Merge pull request #60 in SRR/franka_ros2 from fix/devcontainer-termi…

…nal-crashing to humble

* commit '0c6f824ee6ce122056fcfed5e8040b1a2e76ec9e':
  fix: devcontainer terminal crashing

.devcontainer/Dockerfile

@@ -10,11 +10,11 @@ WORKDIR /workspaces
 
 RUN groupadd --gid $USER_GID $USERNAME \
     && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
-    && mkdir -p -m 0700 /run/user/"${USER_UID}" \
-    && mkdir -p -m 0700 /run/user/"${USER_UID}"/gdm \
-    && chown user:user /run/user/"${USER_UID}" \
-    && chown user:user /workspaces \
-    && chown user:user /run/user/"${USER_UID}"/gdm \
+    && mkdir -p -m 0700 /run/$USERNAME/"${USER_UID}" \
+    && mkdir -p -m 0700 /run/$USERNAME/"${USER_UID}"/gdm \
+    && chown $USERNAME:$USERNAME /run/$USERNAME/"${USER_UID}" \
+    && chown $USERNAME:$USERNAME /workspaces \
+    && chown $USERNAME:$USERNAME /run/$USERNAME/"${USER_UID}"/gdm \
     # [Optional] Add sudo support. Omit if you don't need to install software after connecting.
     && apt-get update \
     && apt-get install -y sudo \
@@ -68,10 +68,11 @@ RUN cd ~/source_code && git clone https://github.com/frankaemika/libfranka.git \
 RUN addgroup realtime
 RUN usermod -a -G realtime $USERNAME
 
+ENV SHELL "/bin/bash"
 ENV XDG_RUNTIME_DIR=/run/user/"${USER_UID}"
 
 # set the default user to the newly created user
 USER $USERNAME
+CMD ["/bin/bash"]
 
-RUN echo "source /ros_entrypoint.sh" >>~/.bashrc
-RUN echo "export ROS_DOMAIN_ID=100" >>~/.bashrc
+RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

.devcontainer/devcontainer.json

@@ -1,24 +1,34 @@
-// For format details, see https://aka.ms/devcontainer.json. For config options, see the
-// README at: https://github.com/devcontainers/templates/tree/main/src/docker-existing-dockerfile
 {
-	"name": "ROS2 Humble",
-	"dockerComposeFile": "./docker-compose.yml",
-	"service": "ros2_control",
-	"workspaceFolder": "/workspaces",
-	"remoteUser": "user",
-	"customizations": {
-		"vscode": {
-			"extensions": [
-				"ms-python.python",
-				"bungcip.better-toml",
-				"ms-vscode.cpptools",
-				"ms-vscode.cpptools-extension-pack",
-				"ms-vscode.cmake-tools",
-				"xaver.clang-format",
-				"josetr.cmake-language-support-vscode",
-				"twxs.cmake",
-				"cheshirekow.cmake-format"
-			]
-		}
-	}
-}
+    "name": "ROS 2 Development Container",
+    "privileged": true,
+    "remoteUser": "user",
+    "dockerComposeFile": "./docker-compose.yml",
+    "service": "ros2_control",
+    "workspaceFolder": "/workspaces",
+    "workspaceMount": "source=${localWorkspaceFolder},target=/workspaces,type=bind",
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-python.python",
+                "bungcip.better-toml",
+                "ms-vscode.cpptools",
+                "ms-vscode.cpptools-extension-pack",
+                "ms-vscode.cmake-tools",
+                "xaver.clang-format",
+                "josetr.cmake-language-support-vscode",
+                "twxs.cmake",
+                "cheshirekow.cmake-format"
+            ]
+        }
+    },
+    "containerEnv": {
+        "DISPLAY": "unix:0",
+        "ROS_AUTOMATIC_DISCOVERY_RANGE": "LOCALHOST",
+        "ROS_DOMAIN_ID": "100"
+    },
+    "mounts": [
+        "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
+        "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached",
+    ],
+    "postCreateCommand": "rosdep update && sudo rosdep install --from-paths src --ignore-src -y && sudo chown -R user /workspaces"
+}

.devcontainer/docker-compose.yml

@@ -1,8 +1,9 @@
-version: '2'
+version: '3'
 
 services:
   ros2_control:
     build: .
+    container_name: franka_ros2
     network_mode: "host"
     privileged: true
     command: /bin/bash