.gitignore

@@ -1,2 +0,0 @@
-*.log
-nvim/lazy-lock.json

Dockerfile

@@ -16,42 +16,22 @@ RUN apt-get update \
     && apt-get install -y \
     libgl1-mesa-dri \
     libgl1-mesa-glx \
-    mesa-utils \
-    mesa-utils-extra \
     python3-pip \
-    python3-venv \
     avahi-daemon \
     avahi-utils \
     libnss-mdns \
     iputils-ping \
     sudo \
-    ripgrep \
+    vim \
     wget \
     byobu \
-    ros-${ROS_DISTR}-rqt-tf-tree \
+    xmlstarlet \
-    ros-${ROS_DISTR}-apriltag \
-    ros-${ROS_DISTR}-plotjuggler-ros \
     clang-format \
-    xclip \
+    && python3 -m pip install yapf \
-# neovim build depends \
+    rope \
-    ninja-build \
+    flake8 \
-    gettext \
+    pylint \
-    cmake \
+    jedi \
-    unzip \
-    curl \
-# end neovim build depends \
-#   && rosdep install --from-paths /ros2_underlay/src -y --ignore-src \
-#   && rosdep install --from paths /ros2/src -y --ignore-src \
-    && mkdir -p /etc/apt/keyrings \
-    && curl -fsSL https://deb.nodesource.com/gpgkey/nodesource-repo.gpg.key | gpg --dearmor -o /etc/apt/keyrings/nodesource.gpg \
-    && NODE_MAJOR=20 \
-    && echo "deb [signed-by=/etc/apt/keyrings/nodesource.gpg] https://deb.nodesource.com/node_$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/$USERNAME\
@@ -77,28 +57,30 @@ RUN sh -c "$(wget -O- https://github.com/deluan/zsh-in-docker/releases/download/
     -a 'PATH=$PATH:$HOME/.local/bin' \
     -a 'export HISTFILE=/zsh_history/.zsh_history' \
     -a 'export TERM=xterm-256color' \
-    -a 'export COLORTERM=truecolor' \
+    -a 'eval "$(register-python-argcomplete3 ros2)"' \
+    -a 'eval "$(register-python-argcomplete3 colcon)"' \
     && 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/$USERNAME/.vimrc
+ADD ycm_extra_conf.py /home/$USERNAME/.ycm_extra_conf.py
+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 --clangd-completer
 USER root
 RUN mkdir /zsh_history \
     && touch /zsh_history/.zsh_history \
     && chown -R $USERNAME /zsh_history
-ADD ros2-vim/nvim /home/$USERNAME/.config/nvim
+ADD cpp.vim /home/$USERNAME/.vim/after/ftplugin/cpp.vim
 RUN chown -R $USERNAME /home/$USERNAME/
-USER ${USERNAME}
+ADD entrypoint.sh /entrypoint.sh
-RUN nvim --headless "+Lazy! sync" +qa
-RUN nvim --headless +"MasonInstall lua-language-server clangd python-lsp-server yaml-language-server" +q
-WORKDIR /home/$USERNAME
-
-USER root
-ADD ros2-vim/entrypoint.sh /entrypoint.sh
 RUN chmod +x /entrypoint.sh
 RUN chown $USERNAME /entrypoint.sh
 USER ${USERNAME}
+WORKDIR /home/$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"]

README.md

@@ -1,25 +0,0 @@
-# Update The Base Image
-
-~~~ bash
-docker pull osrf/ros:humble-desktop-full
-~~~
-
-# Rebuild The Image from Dockerfile
-
-~~~ bash
-docker-compose build
-~~~
-
-# Run The Container
-
-## NVIDIA
-
-~~~ bash
-docker-compose run --rm nvidia
-~~~
-
-## Others
-
-~~~ bash
-docker-compose run --rm dev
-~~~

