initial working version with nvim

Dockerfile

@@ -1,5 +1,5 @@
-FROM osrf/ros:humble-desktop-full
-ARG ROS_DISTR=humble
+FROM osrf/ros:iron-desktop-full
+ARG ROS_DISTR=iron
 
 ENV DEBIAN_FRONTEND=noninteractive
 ENV NVIDIA_VISIBLE_DEVICES \
@@ -11,12 +11,6 @@ ARG USER_UID=1000
 ARG USER_GID=$USER_UID
 ENV ROS_DISTR=$ROS_DISTR
 
-RUN mkdir -p /ros2/src
-RUN mkdir -p /ros2_underlay/src
-
-ADD ros2/src /ros2/src
-ADD ros2_underlay/src /ros2_underlay/src
-
 RUN apt-get update \
     && apt-get -y install --no-install-recommends apt-utils dialog 2>&1 \
     && apt-get install -y \
@@ -25,25 +19,35 @@ RUN apt-get update \
     mesa-utils \
     mesa-utils-extra \
     python3-pip \
+    python3-venv \
     avahi-daemon \
     avahi-utils \
     libnss-mdns \
     iputils-ping \
     sudo \
-    neovim \
     ripgrep \
     wget \
     byobu \
     ros-${ROS_DISTR}-rqt-tf-tree \
     ros-${ROS_DISTR}-apriltag \
     clang-format \
-    && python3 -m pip install yapf \
-    rope \
-    flake8 \
-    pylint \
-    jedi \
-    && rosdep install --from-paths /ros2_underlay/src -y --ignore-src \
+    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 \
+    && curl -sL https://deb.nodesource.com/setup_18.x -o nodesource_setup.sh \
+    && bash nodesource_setup.sh \
+    && 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\
@@ -79,14 +83,14 @@ USER root
 RUN mkdir /zsh_history \
     && touch /zsh_history/.zsh_history \
     && chown -R $USERNAME /zsh_history
-ADD ros2-vim/cpp.vim /home/$USERNAME/.vim/after/ftplugin/cpp.vim
+ADD ros2-vim/nvim /home/$USERNAME/.config/nvim
 RUN chown -R $USERNAME /home/$USERNAME/
 ADD ros2-vim/entrypoint.sh /entrypoint.sh
 RUN chmod +x /entrypoint.sh
 RUN chown $USERNAME /entrypoint.sh
 USER ${USERNAME}
+RUN nvim --headless "+Lazy! sync" +qa
 WORKDIR /home/$USERNAME
-RUN wget https://raw.githubusercontent.com/llvm/llvm-project/main/clang/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

@@ -20,7 +20,7 @@ services:
         - default
     stdin_open: true
     tty: true
-    entrypoint: ["/entrypoint.sh", "byobu"]
+    entrypoint: ["/entrypoint.sh", "zsh"]
     working_dir: /home/ros-user/uuv/ros2
     devices:
       - "/dev/dri:/dev/dri"
@@ -47,6 +47,8 @@ services:
       - SHELL=/usr/bin/zsh
       - ROS_WORKSPACE=/home/ros-user/uuv/ros2
       - SSH_AUTH_SOCK=/ssh-agent
+      - TERM=xterm-256color
+      - COLORTERM=24bit
 
 volumes:
   ros2_zsh_history:

entrypoint.sh

@@ -1,15 +1,15 @@
 #!/bin/bash
 set -e
-PX4_DIR="\$HOME/uuv/PX4-Autopilot"
 WORKSPACE_DIR="\$HOME/uuv/ros2"
-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
+UNDERLAY_DIR="\$HOME/uuv/ros2_underlay"
+
+echo "alias build_ros=\"env -i HOME=\$HOME USER=\$USER TERM=xterm-256color bash -l -c 'source $UNDERLAY_DIR/install/setup.bash && cd $WORKSPACE_DIR && colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON'\"" >> ~/.zshrc
+echo "alias build_underlay=\"env -i HOME=\$HOME USER=\$USER TERM=xterm-256color bash -l -c 'source /opt/ros/$ROS_DISTR/setup.bash && cd $UNDERLAY_DIR && colcon build'\"" >> ~/.zshrc
+
 
 echo 'source $HOME/uuv/ros2_underlay/install/setup.zsh' >> ~/.zshrc
 echo 'source $HOME/uuv/ros2/install/local_setup.zsh' >> ~/.zshrc
 echo 'eval "$(register-python-argcomplete3 ros2)"' >> ~/.zshrc
 echo 'eval "$(register-python-argcomplete3 colcon)"' >> ~/.zshrc
-vim +PluginUpdate +qall
 
 exec $@

nvim/after/plugin/color.lua

@@ -0,0 +1,6 @@
+function ColorMyPencils(color)
+	color = color or "rose-pine"
+	vim.cmd.colorscheme(color)
+end
+
+ColorMyPencils()

