Configuration files

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Dockerfile

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Base image

FROM osrf/ros:jazzy-desktop-full-noble

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Environment variables

ENV DEBIAN_FRONTEND=noninteractive
ENV ROS_DISTRO=jazzy
ENV GZ_VERSION=harmonic

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Key components installed

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Build tools

• Python 3 with pip
• colcon (ROS2 build tool)
• rosdep (dependency management)
• vcstool (repository management)
• argcomplete (shell completion)
• build-essential
• git, vim, wget, curl

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Gazebo Harmonic

• Gazebo Harmonic simulator
• ROS2-Gazebo bridge (ros-jazzy-ros-gz)

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Navigation and SLAM

• Navigation2 stack
• Cartographer SLAM
• CycloneDDS RMW implementation

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ROS2 development tools

• RViz2 (3D visualization)
• rqt and common plugins
• robot_state_publisher
• joint_state_publisher (with GUI)
• xacro (XML macros)
• tf2 tools

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Teleoperation

• teleop_twist_keyboard
• teleop_twist_joy

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Control packages

• ros2_control
• ros2_controllers
• controller_manager

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Graphics support

• Mesa utilities
• OpenGL drivers
• Vulkan drivers
• X11 applications

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Python packages

• setuptools
• numpy
• transforms3d

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Workspace setup

RUN mkdir -p /workspace/turtlebot3_ws/src
WORKDIR /workspace/turtlebot3_ws

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devcontainer.json

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Basic configuration

{
  "name": "ROS2 Jazzy TurtleBot3",
  "build": {
    "dockerfile": "Dockerfile",
    "context": ".."
  },
  "workspaceFolder": "/workspace/turtlebot3_ws",
  "workspaceMount": "source=${localWorkspaceFolder},target=/workspace/turtlebot3_ws,type=bind"
}

​

VS Code extensions

• ms-python.python - Python language support
• ms-vscode.cpptools - C/C++ language support
• ms-vscode.cmake-tools - CMake integration
• twxs.cmake - CMake syntax highlighting
• ms-iot.vscode-ros - ROS development tools

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VS Code settings

"settings": {
  "python.defaultInterpreterPath": "/usr/bin/python3",
  "ros.distro": "jazzy",
  "terminal.integrated.defaultProfile.linux": "bash"
}

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Dev Container features

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Common utilities

"ghcr.io/devcontainers/features/common-utils:2": {
  "installZsh": false,
  "username": "automatic",
  "upgradePackages": false
}

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Desktop environment

"ghcr.io/devcontainers/features/desktop-lite:1": {
  "password": "ros",
  "webPort": "6080",
  "vncPort": "5901"
}

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Port forwarding

"forwardPorts": [6080, 5901],
"portsAttributes": {
  "6080": {
    "label": "Desktop (noVNC)",
    "onAutoForward": "openBrowser"
  }
}

• Port 6080: noVNC web interface (auto-opens in browser)
• Port 5901: VNC server

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Environment variables

"remoteEnv": {
  "DISPLAY": ":1",
  "ROS_DOMAIN_ID": "30",
  "TURTLEBOT3_MODEL": "burger",
  "RMW_IMPLEMENTATION": "rmw_cyclonedds_cpp",
  "GZ_VERSION": "harmonic",
  "QT_QPA_PLATFORM": "xcb",
  "LIBGL_ALWAYS_SOFTWARE": "${localEnv:LIBGL_ALWAYS_SOFTWARE:0}"
}

​

Container runtime arguments

"runArgs": [
  "--network=host",
  "--privileged",
  "--shm-size=2gb",
  "--device=/dev/dri:/dev/dri"
]

• --network=host: Use host network for ROS2 communication
• --privileged: Required for hardware access
• --shm-size=2gb: Increased shared memory for Gazebo
• --device=/dev/dri: GPU device access

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Host requirements

"hostRequirements": {
  "gpu": "optional"
}

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Lifecycle scripts

"postCreateCommand": "bash /workspace/turtlebot3_ws/.devcontainer/post-create.sh",
"postStartCommand": "bash /workspace/turtlebot3_ws/.devcontainer/post-start.sh"

• postCreateCommand: Runs once when container is first created
• postStartCommand: Runs every time the container starts