VSCode ROS2 Workspace for ASLab

This ROS2 setup with VSCode is based on this template. See its README for a more in-depth look on how to use this workspace.

If you are not using a computer with Nvidia graphic card, switch to branch foxy-no-nvidia

Prerequisites

You should already have Docker and VSCode with the remote containers plugin installed on your system.

• Docker
• VSCode
• VSCode remote containers plugin
• NVIDIA Container Toolkit

distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
&& curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - \
&& curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list

sudo apt-get update

sudo apt-get install -y nvidia-docker2

Open this repository in VSCode

Clone this repository in your computer and open it in VSCode (File->Open Folder).

When you open it for the first time, you should see a little popup that asks you if you would like to open it in a container. Say yes!

If you don't see the pop-up, click on the little green square in the bottom left corner, which should bring up the container dialog

In the dialog, select "Remote Containers: Reopen in container"

VSCode will build the dockerfile inside of .devcontainer for you. If you open a terminal inside VSCode (Terminal->New Terminal), you should see that your username has been changed to ros, and the bottom left green corner should say "Dev Container"

Update the template with your code

1. Specify the repositories you want to include in your workspace: Use a file named "ros2.repos", make sure to put this file in the root folder (/ros2_docker).
2. If you are using a ros2.repos file: Import the contents Terminal->Run Task..->import from workspace file
3. Install dependencies Terminal->Run Task..->install dependencies
4. Develop!