nvim/after/plugin/fugitive.lua

@@ -0,0 +1 @@
+vim.keymap.set("n", "<leader>gs", vim.cmd.Git);

nvim/after/plugin/gitsigns.lua

@@ -0,0 +1,9 @@
+require('gitsigns').setup {
+    signs = {
+        add = {text='+'},
+        change = {text='~'},
+        delete = {text='_'},
+        topdelete = {text='‾'},
+        changedelete = {text='~'},
+    }
+}

nvim/after/plugin/harpoon.lua

@@ -0,0 +1,10 @@
+local mark = require('harpoon.mark')
+local ui = require('harpoon.ui')
+
+vim.keymap.set('n', '<leader>a', mark.add_file)
+vim.keymap.set('n', '<C-e>', ui.toggle_quick_menu)
+
+vim.keymap.set('n', '<C-h>', function() ui.nav_file(1) end)
+vim.keymap.set('n', '<C-t>', function() ui.nav_file(2) end)
+vim.keymap.set('n', '<C-n>', function() ui.nav_file(3) end)
+vim.keymap.set('n', '<C-s>', function() ui.nav_file(4) end)

nvim/after/plugin/lsp.lua

@@ -0,0 +1,51 @@
+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({})
+
+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),
+    },
+    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/after/plugin/telescope.lua

@@ -0,0 +1,6 @@
+local builtin = require('telescope.builtin')
+vim.keymap.set('n', '<leader>pf', builtin.find_files, {})
+vim.keymap.set("n", "C-p", builtin.git_files, {})
+vim.keymap.set("n", "<leader>ps", function()
+	builtin.grep_string({ search = vim.fn.input("Grep > ") });
+end)

nvim/after/plugin/treesitter.lua

@@ -0,0 +1,35 @@
+require('nvim-treesitter.configs').setup {
+  -- A list of parser names, or "all" (the five listed parsers should always be installed)
+  ensure_installed = { "c", "lua", "vim", "vimdoc", "query", "cpp", "python", "yaml" },
+
+  -- Install parsers synchronously (only applied to `ensure_installed`)
+  sync_install = false,
+
+  -- Automatically install missing parsers when entering buffer
+  -- Recommendation: set to false if you don't have `tree-sitter` CLI installed locally
+  auto_install = true,
+
+  -- List of parsers to ignore installing (for "all")
+  ignore_install = { "javascript" },
+
+  ---- If you need to change the installation directory of the parsers (see -> Advanced Setup)
+  -- parser_install_dir = "/some/path/to/store/parsers", -- Remember to run vim.opt.runtimepath:append("/some/path/to/store/parsers")!
+
+  highlight = {
+    enable = true,
+    -- Or use a function for more flexibility, e.g. to disable slow treesitter highlight for large files
+    disable = function(lang, buf)
+        local max_filesize = 100 * 1024 -- 100 KB
+        local ok, stats = pcall(vim.loop.fs_stat, vim.api.nvim_buf_get_name(buf))
+        if ok and stats and stats.size > max_filesize then
+            return true
+        end
+    end,
+
+    -- Setting this to true will run `:h syntax` and tree-sitter at the same time.
+    -- Set this to `true` if you depend on 'syntax' being enabled (like for indentation).
+    -- Using this option may slow down your editor, and you may see some duplicate highlights.
+    -- Instead of true it can also be a list of languages
+    additional_vim_regex_highlighting = false,
+  },
+}

nvim/init.lua

@@ -0,0 +1,17 @@
+local lazypath = vim.fn.stdpath("data") .. "/lazy/lazy.nvim"
+if not vim.loop.fs_stat(lazypath) then
+    vim.fn.system({
+        "git",
+        "clone",
+        "--filter=blob:none",
+        "https://github.com/folke/lazy.nvim.git",
+        "--branch=stable", -- latest stable release
+        lazypath,
+    })
+end
+vim.opt.rtp:prepend(lazypath)
+
+vim.g.mapleader = ' ' -- needs to be set before lazy im
+require('lazy').setup('plugins')
+
+require('lennartalff')

