$HOME/.zsh/pure' \
+    -a 'autoload -U promptinit; promptinit' \
+    -a 'prompt pure' \
+    && mkdir -p "$HOME/.zsh" \
+    && git clone https://github.com/sindresorhus/pure.git "$HOME/.zsh/pure" \
+    && echo "source /opt/ros/$ROS_DISTR/setup.zsh" >> /home/$USERNAME/.zshrc
+
+ADD vimrc /home/$USERNAME/.vimrc
+RUN git clone https://github.com/VundleVim/Vundle.vim.git /home/$USERNAME/.vim/bundle/Vundle.vim
+RUN vim +PluginInstall +qall
+RUN cd /home/$USERNAME/.vim/bundle/YouCompleteMe \
+    && python3 install.py --clang-completer
+USER root
+RUN chown -R $USERNAME /home/$USERNAME/
+USER ${USERNAME}
+WORKDIR /home/$USERNAME
+RUN wget https://raw.githubusercontent.com/llvm-mirror/clang/master/tools/clang-format/clang-format.py
+# Switch back to dialog for any ad-hoc use of apt-get
+ENV DEBIAN_FRONTEND=dialog
+CMD [ "/usr/bin/zsh"]
+

docker-compose.yml

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+services:
+  dev:
+    network_mode: host
+    build:
+      context: .
+      dockerfile: ./Dockerfile
+    stdin_open: true
+    tty: true
+    entrypoint:
+      - bash
+      - entrypoint.sh
+    command: byobu
+    working_dir: /home/ros-user/uuv/ros2
+    devices:
+      - "/dev/dri:/dev/dri"
+    volumes:
+      - type: bind
+        source: ${HOME}/uuv
+        target: /home/ros-user/uuv
+      - type: bind
+        source: /tmp/.X11-unix
+        target: /tmp/.X11-unix
+      - type: bind
+        source: /var/run/dbus
+        target: /var/run/dbus
+      - type: bind
+        source: /var/run/avahi-daemon/socket
+        target: /var/run/avahi-daemon/socket
+
+    environment:
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+      - SHELL=/usr/bin/zsh
+      - ROS_WORKSPACE=/home/ros-user/uuv/ros2

entrypoint.sh

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+#!/bin/bash
+set -e
+PX4_DIR="/home/vscode/uuv/PX4-Autopilot"
+WORKSPACE_DIR="/home/vscode/uuv/ros2"
+echo "source $WORKSPACE_DIR/install/setup.zsh" >> ~/.zshrc
+echo "source $PX4_DIR/Tools/setup_gazebo.bash $PX4_DIR $PX4_DIR/build/px4_sitl_default > /dev/null" >> ~/.zshrc
+echo "export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:$PX4_DIR" >> ~/.zshrc
+echo "export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:$PX4_DIR/Tools/sitl_gazebo" >> ~/.zshrc
+echo "export FASTRTPS_DEFAULT_PROFILES_FILE=/home/vscode/uuv/ros2/test.xml" >> ~/.zshrc
+vim +PluginUpdate +qall
+
+exec $@

vimrc

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+set nocompatible
+" required for vundle
+filetype off
+set rtp+=~/.vim/bundle/Vundle.vim
+call vundle#begin()
+Plugin 'preservim/nerdtree'
+Plugin 'ycm-core/YouCompleteMe'
+Plugin 'NLKNguyen/papercolor-theme'
+
+call vundle#end()
+filetype plugin indent on
+syntax on
+
+"disable soft wraps
+set nowrap
+augroup WrapLine
+	autocmd!
+	autocmd FileType txt setlocal wrap
+	autocmd FileType rst setlocal wrap
+augroup End
+" enable line numbers
+set number relativenumber
+set nu rnu
+set ruler
+set visualbell
+set encoding=utf-8
+set ttyfast
+
+" always show mode status line
+set laststatus=2
+" always show mode
+set showmode
+
+
+inoremap jj <ESC>
+
+set t_Co=256
+set background=dark
+silent! colorscheme PaperColor
+
+let g:clang_format_fallback_style="Google"
+map <C-I> :py3f $HOME/clang-format.py<CR>
+imap <C-I> :py3f $HOME/clang-format.py<CR>

