add docker files

.devcontainer/.dockerignore

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+compose.yaml
+devcontainer.json
+Dockerfile

.devcontainer/Dockerfile

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+FROM osrf/ros:humble-desktop
+
+SHELL ["/bin/bash", "-c"]
+
+ENV RCUTILS_COLORIZED_OUTPUT=1
+
+RUN apt update && \
+    apt install -y \
+        build-essential \
+        cmake \
+        git \
+        curl lsb-release gnupg \
+        libbullet-dev \
+        python3-colcon-common-extensions \
+        python3-flake8 \
+        python3-pip \
+        python3-pytest-cov \
+        python3-rosdep \
+        python3-setuptools \
+        python3-vcstool \
+        python3-colcon-clean \
+        wget \
+        clang-format && \
+    python3 -m pip install -U \
+        argcomplete \
+        flake8-blind-except \
+        flake8-builtins \
+        flake8-class-newline \
+        flake8-comprehensions \
+        flake8-deprecated \
+        flake8-docstrings \
+        flake8-import-order \
+        flake8-quotes \
+        pytest-repeat \
+        pytest-rerunfailures \
+        pytest
+
+RUN pip3 install \
+    kconfiglib \
+    jsonschema \
+    jinja2 \
+    pyros-genmsg \
+    future 
+
+
+# Install Gazebo Harmonic - Default Gazebo version in ROS2 Humble is Fortress
+RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+RUN apt-get update -y
+RUN apt-get install -y ros-humble-ros-gzharmonic
+RUN apt install -y ros-humble-turtle-tf2-py ros-humble-tf2-tools
+
+RUN apt-get update -y
+RUN apt-get upgrade -y
+
+RUN useradd -rm -d /home/developer -s /bin/bash -g root -G sudo -u 1001 developer && \
+    echo 'developer:developer' | chpasswd && \
+    adduser developer sudo
+USER developer
+
+# RUN git clone https://github.com/PX4/PX4-Autopilot.git ~/PX4-Autopilot --recursive -b main && \
+#     echo developer | sudo -S bash /home/developer/PX4-Autopilot/Tools/setup/ubuntu.sh
+
+COPY . /home/developer/ros2_ws
+WORKDIR /home/developer/ros2_ws
+
+
+RUN echo ". /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc \
+    && echo ". /home/developer/ros2_ws/install/setup.bash" >> ~/.bashrc
+
+CMD [ "sleep", "infinity" ]

.devcontainer/build.sh

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+#!/bin/bash
+set -e
+
+# Set the default build type
+BUILD_TYPE=RelWithDebInfo
+colcon build \
+        --merge-install \
+        --symlink-install \
+        --cmake-args "-DCMAKE_BUILD_TYPE=$BUILD_TYPE" "-DCMAKE_EXPORT_COMPILE_COMMANDS=On" \
+        -Wall -Wextra -Wpedantic

.devcontainer/compose.yaml

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+services:
+  workspace:
+    build: .
+    ipc: host
+    network_mode: host
+    privileged: true
+    tty: true
+    runtime: nvidia
+    stdin_open: true
+    security_opt:
+      - seccomp:unconfined
+      - apparmor:unconfined
+    volumes:
+      - ../:/home/developer/ros2_ws/src:cached
+      - /tmp/.X11-unix:/tmp/.X11-unix
+    devices:
+      - /dev:/dev
+    environment:
+      - DISPLAY
+      - "QT_X11_NO_MITSHM=1"
+      - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=compute,utility,display

.devcontainer/devcontainer.json

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+{
+	"dockerComposeFile": [
+		"compose.yaml"
+	],
+	"initializeCommand": "xhost +local:docker",
+	// "onCreateCommand": "/bin/bash /home/developer/ros2_ws/setup.sh",
+	"service": "workspace",
+	"workspaceFolder": "/home/developer/ros2_ws/src",
+	"shutdownAction": "stopCompose",
+	// Set *default* container specific settings.json values on container create.
+	"customizations": {
+		"vscode": {
+			"settings": {
+				"terminal.integrated.profiles.linux": {
+					"bash": {
+						"path": "bash",
+						"icon": "terminal-bash"
+					}
+				},
+				"terminal.integrated.defaultProfile.linux": "bash"
+			},
+			"extensions": [
+				"ms-vscode.cpptools",
+				"ms-python.python",
+				"ajshort.msg",
+				"twxs.cmake",
+				"redhat.vscode-xml",
+				"actboy168.tasks",
+				"brpaz.file-templates"
+			]
+		}
+	}
+}

.devcontainer/setup.sh

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+#!/bin/bash
+set -e
+
+cd /home/developer/ros2_ws
+
+# vcs import --recursive < /home/developer/ros2_ws/src/px4.repos src
+
+rosdep update --rosdistro $ROS_DISTRO
+rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y

