Ros2 projects templates

ROS2 jezzy

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

.devcontainer/Dockerfile.jazzy

##############################################
# base on allision https://github.com/athackst/dockerfiles/blob/main/ros2/jazzy-cuda.Dockerfile
##############################################

###########################################
# Base image ver 0.1
###########################################
FROM nvidia/cuda:12.6.2-cudnn-runtime-ubuntu24.04 AS base

ENV DEBIAN_FRONTEND=noninteractive

# Install language
RUN apt-get update && apt-get install -y --no-install-recommends \
  locales \
  && locale-gen en_US.UTF-8 \
  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
  && rm -rf /var/lib/apt/lists/*
ENV LANG=en_US.UTF-8

# Install timezone
RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
  && export DEBIAN_FRONTEND=noninteractive \
  && apt-get update \
  && apt-get install -y --no-install-recommends tzdata \
  && dpkg-reconfigure --frontend noninteractive tzdata \
  && rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get -y upgrade \
    && rm -rf /var/lib/apt/lists/*

# Install common programs
RUN apt-get update && apt-get install -y --no-install-recommends \
    curl \
    gnupg2 \
    lsb-release \
    sudo \
    software-properties-common \
    wget \
    && rm -rf /var/lib/apt/lists/*

# Install ROS2
RUN sudo add-apt-repository universe \
  && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null \
  && apt-get update && apt-get install -y --no-install-recommends \
    ros-jazzy-ros-base \
    python3-argcomplete \
  && rm -rf /var/lib/apt/lists/*

################
# Expose the nvidia driver to allow opengl
# Dependencies for glvnd and X11.
################
RUN apt-get update \
 && apt-get install -y -qq --no-install-recommends \
  libglvnd0 \
  libgl1 \
  libglx0 \
  libegl1 \
  libxext6 \
  libx11-6

# Env vars for the nvidia-container-runtime.
ENV NVIDIA_VISIBLE_DEVICES=all
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
ENV QT_X11_NO_MITSHM=1

ENV ROS_DISTRO=jazzy
ENV AMENT_PREFIX_PATH=/opt/ros/jazzy
ENV COLCON_PREFIX_PATH=/opt/ros/jazzy
ENV LD_LIBRARY_PATH=/opt/ros/jazzy/lib/x86_64-linux-gnu:/opt/ros/jazzy/lib
ENV PATH=/opt/ros/jazzy/bin:$PATH
ENV PYTHONPATH=/opt/ros/jazzy/local/lib/python3.12/dist-packages:/opt/ros/jazzy/lib/python3.12/site-packages
ENV ROS_PYTHON_VERSION=3
ENV ROS_VERSION=2
ENV ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET

RUN apt-get update && apt-get install -y --no-install-recommends \
  bash-completion \
  build-essential \
  cmake \
  gdb \
  git \
  openssh-client \
  python3-argcomplete \
  python3-pip \
  ros-dev-tools \
  python3-colcon-clean \
  ros-jazzy-ament-* \
  vim \
  ros-jazzy-rmw-cyclonedds-cpp \
  ros-jazzy-ros-gz-bridge \
  ros-jazzy-ros-gz-image \
  && rm -rf /var/lib/apt/lists/*

RUN rosdep init || echo "rosdep already initialized"

ARG USERNAME=user
ARG USER_UID=1000
ARG USER_GID=$USER_UID

# Check if "ubuntu" user exists, delete it if it does, then create the desired user
RUN if getent passwd ubuntu > /dev/null 2>&1; then \
        userdel -r ubuntu && \
        echo "Deleted existing ubuntu user"; \
    fi && \
    groupadd --gid $USER_GID $USERNAME && \
    useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME && \
    echo "Created new user $USERNAME"

# Add sudo support for the non-root user
RUN apt-get update && apt-get install -y sudo \
  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
  && chmod 0440 /etc/sudoers.d/$USERNAME \
  && rm -rf /var/lib/apt/lists/*

# Set up autocompletion for user
RUN apt-get update && apt-get install -y --no-install-recommends git-core bash-completion \
  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
  && echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/$USERNAME/.bashrc \
  && rm -rf /var/lib/apt/lists/*

ENV DEBIAN_FRONTEND=
ENV AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1

COPY .tmux.conf /etc/tmux.conf

.devcontainer/devcontainer.json

{
    "name": "gz_tutorial",
    "dockerComposeFile": "../docker-compose.yaml",
    "service": "ros",
    "shutdownAction": "stopCompose",
    "workspaceFolder": "/workspace",
    "remoteUser": "user",
    "customizations": {
      "vscode": {
        "extensions": [
            "ms-python.python",
            "ms-vscode.cpptools",
            "twxs.cmake",
            "redhat.vscode-xml",
            "redhat.vscode-yaml",
            "albert.tabout",
            "actboy168.tasks",
            "streetsidesoftware.code-spell-checker",
            "mhutchie.git-graph",
            "dlech.chmod",
            "smilerobotics.urdf"
        ],
        "settings": {}
      }
    }
  }

docker-compose.yaml

services:
  ros:
    image: jazzy:base
    user: "user:user"
    volumes:
      - .:/workspace:cached
      - /tmp/.X11-unix:/tmp/.X11-unix:rw 
      - /dev/dri:/dev/dri 
      - /dev/nvidia0:/dev/nvidia0 
      - /dev/nvidiactl:/dev/nvidiactl 
      - /dev/nvidia-modeset:/dev/nvidia-modeset 
    deploy:
      resources:
        reservations:
          devices:
            - capabilities: [gpu]
    hostname: ros
    network_mode: host
    stdin_open: true
    tty: true
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - GZ_TRANSPORT_IP=ros
      - GZ_DISCOVERY_SERVER=gazebo
      - GZ_PARTITION=my_simulation
    devices:
      - /dev/dri:/dev/dri

ros

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"

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

# Additional settings for colcon test and other commands
test-result:
  verbose: true

VSCode

task.json

{
    "version": "2.0.0",
    "tasks": [
      {
        "label": "colcon",
        "detail": "Build all ros2 packages using colcon",
        "type": "shell",
        "command": "colcon build",
        "problemMatcher": [],
        "group": {
            "kind": "build",
            "isDefault": true
        }
      }
    ]
}