add devcontainer support

[ARK3r]

Heavily inspired by https://docs.ros.org/en/rolling/How-To-Guides/Setup-ROS-2-with-VSCode-and-Docker-Container.html

• needed to clone navigation2 since keys were missing in rolling
• checked with gps waypoint follower and beside mapviz not showing the map everything works. Let me know if you'd like me to try to fix that as well.

[SteveMacenski]

Checkout Nav2_Docker - we have docker images that I think you can use instead that are built on releases and nightly for each distribution instead :-) https://github.com/ros-navigation/nav2_docker No need for source b uilds

[ARK3r]

Am I missing something here?

$ docker run -it --rm ghcr.io/ros-navigation/nav2_docker:rolling-nightly
Unable to find image 'ghcr.io/ros-navigation/nav2_docker:rolling-nightly' locally
rolling-nightly: Pulling from ros-navigation/nav2_docker
32f112e3802c: Already exists 
e67f8fffa6a0: Already exists 
4ffabbe26c08: Already exists 
00a6eb2026e3: Already exists 
9a47e5e2434a: Already exists 
7ef12497fa90: Already exists 
038e5c42946a: Already exists 
d1abeafbb9ae: Already exists 
4d9f4b5e7a83: Already exists 
e8ccf2b4e1eb: Already exists 
2d84fcc41f9b: Already exists 
a5277250de4e: Already exists 
7e7154a0846f: Already exists 
9227fff94386: Already exists 
0dc6b7fc293e: Already exists 
d248be190684: Already exists 
ad0aae244499: Already exists 
ec3ab69f1aff: Already exists 
c8a934a970d1: Already exists 
e1bdf1daf68d: Already exists 
4f4fb700ef54: Already exists 
Digest: sha256:b2a775c6d3200689cff67ebf2ffcf9e6c5dd2a8c3a3de06b4b75cba41e14e411
Status: Downloaded newer image for ghcr.io/ros-navigation/nav2_docker:rolling-nightly
root@de9136228352:~/nav2_ws# ros2 pkg list | grep nav
nav2_minimal_tb3_sim
nav2_minimal_tb4_description
nav2_minimal_tb4_sim
nav_msgs

ran into this when running the following in the container:

$ rosdep install --from-paths src --ignore-src -r -y
nav2_sms_behavior: Cannot locate rosdep definition for [nav2_core]
nav2_gradient_costmap_plugin: Cannot locate rosdep definition for [nav2_costmap_2d]
nav2_straightline_planner: Cannot locate rosdep definition for [nav2_ros_common]
nav2_pure_pursuit_controller: Cannot locate rosdep definition for [nav2_ros_common]
nav2_gps_waypoint_follower_demo: Cannot locate rosdep definition for [navigation2]

[SteveMacenski]

Did you source the workspace?

[SteveMacenski]

Let me know when you want me to take a look. I'm going to compare this a bit with the one we have in Nav2 itself, so you may want to do that and see if there's anything you want to have here as well. Personally I don't use these so broadly speaking if they look like they offer similar/same things and you tell me it works, that's good enough for me

[ARK3r]

This works now and is using the nav2 images so as to not need the user to build the nav2 packages from source.

However, I think I'll actually change it back to a draft PR, as you said, until the other example is done in case I need to make any changes to this.

[SteveMacenski]

Maybe we can just set this in the nav2_docker files instead so that they're ready to go?