initial commit. just checking in some stuff

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>

Author: emersonknapp

.dockerignore

@@ -0,0 +1,3 @@
+build/
+install/
+log/

.gitignore

@@ -0,0 +1,3 @@
+build/
+install/
+log/

Dockerfile

@@ -0,0 +1,29 @@
+FROM rostooling/setup-ros-docker:ubuntu-focal-latest
+
+RUN echo 'Acquire::HTTP::Proxy "http://240.10.0.1:3142";' >> /etc/apt/apt.conf.d/01proxy \
+ && echo 'Acquire::HTTPS::Proxy "false";' >> /etc/apt/apt.conf.d/01proxy
+ENV COLCON_HOME=/etc/colcon
+ENV ROS_DISTRO=foxy
+ENV ROS_PYTHON_VERSION=3
+
+# Enable debug packages
+RUN apt-get update && apt-get install ubuntu-dbgsym-keyring && rm -rf /var/lib/apt/lists/*
+RUN echo "deb http://ddebs.ubuntu.com $(lsb_release -cs) main restricted universe multiverse" > /etc/apt/sources.list.d/ddebs.list && \
+    echo "deb http://ddebs.ubuntu.com $(lsb_release -cs)-updates main restricted universe multiverse" > /etc/apt/sources.list.d/ddebs.list
+
+RUN apt-get update && apt install -y \
+  clang \
+  libc++-dev \
+  libc++abi-dev \
+  gdb \
+  ccache
+
+#Setup ROS2 code for compile
+WORKDIR /ws
+COPY src/ src/
+RUN apt-get update && rosdep update \
+    && rosdep install --from-paths src/ --ignore-src --rosdistro $ROS_DISTRO -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers"
+
+RUN apt-get update && apt-get install -y zsh vim curl less htop
+RUN python3 -m pip install -U colcon-mixin
+RUN colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && colcon mixin update

README.md

@@ -0,0 +1,3 @@
+This is a ROS 2 template workspace.
+
+Use the Dockerfile to create an image, fill in the repos, use the `tools/` to interact easily with the dev container

defaults.yaml

@@ -0,0 +1,2 @@
+build:
+  symlink-install: true

startimg

@@ -0,0 +1,6 @@
+DEVIMG=ros2dev
+CONTNAME=ros2dev
+
+rocker --user --x11 \
+  --oyr-run-arg "--cap-add=SYS_PTRACE --security-opt seccomp=unconfined --name $CONTNAME -v $(pwd):/ws -w /ws" \
+  $IMGNAME

ws.repos

@@ -0,0 +1,5 @@
+repositories:
+  org/repo:
+    type: git
+    url: https://github.com/org/repo
+    version: master