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Add DevContainer CUDA support (#7)
* adding devcontainer cuda support * clean up autogenerated code * update gitignore * pre-commit
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‎.devcontainer/.env‎

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‎.devcontainer/Dockerfile‎

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# Multi-version ROS2 development container
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# Multi-stage ROS2 development container (CPU/GPU compatible)
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ARG ROS_DISTRO=humble
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FROM ros:${ROS_DISTRO}-ros-base
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ARG CUDA_VERSION=12.4.0
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ARG UBUNTU_VERSION=22.04
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# ===============================================
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# CPU Base - Standard ROS2 image
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# ===============================================
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FROM ros:${ROS_DISTRO}-ros-base as cpu-base
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# ===============================================
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# GPU Base - CUDA with manual ROS2 install
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# ===============================================
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FROM nvidia/cuda:${CUDA_VERSION}-runtime-ubuntu${UBUNTU_VERSION} as gpu-base
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ARG ROS_DISTRO
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# Install ROS2 manually since we're not using the ros: base image
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# Set non-interactive to avoid geographic area prompts
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ENV DEBIAN_FRONTEND=noninteractive
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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
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RUN apt-get update && apt-get install -y --no-install-recommends \
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curl \
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gnupg2 \
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lsb-release \
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tzdata \
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&& ln -fs /usr/share/zoneinfo/Etc/UTC /etc/localtime \
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&& dpkg-reconfigure --frontend noninteractive tzdata \
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&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
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&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo "$UBUNTU_CODENAME") main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
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&& apt-get update && apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-ros-base \
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&& rm -rf /var/lib/apt/lists/*
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ENV DEBIAN_FRONTEND=interactive
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# ===============================================
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# Install Common Development Tools from Either Base
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# ===============================================
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FROM ${TARGETARCH:-cpu}-base as dev-tools
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# Install development tools not in base image
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RUN apt-get update && apt-get install -y --no-install-recommends \
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python3-pip \
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python3-colcon-common-extensions \
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python3-rosdep \
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openssh-client \
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git \
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curl \
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&& rm -rf /var/lib/apt/lists/*
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rm -rf /var/lib/apt/lists/*
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# Install Claude Code CLI via npm
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RUN npm install -g @anthropic-ai/claude-code@1.0.0
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# hadolint ignore=DL3016
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RUN npm install -g @anthropic-ai/claude-code
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# Initialize rosdep
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RUN rosdep init || true
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# Set working dir (matches VSCode workspace)
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WORKDIR /deep_ros_ws
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# Cater image to user
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# ===============================================
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# Add User Configuration
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# ===============================================
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FROM dev-tools as user-conf
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ARG USERNAME
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ARG ROS_DISTRO
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# Cater image to user
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SHELL ["/bin/bash", "-c"]
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COPY .env /tmp/.env
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# hadolint ignore=SC2086

‎.devcontainer/devcontainer.json‎

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‎.devcontainer/gen_env.sh‎

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‎.devcontainer/generate_devcontainer.sh‎

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#!/bin/bash
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# Copyright (c) 2025-present WATonomous. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# generate_devcontainer.sh
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# Usage:
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# ./generate_devcontainer.sh <ros_distro> <container_type> [cuda_version] [ubuntu_version]
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set -e
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ROS_DISTRO=${1:-humble}
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CONTAINER_TYPE=${2:-cpu}
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CUDA_VERSION=${3:-12.4.0}
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UBUNTU_VERSION=${4:-22.04}
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USERNAME=${USER:-vscode}
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echo "Generating devcontainer configuration..."
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echo "ROS Distribution: $ROS_DISTRO"
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echo "Container Type: $CONTAINER_TYPE"
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if [ "$CONTAINER_TYPE" = "gpu" ]; then
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echo "CUDA Version: $CUDA_VERSION"
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echo "Ubuntu Version: $UBUNTU_VERSION"
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fi
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# Generate container name and build args based on type
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if [ "$CONTAINER_TYPE" = "gpu" ]; then
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CONTAINER_NAME="ROS2 Development Container (GPU)"
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BUILD_ARGS='"ROS_DISTRO": "'$ROS_DISTRO'",
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"USERNAME": "'$USERNAME'",
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"TARGETARCH": "gpu",
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"CUDA_VERSION": "'$CUDA_VERSION'",
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"UBUNTU_VERSION": "'$UBUNTU_VERSION'",
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"USER_UID": "'$(id -u)'",
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"USER_GID": "'$(id -g)'"'
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RUN_ARGS='"--network=host",
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"--gpus=all"'
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else
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CONTAINER_NAME="ROS2 Development Container (CPU)"
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BUILD_ARGS='"ROS_DISTRO": "'$ROS_DISTRO'",
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"USERNAME": "'$USERNAME'",
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"TARGETARCH": "cpu",
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"USER_UID": "'$(id -u)'",
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"USER_GID": "'$(id -g)'"'
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RUN_ARGS='"--network=host"'
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fi
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# Generate the devcontainer.json with shared structure
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cat > .devcontainer/devcontainer.json << EOF
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{
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"name": "$CONTAINER_NAME",
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"build": {
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"dockerfile": "Dockerfile",
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"args": {
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$BUILD_ARGS
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}
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},
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"runArgs": [
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$RUN_ARGS
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],
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"mounts": [
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"source=\${localWorkspaceFolder},target=/deep_ros_ws,type=bind,consistency=cached"
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],
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"customizations": {
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"vscode": {
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"extensions": [
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"ms-vscode.cpptools",
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"ms-python.python",
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"ms-vscode.cmake-tools",
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"redhat.vscode-yaml",
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"ms-iot.vscode-ros"
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],
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"settings": {
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"python.defaultInterpreterPath": "/usr/bin/python3",
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"terminal.integrated.shell.linux": "/bin/bash"
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}
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}
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},
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"remoteUser": "$USERNAME"
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}
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EOF
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echo "Devcontainer configuration generated successfully!"
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echo "Files created:"
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echo " - .devcontainer/devcontainer.json"
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echo ""
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echo "Environment variables set for this session"
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echo ""
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echo "You can now:"
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echo " 1. Open the command palette (Ctrl+Shift+P)"
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echo " 2. Run 'Dev Containers: Rebuild and Reopen in Container'"

