fixes

.devcontainer/hooks/postCreate.sh

@@ -4,6 +4,12 @@
 
 . /opt/ros/$ROS_DISTRO/setup.sh
 
+# Auto-activate ROS whenever bash shell is opened.
+echo "source /opt/ros/$ROS_DISTRO/setup.bash\nsource $WORKSPACE_ROOT/install/local_setup.bash" >> ~/.bashrc
+
+# (OPTION) Symlink `/data` mount point to workspace folder for convenience.
+# ln -sf /data "$WORKSPACE_ROOT/"
+
 # Something deleted the package indexes so we re-download them for convenience.
 apt-get update
 rosdep update

.devcontainer/hooks/postStart.sh

@@ -13,9 +13,6 @@ git config --global safe.directory "*"
 # Ensure submodules are cloned; Doesn't affect already cloned ones.
 git submodule update --init --recursive
 
-# (OPTION) Symlink `/data` mount point to workspace folder for convenience.
-# ln -sf /data "$WORKSPACE_ROOT/"
-
 # Ensure dependencies are installed.
 rosdep install --ignore-src --from-path "$WORKSPACE_ROOT" -y
 pip install -r "$WORKSPACE_ROOT/requirements.txt"

Dockerfile

@@ -1,7 +1,7 @@
 # syntax=docker/dockerfile:1
 
 # Dockerfile for production
-# Referring to Dockerfile.dev might be useful for understanding the contents.
+# Referring to Dockerfile.dev & hooks/postCreate.sh might be useful for understanding the contents.
 
 FROM nvidia/cuda:11.7.1-cudnn8-runtime-ubuntu22.04
 

Dockerfile.dev

@@ -33,7 +33,7 @@ RUN bash /tmp/scripts/desktop-lite-debian.sh root password
 RUN mkdir -p /etc/OpenCL/vendors && \
   echo "libnvidia-opencl.so.1" > /etc/OpenCL/vendors/nvidia.icd
 
-# Curl key and authorize ROS repository.
+# Curl key to authorize ROS repository.
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
 RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/ros2.list
 
@@ -58,23 +58,28 @@ RUN rosdep init && rosdep update
 # RQT's plugin support allows for custom visualizations, tools or control panels.
 RUN apt-get install -y ~nros-${ROS_DISTRO}-rqt*
 
+# Curl key to authorize Docker repository.
+RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add - 2>/dev/null \
+  && add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu bionic stable"
+
+# Install Docker CLI tools (not including daemon).
+RUN apt-get update \
+  && apt-get install -y docker-ce-cli \
+  && pip install docker-compose
+
 # Needed for Dev Container lifecycle hooks to run.
 COPY ./.devcontainer /tmp/.devcontainer
 
 COPY ./entrypoint.sh /entrypoint.sh
 RUN chmod +x /entrypoint.sh
 ENTRYPOINT [ \
   # VNC entrypoint
-  "/usr/local/share/desktop-init.sh", \
-  # ROS entrypoint
-  "/entrypoint.sh" \
+  "/usr/local/share/desktop-init.sh" \
   ]
 
 # Make /bin/sh launch bash instead.
 ENV ENV=\$HOME/.shrc
 RUN echo "exec bash" >> ~/.shrc
-# Auto-activate ROS whenever bash shell is opened.
-RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash\nsource /code/install/local_setup.bash" >> ~/.bashrc
 
 # Ensure RQT icons show up.
 RUN mkdir ~/.icons && ln -s /usr/share/icons/Tango ~/.icons/hicolor

README.md

@@ -22,8 +22,8 @@ Template for ROS2 workspace using [VS Code Dev Containers](https://code.visualst
   - [Dev Container Lifecycle Hooks](#dev-container-lifecycle-hooks)
   - [Dev Container using Docker Compose](#dev-container-using-docker-compose)
 - [Tips](#tips)
-  - [`git` Submodules](#git-submodules)
   - [`example_module`](#example_module)
+  - [`git` Submodules](#git-submodules)
   - [Update Package Indexes](#update-package-indexes)
   - [Minimize Changes to the Dockerfile](#minimize-changes-to-the-dockerfile)
   - [Change ROS Distro](#change-ros-distro)
@@ -35,7 +35,12 @@ Template for ROS2 workspace using [VS Code Dev Containers](https://code.visualst
 
