From 2e43f2e4f6bf27ec2a218f73f8dc29cf88b13c95 Mon Sep 17 00:00:00 2001
From: Rooholla-KhorramBakht <learn.kho@gmail.com>
Date: Tue, 16 Apr 2024 16:40:27 -0400
Subject: [PATCH] devcontainer config files added

---
 .devcontainer/Dockerfile          | 31 +++++++++++++++++++++++++++++++
 .devcontainer/devcontainer.json   | 13 +++++++++++++
 .devcontainer/docker-compose.yaml | 17 +++++++++++++++++
 3 files changed, 61 insertions(+)
 create mode 100644 .devcontainer/Dockerfile
 create mode 100644 .devcontainer/devcontainer.json
 create mode 100644 .devcontainer/docker-compose.yaml

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
new file mode 100644
index 0000000..491b061
--- /dev/null
+++ b/.devcontainer/Dockerfile
@@ -0,0 +1,31 @@
+FROM ros:foxy
+ENV DEBIAN_FRONTEND=noninteractive
+SHELL ["/bin/bash", "-c"]
+RUN apt-get update && apt-get install -y -qq --no-install-recommends \ 
+                                      libglvnd-dev \
+                                      libgl1-mesa-dev \
+                                      libegl1-mesa-dev \
+                                      libgles2-mesa-dev \
+                                      libxext6 \
+                                      libx11-6 \
+                                      freeglut3-dev \
+                                      git \
+                                      python3-pip \ 
+                                      ros-foxy-rmw-cyclonedds-cpp ros-foxy-rosidl-generator-dds-idl \
+                                      libyaml-cpp-dev \
+                                      ros-foxy-xacro \
+                                      libboost-all-dev\
+                                      build-essential \
+                                      cmake \
+                                      && rm -rf /var/lib/apt/lists/*
+
+
+RUN pip3 install mujoco pin matplotlib
+
+RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
+git clone https://github.com/ros2/rmw_cyclonedds -b foxy && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
+cd .. && colcon build --packages-select cyclonedds && source /opt/ros/foxy/setup.bash && colcon build
+
+# Env vars for the nvidia-container-runtime.
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
\ No newline at end of file
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
new file mode 100644
index 0000000..14e7378
--- /dev/null
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,13 @@
+// https://containers.dev/implementors/json_reference/
+{
+  "name": "go2py", 
+  "dockerComposeFile": "docker-compose.yaml",
+  "workspaceFolder": "/home/Go2Py",
+  "service": "go2py-dev",
+  "remoteUser": "root", 
+  "customizations": {
+    "vscode": {
+      "extensions": ["dbaeumer.vscode-eslint"]
+    }
+  }
+}
\ No newline at end of file
diff --git a/.devcontainer/docker-compose.yaml b/.devcontainer/docker-compose.yaml
new file mode 100644
index 0000000..54d71e4
--- /dev/null
+++ b/.devcontainer/docker-compose.yaml
@@ -0,0 +1,17 @@
+version: "3.9"
+services:
+  go2py-dev:
+    build: .
+    container_name: go2py-dev
+    network_mode: host
+    privileged: true
+    command: bash
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - ..:/home/Go2Py
+    environment:
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+    runtime: nvidia
+    stdin_open: true
+    tty: true
\ No newline at end of file