基于VS Code的Docker调试环境搭建过程

# 1. 更新apt包索引
sudo apt update

# 2. 安装必要的依赖包，用于添加HTTPS仓库支持
sudo apt install -y ca-certificates curl gnupg lsb-release

# 3. 添加Docker官方GPG密钥以确保下载安全
sudo mkdir -p /etc/apt/keyrings
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg

# 4. 设置Docker稳定版仓库源
echo \
  "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
  $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null

# 5. 再次更新apt包索引以包含新添加的仓库
sudo apt update

# 6. 安装Docker引擎及相关组件
sudo apt install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin

# 创建docker用户组（如果尚未创建）
sudo groupadd docker

# 将当前用户添加到docker组
sudo usermod -aG docker $USER

# 应用组更改（无需重新登录）
newgrp docker

docker run hello-world  # 应该能够无需sudo直接运行

docker pull ghcr.io/autowarefoundation/autoware:universe-devel-20250903-amd64

~/work/autoware

cd ~/work/autoware
mkdir .devcontainer

{
  "name": "Autoware Universe Dev",
  "image": "ghcr.io/autowarefoundation/autoware:universe-devel-20250903-amd64",

  // 设置容器内的工作目录
  "workspaceFolder": "/home/developer/autoware",

  // 端口转发配置，用于支持可视化工具和服务访问
  "forwardPorts": [8080, 9090, 50051],

  // 目录挂载配置，实现本地与容器间文件同步
  "mounts": [
    {
      "type": "bind",
      "source": "${localWorkspaceFolder}",
      "target": "/home/developer/autoware"
    }
  ],

  // 容器创建后的初始化命令（可选）
  //   "postCreateCommand": "source /opt/ros/humble/setup.bash && cd /home/developer/autoware && echo 'Dev container ready!'",

  // 推荐的VS Code扩展配置
  "customizations": {
    "vscode": {
      "extensions": [
        "ms-vscode.cpptools-extension-pack",
        "ms-vscode.cmake-tools",
        "ms-python.python",
        "ms-python.debugpy",
        "ms-python.vscode-python-envs",
        "Ranch-Hand-Robotics.rde-pack"
      ],
      "settings": {
        "terminal.integrated.defaultProfile.linux": "bash"
      }
    }
  },

  // 容器运行参数配置
  "runArgs": [
    "--privileged", // 特权模式，用于访问GPU、串口等硬件设备
    "-e",
    "DISPLAY=${env:DISPLAY}",
    "--volume=/tmp/.X11-unix:/tmp/.X11-unix:rw"
  ],
  "postCreateCommand": "xhost +local:root"  // 允许容器内的 GUI 应用访问主机的 X Server
}

xhost +local:root

git clone https://github.com/autowarefoundation/autoware.git
cd autoware
mkdir src
vcs import src < autoware.repos

sudo apt update && sudo apt upgrade
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release