 ### Mount Point `/data`
 
-Mount points are used to mount a folder from the host into the container. By following `(OPTION)`s, `./data` on the host is mounted to `/data` in the container. `/data` can be used to share anything from the host with the container (e.g., config files, models, databases).
+> Note: If using `Dev Containers: Clone Repository in Container Volume...`, the host folder path must be absolute.
+
+Mount points are used to mount a folder from the host into the container. An example for mounting a folder to `/data` is included in [`docker-compose.dev.yml`](./docker-compose.dev.yml) as an `(OPTION)`. `/data` can be used to share anything from the host with the container (e.g., config files, models, databases). Also remember to:
+
+- Add mount points to [`.gitignore`](./.gitignore) and [`.dockerignore`](./.dockerignore).
+- Symlink mount points into your workspace folder for convenience in [`postCreate.sh`](./.devcontainer/hooks/postCreate.sh).
 
 While one mount point is sufficient, more can be added by following `/data`'s example. See <https://docs.docker.com/storage/bind-mounts/> for more info.
 
@@ -64,6 +69,8 @@ See <https://docs.docker.com/engine/reference/commandline/docker/> for more info
 
 #### Building
 
+> Note: If using `Dev Containers: Clone Repository in Container Volume...` on Windows, follow <https://code.visualstudio.com/docs/containers/choosing-dev-environment#_windows-subsystem-for-linux> to ensure built images are stored on the host computer's image repository.
+
 ```sh
 docker build . -t organization/repo:vx.x.x -t organization/repo:latest
 ```
@@ -72,6 +79,8 @@ Images can have multiple names tagged to them. Tagging images with the version n
 
 #### Exporting
 
+> Note: Run this command on the host computer rather than in the Dev Container.
+
 ```sh
 docker save organization/repo:vx.x.x organization/repo:latest -o repo-vx.x.x.tar
 ```
@@ -102,12 +111,20 @@ Both [`devcontainer.json`](./.devcontainer/devcontainer.json) and [`extensions.j
 
 Instead of using Dev Container with a Dockerfile, this template uses it with Docker Compose instead. This is done for a few reasons:
 
-- Include example of multiple Docker containers being capable of operating as one ROS system.
+- Include example of how to configure Docker for ROS to communicate across containers.
 - Docker Compose is closer to real world deployment scenarios.
   - It is also more flexible and easier to configure than [`devcontainer.json`](./.devcontainer/devcontainer.json).
 
 ## Tips
 
+### `example_module`
+
+`example_module`'s [README.md](https://github.com/Interpause/ros-example-node/blob/main/README.md) provides instructions on how to create a `git` submodule and add ROS packages to it. It also contains a simple pub-sub `launch` file that can be used to test bandwidth & latency. To remove `example_module`:
+
+```sh
+git rm example_module
+```
+
 ### `git` Submodules
 
 > Note: The template will clone missing submodules for you by default.
@@ -140,14 +157,6 @@ git submodule foreach --recursive git checkout main
 
 This is done for you automatically if using a named volume to store the repository.
 
-### `example_module`
-
-`example_module`'s [README.md](https://github.com/Interpause/ros-example-node/blob/main/README.md) provides instructions on how to create a `git` submodule and add ROS packages to it. It also contains a simple pub-sub `launch` file that can be used to test bandwidth & latency. To remove `example_module`:
-
-```sh
-git rm example_module
-```
-
 ### Update Package Indexes
 
 The `rosdep` and Ubuntu package managers rely on a local cache of their package index. If the package index is outdated, it may not contain any active package distribution server, leading to package downloads failing. Hence, it is recommended to periodically re-download the package index:

docker-compose.dev.yml

@@ -16,7 +16,7 @@ services:
       # Allow access to Docker daemon for VS Code Docker extension to work inside container.
       - /var/run/docker.sock:/var/run/docker-host.sock
       # (OPTION) Mount point for `data` folder.
-      # - ./data:/data:cached
+      # - C:\Users\user\Documents\project-name-data:/data:cached
       # (OPTION) Legacy support for mounting repository from host filesystem.
       # - .:/code:cached
 
@@ -56,8 +56,11 @@ services:
       - 6080:6080
       # Expose rosbridge.
       - 9090:9090
-    image: alpine # smallest image
+
+    # Used to allow ROS to communicate across containers.
     ipc: shareable
     pid: shareable
+
+    image: alpine # smallest image
     stop_signal: SIGKILL
     command: sleep infinity