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A template for using VSCode as an IDE for ROS2 development.

A template for using VSCode as an IDE for ROS2 development.
Information
Category: Linux / System utilities
Watchers: 3
Star: 26
Fork: 4
Last update: Sep 1, 2020
Resource links
https://github.com/athackst/vscode_ros2_workspace

VSCode ROS2 Workspace Template

This template will get you set up using ROS2 with VSCode as your IDE.

See how I develop with vscode and ros2 for a more in-depth look on how to use this workspace.

How to use this template

  1. Specify the repositories you want to include in your workspace in src/ros2.repos or delete src/ros2.repos and develop directly within the workspace.
    1. If you are using a ros2.repos file, import the contents Terminal->Run Task..->import from workspace file
  2. Install dependencies Terminal->Run Task..->install dependencies
  3. Develop!

Style

ROS2-approved formatters are included in the IDE.

  • c++ uncrustify; config from ament_uncrustify
  • python autopep8; vscode settings consistent with the style guide

Tasks

There are many pre-defined tasks, see .vscode/tasks.json for a complete listing. Feel free to adjust them to suit your needs.

Take a look at how I develop using tasks for an idea on how I use tasks in my development.

Debugging

This template sets up debugging for python files and gdb for cpp programs. See .vscode/launch.json for configuration details.

Continuous Integration

The template also comes with basic continuous integration set up. See .github/workflows/ros.yaml.

To remove a linter just delete it's name from this line:

      matrix:
          linter: [cppcheck, cpplint, uncrustify, lint_cmake, xmllint, flake8, pep257]
0 Open More issues
Closed

OpenGL error

Hi there, I'm actively using this template for ros2 development and I ran into an issue with presumably OpenGL. I realized that rviz does not work anymore using all the dockerfiles from 03/22 on, crashing with the following:

[ERROR] [1650546553.554378445] [rviz2]: rviz::RenderSystem: error creating render window: InvalidParametersException: Window with name 'OgreWindow(0)' already exists in GLRenderSystem::_createRenderWindow at /tmp/binarydeb/ros-galactic-rviz-ogre-vendor-8.5.0/obj-x86_64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/RenderSystems/GL/src/OgreGLRenderSystem.cpp (line 1061)
[ERROR] [1650546553.554383907] [rviz2]: Unable to create the rendering window after 100 tries

So I installed mesa-utils checked if I can run glxgears which did also crash so I compared to an earlier image (from february) and compared the OpenGL versions inside the docker:

FROM althack/ros2:galactic-gazebo-2022-02-01
glxinfo | grep "OpenGL version"
OpenGL version string: 3.1 Mesa 21.0.3
-> rviz and glxgears work

FROM althack/ros2:galactic-gazebo-2022-04-01
glxinfo | grep "OpenGL version"
OpenGL version string: 1.3 Mesa 21.2.6
-> rviz and glxgears crash

I'm not quite sure what causes these version changes, maybe you have an idea?

Note: This might also rather belong in your dockerfiles repo depending on the fix.. sorry if this is misplaced!

opened Apr 21, 2022 by relffok 5
Closed

Editing workspace files as a non-root containerUser or remoteUser

Have you found a way to edit and save workspace files while connected to the development container with a non-root user? I want to use "containerUser": "ros" and "remoteUser": "ros", but if I edit and save a file (such as .devcontainer/Dockerfile), I get a "permission denied" error from VS Code.

devcontainer_eaccess

This would really help me edit-and-test repeatedly without using a root user in the devcontainer.

My host environment: Ubuntu 20.04, VS Code 1.61.2, and Docker 20.10.9 in rootless mode with dockerd-rootless-setuptool.sh.