ycm_extra_conf.py

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+# Copyright 2021 Chen Bainian
+# Copyright 2015 Gaël Ecorchard
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Reference:
+#   Gist link: https://gist.github.com/galou/92a2d05dd772778f86f2
+#   Author: Gaël Ecorchard (2015)
+#   License: CC0
+
+import os
+import ycm_core
+
+# These are the compilation flags that will be used in case there's no
+# compilation database set (by default, one is not set).
+# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
+# You can get CMake to generate the compilation_commands.json file for you by
+# adding:
+#   set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
+# to your CMakeLists.txt file or by once entering
+#   catkin config --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
+# or
+#   colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
+# in your shell.
+
+DEFAULT_FLAGS = [
+    '-Wall',
+    '-Wextra',
+    '-Werror',
+    # '-Wc++98-compat',
+    '-Wno-long-long',
+    '-Wno-variadic-macros',
+    '-fexceptions',
+    '-DNDEBUG',
+    # THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know
+    # which language to use when compiling headers. So it will guess. Badly. So
+    # C++ headers will be compiled as C headers. You don't want that so ALWAYS
+    # specify a "-std=<something>".
+    # For a C project, you would set this to something like 'c99' instead of
+    # 'c++11'.
+    '-std=c++14',
+    # ...and the same thing goes for the magic -x option which specifies the
+    # language that the files to be compiled are written in. This is mostly
+    # relevant for c++ headers.
+    # For a C project, you would set this to 'c' instead of 'c++'.
+    '-x',
+    'c++',
+    '-I',
+    '.',
+    # include third party libraries
+    # '-isystem',
+    # '/some/path/include',
+]
+
+
+def GetWorkspaceDir():
+    """
+    Get the ROS workspace directory path.
+    Return this script directory is ROS_WORKSPACE is not set.
+    """
+    ws_dir = os.environ.get('ROS_WORKSPACE')
+    return os.path.dirname(os.path.abspath(__file__)) if ws_dir is None else ws_dir
+
+
+def GetDefaultRosIncludePaths():
+    """
+    Return a list of potential include directories.
+    The directories are looked for in ros workspace.
+    This doesn't work well with the ROS 1 build configured with install.
+    """
+    ros_ver = os.environ.get('ROS_VERSION')
+    includes = []
+    # ROS 1
+    if ros_ver == '1':
+        try:
+            from rospkg import RosPack
+        except ImportError:
+            return []
+        rospack = RosPack()
+        devel_includes_path = os.path.join(GetWorkspaceDir(),
+                                           'devel', 'include')
+        if os.path.exists(devel_includes_path):
+            includes.append(devel_includes_path)
+
+        for p in rospack.list():
+            if os.path.exists(rospack.get_path(p) + '/include'):
+                includes.append(rospack.get_path(p) + '/include')
+
+        includes.append('/opt/ros/' + os.environ.get('ROS_DISTRO') + '/include')
+
+    # ROS 2
+    elif ros_ver == '2':
+        try:
+            from ros2pkg.api import get_package_names
+            from ament_index_python import get_package_prefix
+        except ImportError:
+            return []
+        for package_name in get_package_names():
+            include_path = os.path.join(get_package_prefix(package_name), 'include')
+            if os.path.exists(include_path) and include_path not in includes:
+                includes.append(include_path)
+
+    return includes
+
+
+def GetDefaultFlags():
+    includes = GetDefaultRosIncludePaths()
+    flags = DEFAULT_FLAGS
+    for include in includes:
+        flags.append('-isystem')
+        flags.append(include)
+    return flags
+
+
+def GetCompileCommandsPath(filename):
+    """
+    Return the directory potentially containing `compilation_commands.json`.
+    Return the absolute path to the folder (NOT the file!) containing the
+    compile_commands.json file to use that instead of 'flags'. See here for
+    more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html.
+    The compilation_commands.json for the given file is returned by getting
+    the package the file belongs to.
+    """
+    # Find the corresponding ROS package name for the file.
+    # This function works in both ROS1 and ROS2
+    try:
+        from rospkg import get_package_name
+    except ImportError:
+        return ''
+    pkg_name = get_package_name(filename)
+    if not pkg_name:
+        return ''
+
+    return os.path.join(GetWorkspaceDir(), 'build', pkg_name)
+
+
+def GetDatabase(compilation_database_folder):
+    if os.path.exists(compilation_database_folder):
+        return ycm_core.CompilationDatabase(compilation_database_folder)
+    return None
+
+
+def MakeRelativePathsInFlagsAbsolute(flags, working_directory):
+    if not working_directory:
+        return list(flags)
+    new_flags = []
+    make_next_absolute = False
+    path_flags = ['-isystem', '-I', '-iquote', '--sysroot=']
+    for flag in flags:
+        new_flag = flag
+
+        if make_next_absolute:
+            make_next_absolute = False
+            if not flag.startswith('/'):
+                new_flag = os.path.join(working_directory, flag)
+
+        for path_flag in path_flags:
+            if flag == path_flag:
+                make_next_absolute = True
+                break
+
+            if flag.startswith(path_flag):
+                path = flag[len(path_flag):]
+                new_flag = path_flag + os.path.join(working_directory, path)
+                break
+
+        if new_flag:
+            new_flags.append(new_flag)
+    return new_flags
+
+
+def Settings(**kwargs):
+    if kwargs['language'] != 'cfamily':
+        return {}
+
+    filename = kwargs['filename']
+    flags = []
+    database_dir = GetCompileCommandsPath(filename)
+
+    if os.path.exists(database_dir):
+        # Load the compile_commands.json file
+        database = ycm_core.CompilationDatabase(database_dir)
+        if database:
+            # Bear in mind that compilation_info.compiler_flags_ does NOT return a
+            # python list, but a "list-like" StringVec object
+            compilation_info = database.GetCompilationInfoForFile(filename)
+            if not compilation_info:
+                flags = GetDefaultFlags()  # Use default flags if there are any loading error.
+            else:
+                flags = MakeRelativePathsInFlagsAbsolute(
+                    compilation_info.compiler_flags_,
+                    compilation_info.compiler_working_dir_)
+    if not flags:
+        flags = GetDefaultFlags()  # Use default flags if there is no flags defined.
+
+    return {
+        'flags': flags,
+        'do_cache': True
+    }
+