ros_env_vscode_webviz

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Origin:

• https://github.com/devrt/ros-devcontainer-vscode
• https://github.com/cruise-automation/webviz

Packed with:

• Pre-configured docker image for ROS development.
• Browser accessible X11 server to display gazebo, rviz, rqt (runs on Windows/Mac).
• Tasks definition to run catkin_make, roscore, rviz commands.
• Preconfigured code completion for C++, Python, XML (package.xml, launchfiles, URDF, SDF).
• Preconfigured simulation environments (Flatland, TurtleBot3, ARIAC, Virtual RobotX, UUV).
• Bonus: WebIDE (Theia) with preconfigured C++, Python, XML completion.
• Webviz

Requirements

Before you start you have to have docker and docker-compose installed on your machine. If not, install using:

1. Ubuntu:

$ sudo apt-get update
$ sudo apt-get install docker docker-compose

2. On Mac Docker-compose should be part of docker Desktop, if not, use the following gude https://docs.docker.com/docker-for-mac/install/
3. On Windows one needs to install Docker desktop https://docs.docker.com/docker-for-windows/install/
   • Docker uses feature cgrous from linux Kernel, so installing Docker desktop, it virtualises a Linux Kernel. To virtualise in Windows, one hast to conduct the following steps:
   • check if the parameters in the following link apply: https://docs.docker.com/docker-for-windows/troubleshoot/#virtualization
   • most important is in task manager:
   • if the virtualisation is deactivated, then it needs to be enables in BIOS
   • check in google how to enable for your hardware. Here is an example for ASUS (used the manual from https://www.asus.com/support/FAQ/1038245/)

How to use the WebIDE

As of writing, docker-compose support of VSCode is not perfectly stable on all the platforms. We recommend using Theia WebIDE since it has complete VSCode function support after 1.0 release.

1. Clone this repository:

$ git clone https://github.com/LagzdinsHSLU/ros_env_vscode_webviz.git

2. Enter the following command under the folder of the cloned project:

$ cd ros_env_vscode_webviz
$ sudo docker-compose up

If you run this command for the first time, it will download lots of data and run for a long time => take a coffee :) Once the command has completed start up the environment:

3. Open http://localhost:3001/ to get VS Code using your favorite browser.

4. Open http://localhost:3003/ to get webviz using your favorite browser.

5. Open http://localhost:3000/ to get x11 vnc server using your favorite browser.

6. To start turtlesim simulation:

   • in VS Code open terminal and write:

   $ rosrun turtlesim turtlesim_node 

   • now one should see the turtlesim in x11 vnc server http://localhost:3000/
   • in VS Code open 2nd terminal and write:

   $ rosrun turtlesim turtle_teleop_key

   • now one should be able to move the turtle with keyboard arrows