feat: revert to ros2 and instal move it but not compile it (yet)

Author: cooperj

.devcontainer/Dockerfile

@@ -1,27 +1,45 @@
 FROM lcas.lincoln.ac.uk/lcas/devcontainer/ros2-teaching:2324-devel
 
-# Install OS Packages etc
-RUN sudo apt-get update && sudo apt-get install -y \
-    git \
-    curl \
-    wget 
+COPY .devcontainer/run.sh /root/
+RUN chown root:root /root/run.sh
+RUN chmod +x /root/run.sh
+RUN bash -c "/root/run.sh"
+
+RUN su lcas
+RUN sudo chown -R lcas /opt/ros/lcas/
+RUN sudo chmod 777 /opt/ros/lcas/install/setup.bash
+RUN cat /opt/ros/lcas/install/setup.bash
 
-RUN sudo apt install python3-rosdep
+RUN bash -c 'source /opt/ros/lcas/install/setup.bash'
 
-RUN sudo rosdep init -y
-RUN rosdep update -y
-RUN sudo apt update -y
+# RUN bash -c 'ros2 topic list'
 
-RUN mkdir -p /workspaces/CMP9764/ws_moveit2/
-RUN cd /workspaces/CMP9764/ws_moveit2/
+RUN sudo mkdir -p /ws_moveit2/src
+COPY ./src /ws_moveit2/src
+RUN sudo chown -R lcas /ws_moveit2/
+RUN sudo chmod -R 777 /ws_moveit2/
 
-RUN git clone --branch humble https://github.com/ros-planning/moveit2_tutorials
+RUN git clone --branch humble https://github.com/ros-planning/moveit2_tutorials /ws_moveit2/src/moveit2_tutorials/
+
+# Install OS Packages etc
+RUN sudo apt-get update && sudo apt-get install -y \
+    git \
+    curl \
+    wget  \
+    python3-rosdep \
+    python3-vcstool \
+    python3-colcon-common-extensions \
+    python3-colcon-mixin \
+    ros-humble-ament-cmake-python
 
-RUN sudo apt update -y && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
+RUN bash -c 'rosdep update -y'
+RUN bash -c 'sudo apt update -y'
+RUN bash -c 'cd /ws_moveit2'
 
-RUN colcon build --parallel-workers 1  
+RUN bash -c 'vcs import < /ws_moveit2/src/moveit2_tutorials/moveit2_tutorials.repos'
 
-RUN echo 'source /workspaces/CMP9764/ws_moveit2/install/setup.bash' >> ~/.bashrc
+RUN bash -c 'rosdep install -r --from-paths /ws_moveit2/src/moveit2_tutorials --ignore-src --rosdistro $ROS_DISTRO -y'
+# RUN bash -c 'colcon build --parallel-workers 1'
 
 # add commit history to bust cache if and when needed.
 ADD "https://api.github.com/repos/LCAS/cmp9764/commits?per_page=1&sha=main" .lcas_addons.commits

.devcontainer/devcontainer.json

@@ -4,6 +4,7 @@
   "name": "lcas-ros2-cmp9764",
   "build": {
     // Uncomment block for local devcontainer building
+    "context": "..",
     "dockerfile": "Dockerfile"
   },
   //"image": "lcas.lincoln.ac.uk/lcas/devcontainer/ros_cmp9764:humble",
@@ -26,7 +27,7 @@
   // Use 'postCreateCommand' to run commands after the container is created.
   // "postCreateCommand": "bash .devcontainer/run.sh",
   "containerUser": "lcas",
-  "workspaceFolder": "/home/lcas/ws",
+  // "workspaceFolder": "/home/lcas/ws",
   // Configure tool-specific properties.
   // "customizations": {},
   "runArgs": ["--security-opt", "seccomp=unconfined", "--cap-add=NET_ADMIN"],

.devcontainer/run.sh

@@ -0,0 +1,35 @@
+#!/bin/bash
+
+add_source_bashrc () {
+    if ! grep -q "source $1" ~/.bashrc; then 
+        echo "source $1" >> ~/.bashrc
+    fi 
+}
+
+set -e
+
+export WORKSPACE="`pwd`"
+sudo chown -R lcas /home/lcas/ws || true
+sudo chown -R lcas /workspaces || true
+
+source /opt/ros/lcas/install/setup.bash
+sudo apt update
+rosdep --rosdistro=humble update 
+
+
+# sudo rm -rf /opt/ros/lcas
+# sudo mkdir -p /opt/ros/lcas/src
+# sudo chown -R lcas /opt/ros/lcas
+# cd /opt/ros/lcas/src
+# vcs import < $WORKSPACE/.devcontainer/lcas.repos
+# rosdep install --from-paths . -i -y
+# cd /opt/ros/lcas
+# colcon build
+
+
+cd /home/lcas/ws
+colcon build 
+add_source_bashrc "/opt/ros/lcas/install/setup.bash"
+add_source_bashrc "/home/lcas/ws/install/setup.bash"
+source /home/lcas/ws/install/setup.bash
+

…ithub/workflows/publish-devcontainer.yml …rkflows/publish-devcontainer.yml.disable.github/workflows/publish-devcontainer.yml renamed to .github/workflows/publish-devcontainer.yml.disable .github/workflows/publish-devcontainer.yml renamed to .github/workflows/publish-devcontainer.yml.disable

@@ -1,7 +1,7 @@
-# CMP9764 - Advanced Robotics, ROS Noetic Devcontainer
-A template repository for teaching robotics with ROS Noetic. 
+# CMP9764 - Advanced Robotics
+A template repository for teaching robotics with ROS2 (Humble) and Moveit2
 
-This repository is based on the [ros2-teaching-ws](https://github.com/lcas/ros2-teaching-ws) and has been downgraded to support ROS Noetic.
+This repository is based on the [ros2-teaching-ws](https://github.com/lcas/ros2-teaching-ws).
 
 ## Use case