build

@@ -1,3 +0,0 @@
-#!/usr/bin/bash
-
-docker compose build

docker-compose.yml

@@ -1,6 +1,5 @@
 services:
   nvidia:
-    container_name: ros2-vim
     extends:
       service: dev
     deploy:
@@ -11,16 +10,13 @@ services:
               count: all
               capabilities: [gpu]
   dev:
-    container_name: ros2-vim
     network_mode: host
     build:
-      context: ..
+      context: .
-      dockerfile: ./ros2-vim/Dockerfile
+      dockerfile: ./Dockerfile
-      ssh:
-        - default
     stdin_open: true
     tty: true
-    entrypoint: ["/entrypoint.sh", "zsh"]
+    entrypoint: ["/entrypoint.sh", "byobu"]
     working_dir: /home/ros-user/uuv/ros2
     devices:
       - "/dev/dri:/dev/dri"
@@ -37,13 +33,8 @@ services:
       - type: bind
         source: /var/run/avahi-daemon/socket
         target: /var/run/avahi-daemon/socket
-      - type: bind
-        source: ${HOME}/Documents/ros2-vim/nvim
-        target: /home/ros-user/.config/nvim
       - "ros2_zsh_history:/zsh_history"
-      - nvim_data:/home/ros-user/.local/share/nvim
       - $SSH_AUTH_SOCK:/ssh-agent
-      - "~/.gitconfig:/etc/gitconfig"
 
     environment:
       - DISPLAY=${DISPLAY}
@@ -51,10 +42,6 @@ services:
       - SHELL=/usr/bin/zsh
       - ROS_WORKSPACE=/home/ros-user/uuv/ros2
       - SSH_AUTH_SOCK=/ssh-agent
-      - TERM=xterm-256color
-      - COLORTERM=24bit
-      - ROS_DOMAIN_ID=29
 
 volumes:
   ros2_zsh_history:
-  nvim_data:

entrypoint.sh

@@ -1,16 +1,10 @@
 #!/bin/bash
 set -e
+PX4_DIR="\$HOME/uuv/PX4-Autopilot"
 WORKSPACE_DIR="\$HOME/uuv/ros2"
-UNDERLAY_DIR="\$HOME/uuv/ros2_underlay"
+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 "alias build_ros=\"env -i HOME=\$HOME USER=\$USER TERM=xterm-256color bash -l -c 'source $UNDERLAY_DIR/install/setup.bash && cd $WORKSPACE_DIR && colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON'\"" >> ~/.zshrc
+echo "export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:$PX4_DIR/Tools/sitl_gazebo" >> ~/.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
+vim +PluginUpdate +qall
-
-
-echo 'source $HOME/uuv/ros2_underlay/install/setup.zsh' >> ~/.zshrc
-echo 'source $HOME/uuv/ros2/install/local_setup.zsh' >> ~/.zshrc
-echo 'export RCUTILS_COLORIZED_OUTPUT=1' >> ~/.zshrc
-echo 'eval "$(register-python-argcomplete3 ros2)"' >> ~/.zshrc
-echo 'eval "$(register-python-argcomplete3 colcon)"' >> ~/.zshrc
 
 exec $@

nvim/after/plugin/color.lua

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

nvim/after/plugin/fugitive.lua

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

nvim/after/plugin/gitsigns.lua

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

nvim/after/plugin/harpoon.lua

@@ -1,16 +0,0 @@
-local mark = require('harpoon.mark')
-local ui = require('harpoon.ui')
-local cmd_ui = require('harpoon.cmd-ui')
-local term = require('harpoon.term')
-
-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)
-
-vim.keymap.set('n', '<leader>c', cmd_ui.toggle_quick_menu)
-vim.keymap.set('n', '<leader>gt1', function() term.gotoTerminal(1) end)
-vim.keymap.set('n', '<leader>br', function() term.sendCommand(1, 'build_ros') end)

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/after/plugin/telescope.lua

@@ -1,6 +0,0 @@
-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

@@ -1,35 +0,0 @@
-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

@@ -1,17 +0,0 @@
-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/lua/lennartalff/init.lua

@@ -1,5 +0,0 @@
-require('lennartalff.remap')
-require('lennartalff.set')
--- vim.cmd('colorscheme rose-pine')
-vim.o.termguicolors = true
-vim.cmd.colorscheme 'catppuccin-frappe'

nvim/lua/lennartalff/packer.lua

@@ -1,65 +0,0 @@
--- 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

@@ -1,34 +0,0 @@
-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-j>', '<cmd>cnext<CR>zz')
-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')

nvim/lua/lennartalff/set.lua

@@ -1,29 +0,0 @@
--- 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

@@ -1,36 +0,0 @@
-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' },
-    { '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 },
-
-}

run

@@ -1,3 +0,0 @@
-#!/usr/bin/bash
-
-docker compose run --rm --name ros2-vim dev

vimrc

@@ -0,0 +1,65 @@
+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'
+
+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
+" 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 quietlight
+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

@@ -0,0 +1,17 @@
+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()}