VS Code is still remapping the UID/GID of the ros user to match my host user. I think it's part of a more general Docker issue: all bind mounts are owned by root within the container. I'm still holding out hope that you ran into a solution :slightly_smiling_face:

[email protected]<my_machine>:~/vscode_ros2_workspace$ ls -l
total 20
-rw-rw-r-- 1 root root 11357 Oct 19 05:51 LICENSE
-rw-rw-r-- 1 root root  3997 Oct 19 05:51 README.md
drwxrwxr-x 2 root root  4096 Oct 19 05:51 src
#            ^ all owned by root!

I can use "overrideCommand": true and a custom entrypoint that chowns the bind mount then switches to a non-root user. This forces me to use "containerUser": "root", though. Not a super pleasant workaround.

By the way, your ROSWorld talk on this development strategy was awesome!

opened Oct 23, 2021 by phillipov 5
Closed

Visual Studio Code break points not triggering

Hello!

Thanks for this nice template! I am trying to get the debug task to work with the break points of visual studio code. However I am only able to use them in the main function of the node... Is there another step that I need to do in order to get it to work?

opened Apr 23, 2021 by Bart-van-Ingen 4
Closed

compile commands for IntelliSense + passing ros-args to gdb

First of all, great template. Thanks so much for the effort of writing all those tasks down, it really simplifies the workflow!

I was playing around with it a little and had two issues:

  1. Include external directories I realised Intellisense can not see my include paths (external libraries) defined in CMakeLists. So I added a the build flag to create compile_commands.json and added the path to c_cpp_properties.json. This works just fine. See https://github.com/relffok/vscode_ros2_workspace/commit/71a2d3069fecf45e4b0011bc4d7e785ed1d43ecc

  2. Pass arguments to gdb (ros parameters) Running the gdb launch works like a charm but I couldn't figure out how (and if it's even possible) to pass ros-args to the node I am executing. I am afraid there is no elegant solution to this but maybe you have a hint for me!

opened Jun 29, 2021 by relffok 3
Closed

Foxy nvidia

making all the fuss to uncomment certain lines is quite annoying. Should this be a 4th branch instead of that messy solution?

I would either prettify the readme or make a new branch! Please let me know what you prefer/if you find it acceptable.

opened Dec 10, 2020 by jensakut 3
Closed

docker build

Hi, thank you for providing this template and your blog posts regarding vscode, docker and ros2. I am very inexperienced but wanted to try out your template. I was uncertain whether to docker pull your stock template or to git clone and docker build .devcontainer/. I was wondering if you could clarify what advantages both options have for novice docker users. I guess it's easier to modify your template if it's a source controlled repository?

opened Aug 26, 2020 by ll7 3
Open

How about a template without Docker

How can I use this template without Docker ? Would be nice to have one such

Thanks Ravishankar

opened May 7, 2022 by RaviBeagle 2
Open

Bump athackst/mkdocs-simple-plugin from 1.0.0 to 1.1.1

Bumps athackst/mkdocs-simple-plugin from 1.0.0 to 1.1.1.

Release notes

Sourced from athackst/mkdocs-simple-plugin's releases.

Release v1.1.1

Get it

Python

Install it with pip

pip install mkdocs-simple-plugin==1.1.1

See it on pypi: https://pypi.org/project/mkdocs-simple-plugin

Docker

Pull it with docker

docker pull althack/mkdocs-simple-plugin:v1.1.1

See it on dockerhub: https://hub.docker.com/repository/docker/althack/mkdocs-simple-plugin

Github

- name: Build docs
  uses: athackst/mkdocs-simple-plugin:v1.1.1

See it in the actions marketplace: https://github.com/marketplace/actions/mkdocs-simple-action

What’s Changed

:bug: Bug Fixes

:toolbox: Maintenance

Dependency Updates

... (truncated)

