Add ROS 2 dev container template

.github/actions/smoke-test/build.sh

@@ -43,7 +43,9 @@ if [ -d "${TEST_DIR}" ] ; then
     DEST_DIR="${SRC_DIR}/test-project"
     mkdir -p ${DEST_DIR}
     cp -Rp ${TEST_DIR}/* ${DEST_DIR}
-    cp -Rp test/test-utils/* ${DEST_DIR}
+    if [ -d "test/test-utils" ]; then
+        cp -Rp test/test-utils/* ${DEST_DIR}
+    fi
 fi
 
 export DOCKER_BUILDKIT=1

.github/workflows/test-pr.yaml

@@ -4,6 +4,11 @@ on:
 
 jobs:
   smoke-test:
+    strategy:
+      matrix:
+        template:
+          - gz
+          - ros2
     runs-on: ubuntu-latest
     permissions:
       # Give the default GITHUB_TOKEN write permission to commit and push the
@@ -12,11 +17,11 @@ jobs:
     steps:
       - uses: actions/checkout@v6
 
-      - name: Smoke test for "gz"
+      - name: Smoke test for "${{ matrix.template }}"
         id: smoke_test
         uses: ./.github/actions/smoke-test
         with:
-          template: "gz"
+          template: "${{ matrix.template }}"
 
   feature-tests:
     runs-on: ubuntu-latest

README.md

@@ -2,9 +2,14 @@
 
 Devcontainer templates repository focused on robotics and simulation.
 
-## Included template
+## Included templates
 
 - `templates/src/gz`
+- `templates/src/ros2`
+
+The templates are development entry points for the actively maintained
+`althack/gz` and `althack/ros2` image collections. ROS 2 is headless by default
+so projects can choose their own host GUI integration when needed.
 
 ## Included feature
 

templates/src/ros2/.devcontainer/devcontainer.json

@@ -0,0 +1,24 @@
+{
+  "name": "ROS 2",
+  "image": "althack/ros2:${templateOption:distro}-${templateOption:imageVariant}",
+  "remoteUser": "ros",
+  "updateRemoteUserUID": true,
+  "runArgs": [
+    "--network=host",
+    "--ipc=host",
+    "--cap-add=SYS_PTRACE",
+    "--security-opt=seccomp:unconfined",
+    "--security-opt=apparmor:unconfined"
+  ],
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-iot.vscode-ros",
+        "ms-vscode.cpptools",
+        "ms-python.python",
+        "twxs.cmake",
+        "redhat.vscode-yaml"
+      ]
+    }
+  }
+}

templates/src/ros2/NOTES.md

@@ -0,0 +1,16 @@
+## Image selection
+
+This template uses the actively maintained
+[`althack/ros2`](https://hub.docker.com/r/althack/ros2) image collection.
+`distro` and `imageVariant` select the image tag
+`<distro>-<imageVariant>`. The default is `jazzy-dev`.
+
+The moving tags follow the latest build of each supported ROS distribution.
+For fully reproducible projects, replace the generated image tag with one of
+the dated tags published alongside it.
+
+## ROS networking
+
+The template uses host networking and host IPC to support common local ROS
+discovery and shared-memory workflows. Review those settings before using the
+template with untrusted software.

templates/src/ros2/README.md

@@ -0,0 +1,33 @@
+
+# ROS 2 (ros2)
+
+ROS 2 development environment backed by the althack/ros2 image collection.
+
+## Options
+
+| Options Id | Description | Type | Default Value |
+|-----|-----|-----|-----|
+| distro | ROS 2 distribution to use. | string | jazzy |
+| imageVariant | Container image variant to use for this ROS 2 distribution. | string | dev |
+
+## Image selection
+
+This template uses the actively maintained
+[`althack/ros2`](https://hub.docker.com/r/althack/ros2) image collection.
+`distro` and `imageVariant` select the image tag
+`<distro>-<imageVariant>`. The default is `jazzy-dev`.
+
+The moving tags follow the latest build of each supported ROS distribution.
+For fully reproducible projects, replace the generated image tag with one of
+the dated tags published alongside it.
+
+## ROS networking
+
+The template uses host networking and host IPC to support common local ROS
+discovery and shared-memory workflows. Review those settings before using the
+template with untrusted software.
+
+
+---
+
+_Note: This file was auto-generated from the [devcontainer-template.json](https://github.com/althack/devcontainers/blob/main/templates/src/ros2/devcontainer-template.json).  Add additional notes to a `NOTES.md`._

templates/src/ros2/devcontainer-template.json

@@ -0,0 +1,48 @@
+{
+  "id": "ros2",
+  "version": "0.1.0",
+  "name": "ROS 2",
+  "description": "ROS 2 development environment backed by the althack/ros2 image collection.",
+  "documentationURL": "https://github.com/althack/devcontainers/tree/main/templates/src/ros2",
+  "licenseURL": "https://github.com/althack/devcontainers/blob/main/LICENSE",
+  "publisher": "althack",
+  "keywords": [
+    "ros",
+    "ros2",
+    "robotics",
+    "ubuntu",
+    "docker"
+  ],
+  "platforms": [
+    "ROS 2",
+    "Ubuntu",
+    "C++",
+    "Python"
+  ],
+  "options": {
+    "distro": {
+      "type": "string",
+      "description": "ROS 2 distribution to use.",
+      "proposals": [
+        "rolling",
+        "lyrical",
+        "kilted",
+        "jazzy",
+        "humble"
+      ],
+      "default": "jazzy"
+    },
+    "imageVariant": {
+      "type": "string",
+      "description": "Container image variant to use for this ROS 2 distribution.",
+      "proposals": [
+        "base",
+        "dev",
+        "desktop",
+        "full",
+        "gazebo"
+      ],
+      "default": "dev"
+    }
+  }
+}

test/ros2/test.sh

@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+test "${ROS_DISTRO:-}" = "jazzy"
+test "$(id -un)" = "ros"
+ros2 --help >/dev/null