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Merge branch 'jazzy' into fix_ci
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Wiktor-99 committed Aug 21, 2024
2 parents e1018dd + 333ab23 commit 06e5426
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24 changes: 7 additions & 17 deletions .devcontainer/Dockerfile
Original file line number Diff line number Diff line change
@@ -1,11 +1,11 @@
FROM osrf/ros:iron-desktop
ARG ROS_DISTRO=iron
ARG ROS_DISTRO=jazzy
FROM osrf/ros:$ROS_DISTRO-desktop
ARG USERNAME=ros
ARG USER_UID=1000
ARG USER_GID=$USER_UID

ENV DEBIAN_FRONTEND=noninteractive
RUN groupadd --gid $USER_GID $USERNAME \
RUN deluser ubuntu && groupadd --gid $USER_GID $USERNAME \
&& useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
&& apt-get update \
&& apt-get install -y sudo \
Expand All @@ -23,28 +23,18 @@ RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrin
apt-get update --fix-missing \
&& apt-get -y install \
gz-harmonic \
python3-pip pre-commit \
ros-$ROS_DISTRO-xacro ros-$ROS_DISTRO-ros2-control \
ros-$ROS_DISTRO-ros-gzharmonic-sim \
ros-$ROS_DISTRO-ros-gzharmonic-bridge \
ros-$ROS_DISTRO-ros-gz \
ros-$ROS_DISTRO-ros2-controllers \
ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
ros-$ROS_DISTRO-gripper-controllers \
ament-lint \
ros-$ROS_DISTRO-gz-ros2-control \
&& apt-get autoremove -y \
&& apt-get clean \
&& rm -rf /var/lib/apt/lists/*

ENV GZ_VERSION=harmonic
RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
mkdir -p /gz_ros2_control_ws/src && mkdir -p /gz_ros2_control_ws/src && \
cd /gz_ros2_control_ws/src && \
git clone --branch iron https://github.com/ros-controls/gz_ros2_control && \
cd /gz_ros2_control_ws && \
colcon build

ENV DEBIAN_FRONTEND=dialog

ARG WORKSPACE
RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc \
&& echo "if [ -f /gz_ros2_control_ws/install/setup.bash ]; then source /gz_ros2_control_ws/install/setup.bash; fi" >> /home/$USERNAME/.bashrc
RUN pip3 install pre-commit
&& echo "if [ -f /opt/ros/$ROS_DISTRO/setup.bash ]; then source /opt/ros/$ROS_DISTRO/setup.bash; fi" >> /home/$USERNAME/.bashrc
3 changes: 1 addition & 2 deletions .devcontainer/devcontainer.json
Original file line number Diff line number Diff line change
Expand Up @@ -27,8 +27,7 @@
"LIBGL_ALWAYS_SOFTWARE": "1",
"NVIDIA_DRIVER_CAPABILITIES": "all",
"NVIDIA_VISIBLE_DEVICES": "all",
"QT_X11_NO_MITSHM": "1",
"RMW_IMPLEMENTATION": "rmw_cyclonedds_cpp"
"QT_X11_NO_MITSHM": "1"
},
// Set *default* container specific settings.json values on container create.
"customizations": {
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,6 @@
<joint name="gripper_sub">
<param name="mimic">gripper</param>
<param name="multiplier">1</param>
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
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