Commits
  • 938f682 Bump github/codeql-action from 1 to 2 (#307)
  • cd00da1 revert pre-hook due to continuous recompile during serve (#311)
  • 7697404 Fix docker action fatal: unsafe repository (/github/workspace is owned by som...
  • 1a582ed Use mkdocs-click for command line documentation (#306)
  • c4f102f Update requirements to use mkdocstrings-python-legacy (#312)
  • d4f647b Fix launch files and update pylint settings (#305)
  • 63dba6f Refactor test structure and rename files. (#304)
  • 19c1c06 Bump mkdocs-material from 8.2.8 to 8.2.9 (#303)
  • 7882d45 Add mkdocs-simple-hooks to run gen_readme script in pre-build (#302)
  • 4202b46 Updating VERSION to v1.1.1
  • Additional commits viewable in compare view

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dependencies 
opened Apr 29, 2022 by dependabot[bot] 0
Open

Force software rendering

Add LIBGL_ALWAYS_SOFTWARE to devcontainer.json to force software rendering

#18

opened Apr 25, 2022 by athackst 0
Open

Bump actions/checkout from 2 to 3

Bumps actions/checkout from 2 to 3.

Release notes

Sourced from actions/checkout's releases.

v3.0.0

  • Update default runtime to node16

v2.4.0

  • Convert SSH URLs like org-<ORG_ID>@github.com: to https://github.com/ - pr

v2.3.5

Update dependencies

v2.3.4

v2.3.3

v2.3.2

Add Third Party License Information to Dist Files

v2.3.1

Fix default branch resolution for .wiki and when using SSH

v2.3.0

Fallback to the default branch

v2.2.0

Fetch all history for all tags and branches when fetch-depth=0

v2.1.1

Changes to support GHES (here and here)

v2.1.0

Changelog

Sourced from actions/checkout's changelog.

Changelog

v2.3.1

v2.3.0

v2.2.0

v2.1.1

  • Changes to support GHES (here and here)

v2.1.0

v2.0.0

Commits

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Dependabot will resolve any conflicts with this PR as long as you don't alter it yourself. You can also trigger a rebase manually by commenting @dependabot rebase.

Dependabot commands and options

You can trigger Dependabot actions by commenting on this PR:

  • @dependabot rebase will rebase this PR
  • @dependabot recreate will recreate this PR, overwriting any edits that have been made to it
  • @dependabot merge will merge this PR after your CI passes on it
  • @dependabot squash and merge will squash and merge this PR after your CI passes on it
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  • @dependabot close will close this PR and stop Dependabot recreating it. You can achieve the same result by closing it manually
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dependencies 
opened Mar 1, 2022 by dependabot[bot] 0

Contents

    smolck Uivonim is a fork of Veonim, "a simple modal IDE built on Neovim and VSCode extensions"
    thestrukture IDE for web browser, built for Go with Go.
    atom-community Python language support for Atom-IDE :atom: :snake:
    NVIDIA-ISAAC-ROS Hardware-accelerated DNN model inference ROS2 packages using NVIDIA Triton/TensorRT for both Jetson and x86_64 with CUDA-capable GPU.
    eggjs vscode extension for https://eggjs.org/
    aviaryan 📝 Use VS Code as a reliable note-taking/journal application
    codeshifu A VSCode extension for common JavaScript utilities in one line of code (loc)!
    mikeferguson Code snippets for ROS2
    smartmicro ROS2 support for smartmicro radars.
    simoebenhida Laravel ide helper is a Laravel VScode extension
    madeso Ride is a Rust IDE. It's named after concatenating R from rust and IDE.
    rust-lang atom-ide-rust — Rust IDE support for Atom, powered by the Rust Language Server (RLS)
    shirakaba A JavaScript IDE for accessing a phone/tablet's native runtime via NativeScript bindings!
    styfle 🌩️ A list of awesome online development environments
    georgewfraser Accurate syntax coloring for VSCode using tree-sitter
    ElemeFE VSCode-Element-Helper is a VS Code package for Element-UI.
    openfaas-incubator Pre-installed Kubernetes Lab for your browser with VSCode
    benawad api for vscode stories
    ide-stories api for vscode stories
    evondev Just simple vscode Dracula Theme with dark color customization version
    thautwarm a VSCode plugin to provide basic language support for DianaScript
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