lennartalff/ros2-vim
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity

Compare commits

base: lennartalff:6ad1685cc3989fcfbc7a2c20ead1bf9f4275da2c
Branches Tags
lennartalff:main
lennartalff:jazzy
..
compare: lennartalff:7657c39286590ff50273680656ec9d8a0177eafc
Branches Tags
lennartalff:main
lennartalff:jazzy

No commits in common. "6ad1685cc3989fcfbc7a2c20ead1bf9f4275da2c" and "7657c39286590ff50273680656ec9d8a0177eafc" have entirely different histories.
6ad1685cc3 ... 7657c39286

4 changed files with 19 additions and 47 deletions
Show stats Expand all files Collapse all files

39
Dockerfile
View file

@ -1,10 +1,8 @@
FROM osrf/ros:jazzy-desktop-full AS base-ros-nvim
FROM osrf/ros:iron-desktop-full AS base-ros-nvim
ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update \
&& apt-get -y install --no-install-recommends apt-utils dialog 2>&1 \
&& apt-get install -y \
gdb \
gdbserver \
ripgrep \
ninja-build \
gettext \
@ -31,26 +29,25 @@ RUN apt-get update \
FROM base-ros-nvim AS base-ros-nvim-graphics
ARG ROS_DISTR=jazzy
ENV ROS_DISTR=$ROS_DISTR
ARG ROS_DISTR=iron
ENV NVIDIA_VISIBLE_DEVICES \
${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES \
${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
ENV ROS_DISTR=$ROS_DISTR
RUN apt-get update \
#&& apt-get -y install --no-install-recommends apt-utils dialog 2>&1 \
&& apt-get install -y \
software-properties-common \
#&& add-apt-repository -y ppa:inivation-ppa/inivation \
&& add-apt-repository -y ppa:inivation-ppa/inivation \
&& rm -rf /var/lib/apt/lists/*
RUN apt-get update \
&& apt-get -y install --no-install-recommends apt-utils dialog 2>&1 \
&& apt-get install -y \
libgl1-mesa-dri \
# libgl1-mesa-glx \
libglx-mesa0 \
libgl1-mesa-glx \
mesa-utils \
mesa-utils-extra \
python3-pip \
@ -61,20 +58,14 @@ RUN apt-get update \
iputils-ping \
sudo \
wget \
#dv-processing \
#dv-runtime-dev \
libserial-dev \
nlohmann-json3-dev \
ros-${ROS_DISTR}-rqt-tf-tree \
ros-${ROS_DISTR}-apriltag \
ros-${ROS_DISTR}-plotjuggler-ros \
ros-${ROS_DISTR}-tf-transformations \
ros-${ROS_DISTR}-topic-tools \
ros-${ROS_DISTR}-rviz-2d-overlay-plugins \
ros-${ROS_DISTR}-simple-launch \
ros-${ROS_DISTR}-slider-publisher \
pre-commit \
# && pip3 install transforms3d \
&& pip3 install transforms3d \
# && rosdep install --from-paths /ros2_underlay/src -y --ignore-src \
# && rosdep install --from paths /ros2/src -y --ignore-src \
&& apt-get autoremove -y \
@ -86,8 +77,7 @@ ARG USERNAME=ros-user
ARG USER_UID=1000
ARG USER_GID=$USER_UID
RUN userdel -r ubuntu; \
groupadd --gid $USER_GID $USERNAME \
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
@ -114,14 +104,9 @@ RUN sh -c "$(wget -O- https://github.com/deluan/zsh-in-docker/releases/download/
&& mkdir -p "$HOME/.zsh" \
&& git clone https://github.com/sindresorhus/pure.git "$HOME/.zsh/pure" \
&& echo "source /opt/ros/$ROS_DISTR/setup.zsh" >> /home/$USERNAME/.zshrc \
# && pip3 install yapf pre-commit ruff \
&& git clone https://github.com/HippoCampusRobotics/hippo_core.git "$HOME/hippo_core" \
&& ls $HOME/hippo_core/hippo_common/scripts \
&& $HOME/hippo_core/hippo_common/scripts/install_scripts.sh \
# && sudo wget https://hippocampusrobotics.github.io/docs/_downloads/6055b3168d4f0a8cd764ebc481280219/ros-iron-px4-msgs_2.0.1-0jammy_amd64.deb \
&& sudo wget https://hippocampusrobotics.github.io/docs/_downloads/286cb880b68d2c4b6c6d9e6730fab199/ros-jazzy-px4-msgs_2.0.1-0noble_amd64.deb \
&& sudo apt-get install ./ros-${ROS_DISTR}-px4-msgs_2.0.1-0noble_amd64.deb \
# && sudo apt-get install ./ros-${ROS_DISTR}-px4-msgs_2.0.1-0jammy_amd64.deb \
&& 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 install asciinema \
&& sudo apt-get autoremove -y \
&& sudo apt-get clean -y \
@ -131,10 +116,8 @@ USER root
RUN mkdir /zsh_history \
&& touch /zsh_history/.zsh_history \
&& chown -R $USERNAME /zsh_history
RUN mkdir -p /home/$USERNAME/.cache/pre-commit \
RUN mkdir /home/$USERNAME/.cache/pre-commit \
&& chown -R $USERNAME /home/$USERNAME/.cache/pre-commit
RUN mkdir -p /home/$USERNAME/.local/bin \
&& chown -R $USERNAME /home/$USERNAME/.local/bin
ADD ros2-vim/nvim /home/$USERNAME/.config/nvim
RUN chown -R $USERNAME /home/$USERNAME/
USER ${USERNAME}

