Improve Dev Container ergonomics

.devcontainer/devcontainer.json

@@ -1,18 +1,31 @@
 {
  "name": "Nav2",
- "image": "ghcr.io/ros-planning/navigation2:main",
+ "build": {
+ "dockerfile": "../Dockerfile",
+ "context": "..",
+ "target": "dever",
+ "cacheFrom": "ghcr.io/ros-planning/navigation2:main"
+ },
  "runArgs": [
  "--privileged",
  "--network=host"
  ],
  "workspaceMount": "source=${localWorkspaceFolder},target=/opt/overlay_ws/src/navigation2,type=bind",
- "workspaceFolder": "/opt/overlay_ws/src",
- "onCreateCommand": "navigation2/.devcontainer/on-create-command.sh",
- "updateContentCommand": "navigation2/.devcontainer/update-content-command.sh",
+ "workspaceFolder": "/opt/overlay_ws/src/navigation2",
+ "onCreateCommand": ".devcontainer/on-create-command.sh",
+ "updateContentCommand": ".devcontainer/update-content-command.sh",
+ "postCreateCommand": ".devcontainer/post-create-command.sh",
  "remoteEnv": {
  "OVERLAY_MIXINS": "release ccache lld",
- "CCACHE_DIR": "${containerEnv:OVERLAY_WS}/.ccache"
+ "CCACHE_DIR": "/tmp/.ccache"
  },
+ "mounts": [
+ {
+ "source": "ccache",
+ "target": "/tmp/.ccache",
+ "type": "volume"
+ }
+ ],
  "features": {
  // "ghcr.io/devcontainers/features/desktop-lite:1": {},
  "ghcr.io/devcontainers/features/github-cli:1": {}
@@ -26,6 +39,7 @@
  "vscode": {
  "settings": {},
  "extensions": [
+ "althack.ament-task-provider",
  "eamodio.gitlens",
  "esbenp.prettier-vscode",
  "GitHub.copilot",

.devcontainer/on-create-command.sh

@@ -1,19 +1,18 @@
 #!/bin/bash
 
-set -exo pipefail
+# Immediately catch all errors
+set -eo pipefail
 
-env
+# Uncomment for debugging
+# set -x
+# env
 
 cd $OVERLAY_WS
-. $UNDERLAY_WS/install/setup.sh
 
 git config --global --add safe.directory "*"
 colcon cache lock
 
+. $UNDERLAY_WS/install/setup.sh
 colcon build \
  --symlink-install \
  --mixin $OVERLAY_MIXINS
-
-sed --in-place \
- 's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
- /ros_entrypoint.sh

.devcontainer/post-create-command.sh

@@ -0,0 +1,11 @@
+#!/bin/bash
+
+# Immediately catch all errors
+set -eo pipefail
+
+# Uncomment for debugging
+# set -x
+# env
+
+# Enable autocomplete for user
+cp /etc/skel/.bashrc ~/

.devcontainer/update-content-command.sh

@@ -1,8 +1,11 @@
 #!/bin/bash
 
-set -exo pipefail
+# Immediately catch all errors
+set -eo pipefail
 
-env
+# Uncomment for debugging
+# set -x
+# env
 
 cd $OVERLAY_WS
 

Dockerfile

@@ -105,6 +105,20 @@ RUN . $UNDERLAY_WS/install/setup.sh && \
  --ignore-src \
  && rm -rf /var/lib/apt/lists/*
 
+# multi-stage for developing
+FROM builder AS dever
+
+# edit apt for caching
+RUN mv /etc/apt/apt.conf.d/docker-clean /etc/apt/
+
+# install developer dependencies
+RUN apt-get update && \
+ apt-get install -y \
+ bash-completion
+
+# source underlay for shell
+RUN echo 'source "$UNDERLAY_WS/install/setup.bash"' >> /etc/bash.bashrc
+
 # multi-stage for testing
 FROM builder AS tester