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ROS2 Dev Build Test Environment

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VSCode devcontainer

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├── .devcontainer
│   ├── devcontainer.json
│   └── Dockerfile
├── .vscode
│   ├── tasks.json
│   └── settings.json
├── docker-compose.yml
├── .gitignore
├── README.md
├── colcon_defaults.md
├── rc.sh
└── src

VSCode files

  • tasks.json
  • settings.json
  • launch.json
colcon build tasks.json 
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{
  "tasks": [
    {
      "label": "build workspace",
      "detail": "Build ROS 2 workspace",
      "type": "shell",
      "command": "colcon build",
      "group": {
        "kind": "build",
        "isDefault": true
      },
      "problemMatcher": "$gcc"
    }
  ]
}

settings.json

python
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{
  "python.autoComplete.extraPaths": [
        "/opt/ros/jazzy/lib/python3.12/site-packages/"
    ],
    "python.analysis.typeCheckingMode": "basic",

    "ruff.importStrategy": "fromEnvironment",
    "editor.defaultFormatter": "charliermarsh.ruff",
    "editor.formatOnPaste": true,
    "editor.formatOnSave": true,
    "editor.formatOnSaveMode": "file",
    "editor.codeActionsOnSave": {
        "source.organizeImports": "always",
        "source.fixAll": "always"
    },
    "python.linting.enabled": false,
    }

Env file

  • colcon_defaults.yaml
  • rc.sh
colcon_defaults
colcon_defaults.yaml
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build:
  # Use symlink install to speed up builds
  symlink-install: true
  # Set build type (e.g., Release or Debug)
  cmake-args:
    - "-DCMAKE_BUILD_TYPE=Release",
    - "-DCMAKE_EXPORT_COMPILE_COMMANDS=ON"

test:
  # Run tests in parallel
  parallel-workers: 4

# Additional settings for colcon test and other commands
test-result:
  verbose: true
  • Source ros environment
  • Change Prompt
  • Add keyboard shortcuts
rc.sh
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source /home/user/.bashrc
source /opt/ros/jazzy/setup.bash
source install/setup.bash
echo '🐢 Environment ready!'
# bash key bindings
# replace bringup with full bringup name
bind '"\C-b": "ros2 launch <bringup>"'

# Function to get git branch
parse_git_branch() {
    git branch 2> /dev/null | sed -e '/^[^*]/d' -e 's/* \(.*\)/[\1]/'
}

# Custom PS1 with turtle icon and git branch
export PS1="🐢 \[\033[32m\]\u@\h\[\033[00m\]:\[\033[34m\]\w\[\033[33m\]\$(parse_git_branch)\[\033[00m\]\$ "

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