‎.gitignore‎

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.claude/
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# ROS2 build artifacts
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build/
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install/
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log/
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# Autogenerated devcontainer files
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.devcontainer/devcontainer.json
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.devcontainer/.env
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# Claude helpers
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.claude/
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CLAUDE.md

‎.vscode/c_cpp_properties.json‎

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{
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"configurations": [
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{
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"name": "ROS2 Humble",
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"compileCommands": "${workspaceFolder}/build/compile_commands.json",
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"includePath": [
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"${workspaceFolder}/**",
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"${workspaceFolder}/onnx_example_node/include/**",
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"${workspaceFolder}/onnx_example_node/third_party/onnxruntime-linux-x64-1.16.3/include/**",
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"${workspaceFolder}/deep_core/include/**",
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"${workspaceFolder}/deep_backends/**/include/**",
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"/opt/ros/humble/include/**"
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],
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"defines": [],
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"compilerPath": "/usr/bin/g++",
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"cStandard": "c99",
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"cppStandard": "c++17",
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"intelliSenseMode": "linux-gcc-x64",
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"browse": {
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"path": [
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"${workspaceFolder}",
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"/opt/ros/humble/include"
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],
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"limitSymbolsToIncludedHeaders": true,
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"databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db"
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}
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}
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],
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"version": 4
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}

‎.vscode/settings.json‎

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{
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"C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools",
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"C_Cpp.default.compileCommands": "${workspaceFolder}/build/compile_commands.json",
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"C_Cpp.intelliSenseEngine": "default",
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"C_Cpp.errorSquiggles": "enabled",
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"C_Cpp.autocomplete": "default",
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"files.associations": {
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"*.hpp": "cpp",
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"*.h": "cpp",
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"cctype": "cpp",
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"clocale": "cpp",
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"cmath": "cpp",
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"csignal": "cpp",
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"cstdarg": "cpp",
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"cstddef": "cpp",
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"cstdio": "cpp",
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"cstdlib": "cpp",
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"cstring": "cpp",
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"ctime": "cpp",
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"cwchar": "cpp",
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"cwctype": "cpp",
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"array": "cpp",
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"atomic": "cpp",
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"strstream": "cpp",
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"bit": "cpp",
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"*.tcc": "cpp",
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"bitset": "cpp",
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"chrono": "cpp",
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"compare": "cpp",
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"concepts": "cpp",
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"condition_variable": "cpp",
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"cstdint": "cpp",
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"deque": "cpp",
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"list": "cpp",
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"map": "cpp",
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"set": "cpp",
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"string": "cpp",
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"unordered_map": "cpp",
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"unordered_set": "cpp",
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"vector": "cpp",
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"exception": "cpp",
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"algorithm": "cpp",
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"functional": "cpp",
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"iterator": "cpp",
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"memory": "cpp",
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"memory_resource": "cpp",
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"numeric": "cpp",
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"optional": "cpp",
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"random": "cpp",
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"ratio": "cpp",
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"regex": "cpp",
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"string_view": "cpp",
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"system_error": "cpp",
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"tuple": "cpp",
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"type_traits": "cpp",
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"utility": "cpp",
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"fstream": "cpp",
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"future": "cpp",
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"initializer_list": "cpp",
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"iomanip": "cpp",
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"iosfwd": "cpp",
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"iostream": "cpp",
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"istream": "cpp",
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"limits": "cpp",
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"mutex": "cpp",
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"new": "cpp",
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"numbers": "cpp",
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"ostream": "cpp",
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"semaphore": "cpp",
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"shared_mutex": "cpp",
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"sstream": "cpp",
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"stdexcept": "cpp",
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"stop_token": "cpp",
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"streambuf": "cpp",
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"thread": "cpp",
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"cinttypes": "cpp",
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"typeindex": "cpp",
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"typeinfo": "cpp",
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"variant": "cpp"
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},
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"cmake.configureOnOpen": false,
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"cmake.buildDirectory": "${workspaceFolder}/build",
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"ros.distro": "humble"
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}

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