nvim/lazy-lock.json

@@ -0,0 +1,16 @@
+{
+  "LuaSnip": { "branch": "master", "commit": "c4d6298347f7707e9757351b2ee03d0c00da5c20" },
+  "cmp-nvim-lsp": { "branch": "main", "commit": "44b16d11215dce86f253ce0c30949813c0a90765" },
+  "gitsigns.nvim": { "branch": "main", "commit": "749267aaa863c30d721c9913699c5d94e0c07dd3" },
+  "harpoon": { "branch": "master", "commit": "21f4c47c6803d64ddb934a5b314dcb1b8e7365dc" },
+  "lazy.nvim": { "branch": "main", "commit": "dac844ed617dda4f9ec85eb88e9629ad2add5e05" },
+  "lsp-zero.nvim": { "branch": "v2.x", "commit": "f084f4a6a716f55bf9c4026e73027bb24a0325a3" },
+  "mason-lspconfig.nvim": { "branch": "main", "commit": "2997f467881ac4faa6f8c5e7065e3a672297c8ad" },
+  "mason.nvim": { "branch": "main", "commit": "a51c2d063c5377ee9e58c5f9cda7c7436787be72" },
+  "nvim-cmp": { "branch": "main", "commit": "51f1e11a89ec701221877532ee1a23557d291dd5" },
+  "nvim-lspconfig": { "branch": "master", "commit": "f7922e59aeb9bc3e31a660ea4e7405ffa3fc2c3a" },
+  "nvim-treesitter": { "branch": "master", "commit": "99eef501a3d9128c15440296850b5bb178d6d560" },
+  "plenary.nvim": { "branch": "master", "commit": "267282a9ce242bbb0c5dc31445b6d353bed978bb" },
+  "rose-pine": { "branch": "main", "commit": "e29002cbee4854a9c8c4b148d8a52fae3176070f" },
+  "telescope.nvim": { "branch": "master", "commit": "2d92125620417fbea82ec30303823e3cd69e90e8" }
+}

nvim/lua/lennartalff/init.lua

@@ -0,0 +1,3 @@
+require('lennartalff.remap')
+require('lennartalff.set')
+vim.cmd('colorscheme rose-pine')

nvim/lua/lennartalff/packer.lua

@@ -0,0 +1,65 @@
+-- packer bootstrapping
+local ensure_packer = function()
+    local fn = vim.fn
+    local install_path = fn.stdpath('data') .. '/site/pack/packer/start/packer.nvim'
+    if fn.empty(fn.glob(install_path)) > 0 then
+        fn.system({ 'git', 'clone', '--depth', '1', 'https://github.com/wbthomason/packer.nvim', install_path })
+        vim.cmd [[packadd packer.nvim]]
+        return true
+    end
+    return false
+end
+
+local packer_bootstrap = ensure_packer()
+
+return require('packer').startup(function(use)
+    -- Packer can manage itself
+    use 'wbthomason/packer.nvim'
+    use 'lewis6991/gitsigns.nvim'
+    use {
+        'nvim-telescope/telescope.nvim', tag = '0.1.1',
+        -- or                            , branch = '0.1.x',
+        requires = { { 'nvim-lua/plenary.nvim' } }
+    }
+    use({ 'rose-pine/neovim', as = 'rose-pine' })
+
+    use {
+        'nvim-treesitter/nvim-treesitter',
+        run = function()
+            local ts_update = require('nvim-treesitter.install').update({ with_sync = true })
+            ts_update()
+        end,
+    }
+    use 'tpope/vim-fugitive'
+    use {
+        'VonHeikemen/lsp-zero.nvim',
+        branch = 'v2.x',
+        requires = {
+            -- LSP Support
+            { 'neovim/nvim-lspconfig' }, -- Required
+            {                            -- Optional
+                'williamboman/mason.nvim',
+                run = function()
+                    pcall(vim.cmd, 'MasonUpdate')
+                end,
+            },
+            { 'williamboman/mason-lspconfig.nvim' }, -- Optional
+
+            -- Autocompletion
+            { 'hrsh7th/nvim-cmp' },     -- Required
+            { 'hrsh7th/cmp-nvim-lsp' }, -- Required
+            { 'L3MON4D3/LuaSnip' },     -- Required
+            { 'mhartington/formatter.nvim' },
+        }
+    }
+    use {
+        "ThePrimeagen/refactoring.nvim",
+        requires = {
+            { "nvim-lua/plenary.nvim" },
+            { "nvim-treesitter/nvim-treesitter" }
+        }
+    }
+    if packer_bootstrap then
+        require('packer').sync()
+    end
+end)

nvim/lua/lennartalff/remap.lua

@@ -0,0 +1,34 @@
+vim.g.mapleader = " "
+vim.keymap.set("n", "<leader>pv", vim.cmd.Ex)
+
+-- move selected text
+vim.keymap.set('v', 'J', ":m '>+1<CR>gv=gv")
+vim.keymap.set('v', 'K', ":m '<-2<CR>gv=gv")
+
+vim.keymap.set('n', 'J', 'mzJ`z')
+
+vim.keymap.set('n', '<C-d>', '<C-d>zz')
+vim.keymap.set('n', '<C-u>', '<C-u>zz')
+
+-- yank to clipboard
+vim.keymap.set('n', '<leader>y', '"+y')
+vim.keymap.set('v', '<leader>y', '"+y')
+
+-- delete to void
+vim.keymap.set('n', '<leader>d', '"_d')
+vim.keymap.set('v', '<leader>d', '"_d')
+
+vim.keymap.set('i', '<C-c>', '<Esc>')
+
+-- avoid accidentally closing everything!
+vim.keymap.set('n', 'Q', '<nop>')
+
+vim.keymap.set('n', '<leader>f', function()
+    vim.lsp.buf.format()
+end)
+
+-- quickfix navigation
+vim.keymap.set('n', '<C-k>', '<cmd>cnext<CR>zz')
+vim.keymap.set('n', '<C-j>', '<cmd>cprev<CR>zz')
+vim.keymap.set('n', '<leader>k', '<cmd>lnext<CR>zz')
+vim.keymap.set('n', '<leader>j', '<cmd>lprev<CR>zz')

