🐋 ROS 2 Jazzy Devcontainer

This devcontainer has everything needed to work on the motion planning part of the OxARM project. It includes ROS2 Jazzy, MoveIt2, and RViz2 with gui support. This devcontainer is tested and working on Windows and Ubuntu.

Windows Setup

1. Create a workspace directory whereever you want and name it whatever you want
2. Open the workspace in VSCode
3. Clone the RobotArmPackages2 repo into the workspace
4. Go to the source control tab in VSCode, there should be a RobotArmPackages2 repo
5. Click on the text just to the right of the repo name which should read "main"
6. Choose the motion planning branch from the dropdown menu (this will checkout the motion planning branch)
7. Clone this repo into the workspace
8. Rename the OxARM_moveit_devcontainer directory to ".devcontainer" (if you get a permission error in VSCode do this in your file explorer with VSCode closed)
9. Follow these steps to install docker and set it up to use devcontainers in VSCode: https://code.visualstudio.com/docs/devcontainers/containers
10. Check if you have WSL installed by running "wsl -v -l" in command prompt
11. If WSL is installed and is above version 2.1.5 skip to step 14
12. If WSL is not installed open PowerShell as administrator and run "wsl --install"
13. Check if the install worked and the version is new enough by running "wsl -v -l" in command prompt
14. Check if docker is installed by running "docker info" in command prompt
15. Follow the steps at this link, but skip step 1 if docker is already installed, if you have WSL installed and at the correct version then the WSL 2 Back-end should already be enabled by defalt (step 2 of Windows install). Ignore step 3 of the Windows install. https://code.visualstudio.com/docs/devcontainers/containers
16. Setup your git credentials by running the two "git config --global" commands at this link in command prompt, https://code.visualstudio.com/remote/advancedcontainers/sharing-git-credentials
17. Follow the first two steps at this link to ensure you have GitHub CLI installed and configured, this will allow the git credentials set in the previous step to be passed to the container https://docs.github.com/en/get-started/git-basics/caching-your-github-credentials-in-git
18. Click the button at the bottom left of VSCode and choose "Reopen in container" (This may take a while)
19. Once the container opens, cd into the RobotArmPackages2 directory and colcon build