current state Tue Mar 25 12:24:12 WEST 2025

.gitignore

@@ -0,0 +1,80 @@
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# IntelliJ project files
+.idea
+*.iml
+out
+gen
+
+# VS Code project files
+.vscode/
+
+### ROS2
+install/
+log/
+build/
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+*~
+
+# Emacs
+.#*
+
+# Colcon custom files
+COLCON_IGNORE
+AMENT_IGNORE
+
+
+## custom stuff
+# python 3.10 venv
+venv310/
+
+# analysis output dir
+analysis/

Dockerfile

@@ -1,5 +1,65 @@
-FROM osrf/ros:foxy-desktop
+# Set the ROS distribution as an argument, defaulting to 'jazzy'
+ARG ROS_DISTRO=foxy
 
-RUN apt update && apt install -y ninja-build clang-18
+# You can find available ROS images here: https://hub.docker.com/_/ros/tags
+FROM osrf/ros:${ROS_DISTRO}-desktop
 
-RUN echo "source /opt/ros/foxy/setup.bash" >> /root/.bashrc
+# Set the maintainer information for this Dockerfile
+LABEL maintainer="Niklas Halle <niklas@niklashalle.net>"
+
+# Set environment variables
+ENV PIP_BREAK_SYSTEM_PACKAGES=1
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Set the default shell to bash for RUN commands
+# This ensures all RUN commands use bash instead of sh
+SHELL ["/bin/bash", "-c"]
+
+# Update the system and install essential tools
+# This step upgrades all packages and installs utilities needed for development
+RUN apt-get update -q && \
+    apt-get upgrade -yq && \
+    apt-get install -yq --no-install-recommends \
+      apt-utils wget curl git build-essential vim sudo \
+      lsb-release locales bash-completion tzdata gosu \
+      gedit htop nano libserial-dev ninja-build clang-18
+
+# Update packages and install dependencies
+RUN apt-get update && \
+    apt-get install -y software-properties-common curl build-essential && \
+    add-apt-repository ppa:deadsnakes/ppa && \
+    apt-get update && \
+    apt-get install -y \
+        python3.10 \
+        python3.10-venv \
+        python3.10-dev \
+        python3.10-distutils \
+        curl && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install additional tools required for ROS 2 development
+# These packages help with building and managing ROS 2 workspaces
+RUN apt-get update -q && \
+    apt-get install -y gnupg2 iputils-ping usbutils \
+      python3-argcomplete python3-colcon-common-extensions python3-networkx python3-pip python3-rosdep python3-vcstool
+
+# Set up the ROS 2 environment
+# This ensures that ROS 2 commands are available in the shell
+# rosdep is a tool for installing system dependencies for ROS packages
+RUN rosdep update && \
+    grep -F "source /opt/ros/${ROS_DISTRO}/setup.bash" /root/.bashrc || echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \
+    grep -F "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" /root/.bashrc || echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> /root/.bashrc
+
+# Bootstrap pip manually (recommended way)
+RUN curl -sS https://bootstrap.pypa.io/get-pip.py | python3.10
+
+# Set Python 3.10 as default Python3
+RUN update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.10 1
+
+# Install modern nodejs (optional but good practice for JupyterLab widgets)
+RUN curl -fsSL https://deb.nodesource.com/setup_20.x | bash - && \
+    apt-get install -y nodejs && \
+    npm install -g npm
+
+# Install JupyterLab globally
+RUN python3 -m pip install --upgrade jupyterlab

setup-venv.sh

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+#!/bin/bash
+
+# Creates and sets up your Python 3.10 venv
+python3.10 -m venv venv310
+source venv310/bin/activate
+
+# Install Python packages
+pip install --upgrade pip
+pip install \
+    numpy \
+    matplotlib \
+    ipympl \
+    jupyterlab \
+    jupyterlab-widgets \
+    ipykernel
+
+# Register venv310 as Jupyter kernel
+python -m ipykernel install --user --name=venv310 --display-name="Python 3.10 (venv310)"
+
+echo "Setup complete! Activate with: source venv310/bin/activate"
+echo "Then start JupyterLab with: jupyter lab --ip=0.0.0.0 --port=8888 --allow-root"