1
build
View file

@ -1,4 +1,3 @@
#!/usr/bin/bash
docker pull osrf/ros:jazzy-desktop-full
docker compose build --pull

4
docker-compose.yml
View file

@ -46,7 +46,7 @@ services:
target: /home/ros-user/.config/nvim
- type: bind
source: $XDG_RUNTIME_DIR/${WAYLAND_DISPLAY}
target: /tmp/runtime-ros-user/${WAYLAND_DISPLAY}
target: /tmp/${WAYLAND_DISPLAY}
- "ros2_zsh_history:/zsh_history"
- pre_commit_data:/home/ros-user/.cache/pre-commit
- nvim_data:/home/ros-user/.local/share/nvim
@ -55,7 +55,7 @@ services:
environment:
- DISPLAY=${DISPLAY}
- XDG_RUNTIME_DIR=/tmp/runtime-ros-user
- XDG_RUNTIME_DIR=/tmp
- WAYLAND_DISPLAY=${WAYLAND_DISPLAY}
- QT_X11_NO_MITSHM=1
- QT_STYLE_OVERRIDE=breeze

22
entrypoint.sh
View file

@ -1,18 +1,13 @@
#!/bin/bash
set -e
WORKSPACE_DIR="\$HOME/uuv/ros2"
UNDERLAY_DIR="\$HOME/uuv/ros2_underlay"
host=$(cat /etc/hostname)
echo "127.0.0.1 $host" | sudo tee -a /etc/hosts > /dev/null 2>1
sudo chown $UID:$UID $XDG_RUNTIME_DIR
chmod 700 $XDG_RUNTIME_DIR
#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 "alias rosdep-ros2=\"env -i HOME=\$HOME USER=\$USER TERM=xterm-256color bash -l -c 'source \$HOME/uuv/ros2_underlay/install/setup.bash && cd \$HOME/uuv/ros2 && rosdep install --from-paths src -y --ignore-src'\"" >> ~/.zshrc
echo "alias rosdep-underlay=\"env -i HOME=\$HOME USER=\$USER TERM=xterm-256color bash -l -c 'source /opt/ros/iron/setup.bash && cd \$HOME/uuv/ros2_underlay && rosdep install --from-paths src -y --ignore-src'\"" >> ~/.zshrc
export WORKSPACE_DIR="\$HOME/uuv/ros2"
export 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 "alias rosdep-ros2=\"env -i HOME=\$HOME USER=\$USER TERM=xterm-256color UNDERLAY_DIR=\$UNDERLAY_DIR bash -l -c 'source \$UNDERLAY_DIR/install/setup.bash && cd $WORKSPACE_DIR && rosdep install --from-paths src -y --ignore-src'\"" >> ~/.zshrc
echo "alias rosdep-underlay=\"env -i UNDERLAY_DIR=\$UNDERLAY_DIR HOME=\$HOME USER=\$USER TERM=xterm-256color bash -l -c 'source /opt/ros/$ROS_DISTR/setup.bash && cd $UNDERLAY_DIR && rosdep install --from-paths src -y --ignore-src'\"" >> ~/.zshrc
echo 'source $HOME/uuv/ros2_underlay/install/setup.zsh' >> ~/.zshrc
echo 'source $HOME/uuv/ros2/install/local_setup.zsh' >> ~/.zshrc
@ -23,9 +18,4 @@ echo 'eval "$(register-python-argcomplete3 build-ros)"' >> ~/.zshrc
echo 'eval "$(register-python-argcomplete3 clean-ros)"' >> ~/.zshrc
echo "bindkey '^ ' autosuggest-toggle" >> ~/.zshrc
# required to make the daemon/CLI work properly
# might be fixed in ros jazzy according to https://github.com/ros2/ros2/issues/1531
ulimit -n 1024
exec $@