Developer Setup using Docker

Collaboration diagram for Developer Setup using Docker:

This document describes the setup process for a developing with a ROS environment Docker container.

Follow the instructions according to your platform:

• Linux
• macOS
• Windows

Linux

Tools

• Docker Engine
• Git
• VS Code

Instructions

These instructions are written for Ubuntu, steps may vary if using a different distribution.

1. Install git: sudo apt install git
2. Install VS Code: https://code.visualstudio.com/docs/setup/linux
3. Install Docker Engine: https://docs.docker.com/engine/install/ubuntu
4. Set up SSH keys: https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent?platform=linux
5. Clone the repository: git clone git@github.com:WisconsinRobotics/WRoverPlayground.git
6. Open the repository in VS Code
7. Clone git submodules: git submodule update --init --recursive
8. Install the VS Code Dev Containers Extension
9. In the VS Code Command Palette (F1), run Dev Containers: Open Folder in Container

Troubleshooting

NOTE: Please do not commit .devcontainer/devcontainer.json if you need to modify it according to the following troubleshooting steps.

• After trying to run a GUI app, the following error is encountered: Authorization required, but no authorization protocol specified. To fix this, try xhost +localhost, and see if the issue is resolved. If not, run xhost +. Since these command allow connections to your local X server, you may want to revert them with the corresponding xhost -localhost or xhost - after you are done using the devcontainer.
• After opening the devcontainer, a SELinux AVC denial is encountered. The workaround is running chcon -Rt svirt_sandbox_file_t /path/to/WRoverPlayground. Documented here: https://github.com/microsoft/vscode-remote-release/issues/1333
• After trying to run a GUI app, a SELinux AVC denial is encountered. To fix this, add "--security-opt=label=type:container_runtime_t" to the runArgs in devcontainer.json.
• If you are using Podman as a replacement for Docker, you will need to add "--userns=keep-id" to the runArgs in devcontainer.json. Podman is not officially supported.

macOS

Tools

• Docker Desktop
• Git
• VS Code
• XQuartz

Instructions

Apple Silicon Mac users should upgrade to macOS Ventura or newer.

1. Check if git is already installed by running git --version in the terminal
2. If git is not installed, and you are not prompted to install Xcode Command Line Tools, run xcode-select --install
3. Install VS Code: https://code.visualstudio.com
4. Install Docker Desktop: https://www.docker.com/products/docker-desktop
5. Apple Silicon users, follow the troubleshooting steps below to configure Docker for running ROS C++ programs
6. Install XQuartz: https://www.xquartz.org
7. Open XQuartz, and select XQuartz > Preferences
8. Under the "Security" tab, check "Allow connections from network clients"
9. Restart your Mac and open XQuartz
10. In the terminal, run xhost +. You may need to rerun this every time you open XQuartz.
11. Set up SSH keys: https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent?platform=mac
12. Clone the repository: git clone git@github.com:WisconsinRobotics/WRoverPlayground.git
13. Open the repository in VS Code
14. Clone git submodules: git submodule update --init --recursive
15. Install the VS Code Dev Containers Extension
16. In the VS Code Command Palette (F1), run Dev Containers: Open Folder in Container

Troubleshooting

• Apple Silicon Macs cannot run ROS C++ programs (requires macOS Ventura or newer)
  1. Open Docker Desktop
  2. Go to Settings (top right corner)
  3. Go to "Features in Development"
  4. Scroll down and check "Use Rosetta for x86/amd64 emulation on Apple Silicon"
  5. Click "Apply and Restart"
• X11 forwarding instructions: https://gist.github.com/sorny/969fe55d85c9b0035b0109a31cbcb088

Windows

Tools

• Docker Desktop
• Git
• VS Code
• WSL 2

Instructions

These instructions are written for Windows 10 version 2004 or higher and Windows 11.

1. Open PowerShell or Command Prompt as Administrator
2. Run wsl.exe --install and restart if WSL is not already installed
3. If WSL is already installed, run wsl.exe --update
4. Check that WSL 2 is in use with wsl.exe -l -v
5. Install git: https://git-scm.com/downloads
6. Install VS Code: https://code.visualstudio.com
7. Install Docker Desktop: https://www.docker.com/products/docker-desktop
8. Set up SSH keys: https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent?platform=windows
9. Open WSL by running wsl.exe in PowerShell or Command Prompt
10. In WSL, set up SSH keys: https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent?platform=linux
11. In WSL, clone the repository: git clone git@github.com:WisconsinRobotics/WRoverPlayground.git
12. Open Docker Desktop
13. Open VS Code
14. Install the VS Code WSL Extension and Dev Containers Extension
15. In the VS Code Command Palette (F1), run WSL: Connect to WSL
16. Open the repository
17. Clone git submodules: git submodule update --init --recursive
18. In the VS Code Command Palette (F1), run Dev Containers: Open Folder in Container

Troubleshooting

• Unable to execute git push or pull in container: https://superuser.com/questions/1726204/get-agent-identities-ssh-agent-bind-hostkey-communication-with-agent-failed