.devcontainer/test.sh

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+#!/bin/bash
+set -e
+
+if [ -f install/setup.bash ]; then source install/setup.bash; fi
+colcon test --merge-install
+colcon test-result

.vscode/c_cpp_properties.json

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+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "/home/developer/ros2_ws/src",
+                "/opt/ros/humble/include/**",
+                "/usr/include/ignition/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "compileCommands": "/home/developer/ros2_ws/build/compile_commands.json",
+            "cStandard": "c99",
+            "cppStandard": "c++14",
+            "intelliSenseMode": "linux-gcc-x64"
+        }
+    ],
+    "version": 4
+}

.vscode/launch.json

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+{
+  // Use IntelliSense to learn about possible attributes.
+  // Hover to view descriptions of existing attributes.
+  // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+  "version": "0.2.0",
+  "configurations": [
+    // Example launch of a python file
+    {
+      "name": "Python: Current File",
+      "type": "debugpy",
+      "request": "launch",
+      "program": "${file}",
+      "console": "integratedTerminal",
+    },
+    // Example gdb launch of a ros executable
+    {
+      "name": "(gdb) Launch",
+      "type": "cppdbg",
+      "request": "launch",
+      "program": "${workspaceFolder}/install/lib/${input:package}/${input:program}",
+      "args": [],
+      "preLaunchTask": "build",
+      "stopAtEntry": true,
+      "cwd": "${workspaceFolder}",
+      "externalConsole": false,
+      "MIMode": "gdb",
+      "setupCommands": [
+        {
+          "description": "Enable pretty-printing for gdb",
+          "text": "-enable-pretty-printing",
+          "ignoreFailures": true
+        }
+      ]
+    }
+  ],
+  "inputs": [
+    {
+      "id": "package",
+      "type": "promptString",
+      "description": "Package name",
+      "default": "examples_rclcpp_minimal_publisher"
+    },
+    {
+      "id": "program",
+      "type": "promptString",
+      "description": "Program name",
+      "default": "publisher_member_function"
+    }
+  ]
+}

.vscode/settings.json

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+{
+    "editor.tabSize": 2,
+    "editor.rulers": [
+        100
+    ],
+    "files.associations": {
+        "*.repos": "yaml",
+        "*.world": "xml",
+        "*.xacro": "xml",
+        "chrono": "cpp",
+        "iosfwd": "cpp",
+        "fstream": "cpp",
+        "*.tcc": "cpp",
+        "regex": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "any": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "strstream": "cpp",
+        "bit": "cpp",
+        "bitset": "cpp",
+        "codecvt": "cpp",
+        "compare": "cpp",
+        "complex": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "semaphore": "cpp",
+        "shared_mutex": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cfenv": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "variant": "cpp",
+        "climits": "cpp",
+        "valarray": "cpp",
+        "*.ipp": "cpp"
+    },
+    "python.analysis.extraPaths": [
+        "/opt/ros/humble/lib/python3.10/site-packages/"
+    ],
+    // Autocomplete from ros python packages
+    "python.autoComplete.extraPaths": [
+        "/opt/ros/humble/lib/python3.10/site-packages/"
+    ],
+    // Environment file lets vscode find python files within workspace
+    "python.envFile": "${workspaceFolder}/.env",
+    // Use the system installed version of autopep8
+    "python.formatting.autopep8Path": "/usr/bin/autopep8",
+    "python.formatting.autopep8Args": [
+        "--max-line-length=100"
+    ],
+    "C_Cpp.default.intelliSenseMode": "linux-gcc-x86",
+    "C_Cpp.formatting": "Disabled",
+    "uncrustify.configPath.linux": "/opt/ros/galactic/lib/python3.8/site-packages/ament_uncrustify/configuration/ament_code_style.cfg",
+    "[cpp]": {
+        "editor.defaultFormatter": "zachflower.uncrustify"
+    },
+    "search.exclude": {
+        "**/node_modules": true,
+        "**/bower_components": true,
+        "**/*.code-search": true,
+        "**/build": true,
+        "**/install": true,
+        "**/log": true
+    },
+    "cSpell.words": [
+        "RTPS",
+        "athackst",
+        "autopep",
+        "cmake",
+        "cppcheck",
+        "cpplint",
+        "DCMAKE",
+        "deque",
+        "devcontainer",
+        "ints",
+        "noqa",
+        "pytest",
+        "rclcpp",
+        "rclpy",
+        "repos",
+        "rosdep",
+        "rosdistro",
+        "rosidl",
+        "RTPS",
+        "uncrustify",
+        "Wextra",
+        "Wpedantic",
+        "xmllint"
+    ],
+    "cSpell.allowCompoundWords": true,
+    "cSpell.ignorePaths": [
+        "**/package-lock.json",
+        "**/node_modules/**",
+        "**/vscode-extension/**",
+        "**/.git/objects/**",
+        ".vscode",
+        ".vscode-insiders",
+        ".devcontainer/devcontainer.json"
+    ]
+}