merge develop divergence, add humble devcontainers

Author: mik-p

.devcontainer/humble/Dockerfile

@@ -0,0 +1,30 @@
+FROM ros:humble
+
+# Add vscode user with same UID and GID as your host system
+# (modified from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user)
+# ubuntu now has a 1000 user ubuntu
+ARG USERNAME=ubuntu
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME
+
+RUN apt-get update && apt-get upgrade -y \
+    && apt-get install -y \
+    sudo \
+    git \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+
+# Switch from root to user
+USER $USERNAME
+
+# Rosdep update
+RUN rosdep update
+
+# Source the ROS setup file
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
+
+# make sure folders exist
+RUN mkdir -p ~/colcon_ws/src

.devcontainer/humble/devcontainer.json

@@ -0,0 +1,17 @@
+{
+  "name": "humble base",
+  "dockerFile": "Dockerfile",
+  "remoteUser": "ubuntu",
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}"
+  },
+  "runArgs": [
+    "--privileged",
+    "--network=host"
+  ],
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/colcon_ws/src/${localWorkspaceFolderBasename},type=bind",
+  "workspaceFolder": "/home/ubuntu/colcon_ws",
+  "mounts": [
+    "source=${localEnv:HOME}${localEnv:USERPROFILE}/.bash_history,target=/home/ubuntu/.bash_history,type=bind"
+  ]
+}