WRoverSoftware_Docker

Multi-service Docker Compose environment running Ubuntu 22.04 with ROS 2 Humble and Node.js dependencies.

Used for software development across main rover autonomy, simulation, and web GUI systems for Wisconsin Robotics.

Requirements

Install WSL2 if on Windows.

IMPORTANT: All terminal commands should run in the WSL terminal on Windows.
Install and configure Git, then generate an SSH key for GitHub (see Git and CI/CD training). Ensure ssh-agent is running on your host machine to allow Git operations inside containers.
Install Docker Desktop on Windows or Docker Desktop on Mac.
Install make and vcstool in a (WSL) terminal:
```
sudo apt update && sudo apt install -y make python3-vcstool
```
Install make on Mac by installing Xcode Command Line Tools and vcstool via pip3 install vcstool.

Clone this repository:

git clone git@github.com:WisconsinRobotics/WRoverSoftware_Docker.git
cd WRoverSoftware_Docker

Import child repositories (WRoverSoftware, WRoverSoftwareSim, WRoverSoftwareGUI) into the ./workspace directory:
```
make setup
```
Set safe directory permissions for Git if prompted:
```
git config --global --add safe.directory "*"
```

Ensure Docker Engine / Docker Desktop is running.
Build all container images (main, sim, gui):
```
make build
```
NOTE: You only need to rebuild when a Dockerfile changes.

Attach an interactive shell to a specific running service:

make shell-main   # Main ROS 2 autonomy stack
make shell-sim    # Simulation environment
make shell-gui    # Web GUI stack

The workspace repositories are bind-mounted into the containers live from ./workspace/. Each repository operates independently.

Check out a different branch for a single repository:
```
cd workspace/WRoverSoftwareSim
git checkout main
```
Switch all workspace repositories simultaneously using vcstool:
```
vcs custom workspace --args checkout dev
```
Check workspace status across all repositories:
```
vcs status workspace
```

Install VS Code.
Install the Dev Containers extension in VS Code.
Open the WRoverSoftware_Docker folder in VS Code:
```
code .
```
Open the Command Palette (Ctrl+Shift+P / Cmd+Shift+P) and select Dev Containers: Open Folder in Container....
Choose the .devcontainer configuration for the service you want to develop in:
- .devcontainer/main
- .devcontainer/sim
- .devcontainer/gui
To disconnect, click the bottom-left corner of VS Code, select Close Remote Connection, and stop the stack using make down.

Python & ROS Dependencies: Add ROS 2 or system dependencies to the respective service Dockerfile in Dockerfiles/, then rebuild the container:
```
make build
```
Node.js Packages (GUI): Install packages directly inside WRoverSoftwareGUI using npm install <package-name> or update package.json.