nvim/lua/lennartalff/set.lua

@@ -0,0 +1,29 @@
+-- vim.opt.guicursor = ''
+
+-- line numbers
+vim.opt.nu = true
+vim.opt.relativenumber = true
+
+-- default indentation
+vim.opt.tabstop = 4
+vim.opt.softtabstop = 4
+vim.opt.shiftwidth = 4
+vim.opt.expandtab = true
+
+vim.opt.smartindent = true
+
+vim.opt.wrap = false
+
+vim.api.nvim_create_autocmd("FileTYpe", {
+    pattern = "cpp",
+    callback = function()
+        vim.opt_local.shiftwidth = 2
+        vim.opt_local.tabstop = 2
+    end
+})
+
+vim.opt.scrolloff = 8
+vim.opt.signcolumn = 'yes'
+vim.opt.updatetime = 500
+vim.opt.colorcolumn = '80'
+

nvim/lua/plugins/init.lua

@@ -0,0 +1,33 @@
+return {
+    { 'nvim-treesitter/nvim-treesitter', build = ':TSUpdate' },
+    'lewis6991/gitsigns.nvim',
+    {
+        'nvim-telescope/telescope.nvim',
+        dependencies = {
+            { 'nvim-lua/plenary.nvim' } }
+    },
+    { 'rose-pine/neovim',                name = 'rose-pine' },
+    --    'tpope/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' },
+        },
+    },
+
+}

vimrc

@@ -1,68 +0,0 @@
-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'
-Plugin 'tmsvg/pear-tree'
-Plugin 'vim-airline/vim-airline'
-Plugin 'vim-airline/vim-airline-themes'
-Plugin 'aonemd/quietlight.vim'
-Plugin 'octol/vim-cpp-enhanced-highlight'
-
-call vundle#end()
-filetype plugin indent on
-syntax on
-set tabstop=4
-set softtabstop=4
-set shiftwidth=4
-set expandtab
-
-"disable soft wraps
-set nowrap
-augroup WrapLine
-	autocmd!
-	autocmd FileType txt setlocal wrap
-	autocmd FileType rst setlocal wrap
-augroup End
-" highlight current line
-set cursorline
-" enable line numbers
-set number relativenumber
-set nu rnu
-set ruler
-set visualbell
-set encoding=utf-8
-set ttyfast
-let mapleader=","
-
-" always show mode status line
-set laststatus=2
-" always show mode
-set showmode
-
-
-inoremap jj <ESC>
-
-nnoremap <leader>t :NERDTreeToggle<CR>
-nnoremap <leader>n :NERDTreeFocus<CR>
-nnoremap <C-f> :NERDTreeFind<CR>
-
-set t_Co=256
-set background=light
-silent! colorscheme PaperColor
-let g:airline_theme='papercolor'
-:set colorcolumn=81,121
-
-let g:clang_format_fallback_style="Google"
-let g:ycm_autoclose_preview_window_after_completion=1
-let g:ycm_confirm_extra_conf=0
-let g:ycm_always_populate_location_list=1
-let g:ycm_clangd_args=['--header-insertion=never']
-
-autocmd FileType c,cpp nnoremap <leader>f :py3f $HOME/clang-format.py<CR>
-autocmd FileType c,cpp vnoremap <leader>f :py3f $HOME/clang-format.py<CR>
-" autocmd FileType python nnoremap <leader><F> :0,$!yapf<CR><C-o> 
-autocmd FileType python nnoremap <leader>f :0,$!yapf<CR><C-o>

ycm_extra_conf.py

@@ -1,17 +0,0 @@
-import os
-import shlex
-import subprocess
-
-
-def find_ros_python_packages():
-    ros_ws = os.environ['ROS_WORKSPACE']
-    cmd = shlex.split(
-        f'bash -c "source {ros_ws}/install/setup.bash && echo $PYTHONPATH"')
-    p = subprocess.Popen(cmd, stdout=subprocess.PIPE, universal_newlines=True)
-    for line in p.stdout:
-        paths = line.rstrip().split(':')
-    p.communicate()
-    return paths
-
-def Settings(**kwargs):
-    return {'sys_path': find_ros_python_packages()}