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Add VSCode dev container configuration and enhance Docker setup for development (#1)
* Add soccer strategy components and team communication package - Implement unit tests for role auction logic in `test_role_auction.cpp`. - Define behavior trees for goalie, striker, and supporter roles in XML format. - Create a new package `soccer_teamcomm` for decentralized team communication. - Implement `teamcomm_node.py` to publish team data including self pose and role bids. - Add scripts for sim training, including domain randomization and residual policy training. - Introduce tools for camera calibration and mock game controller for testing. * Add VSCode dev container configuration and enhance Docker setup for development
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‎.devcontainer/README.md‎

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# VSCode Dev Container Setup
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This directory configures VSCode to develop inside a container with the full ROS 2 Jazzy + build toolchain pre-installed.
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## Quick Start
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### Option 1: VSCode Dev Container (Recommended)
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1. Install the **Dev Containers** extension in VSCode (ms-vscode-remote.remote-containers)
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2. Open this repo in VSCode
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3. Click the green `><` icon in the bottom-left → **Reopen in Container**
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4. VSCode opens the folder **inside** the container automatically
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Then in the integrated terminal:
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```bash
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cd ros2_ws
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colcon build --symlink-install
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source install/setup.bash
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ros2 launch soccer_bringup robot.launch.py sim:=true
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```
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**Benefits:**
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- Full ROS 2 environment without local install
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- All extensions (CMake, C++, Python, ROS) work inside the container
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- Code editing on Windows; compilation/execution in Linux
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- One-click setup for new team members
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### Option 2: Compose CLI (Lightweight)
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```bash
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# Start an interactive dev shell
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docker compose -f deploy/compose/sim.compose.yaml run dev bash
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# Inside the container:
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cd ros2_ws
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colcon build --symlink-install
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source install/setup.bash
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# Run tests, launch nodes, etc.
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ros2 launch soccer_bringup robot.launch.py sim:=true
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```
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## What's Pre-installed
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- ROS 2 Jazzy + `ros2_control` framework
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- C++ build tools (CMake, GCC, Clang)
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- Python 3.12 + NumPy, OpenCV, ruff
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- BehaviorTree.CPP
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- Git
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## File Syncing
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The container mounts your Windows repo as a volume (`-v ../..:/ws`). Any edits on Windows are **instantly visible** inside the container — no manual sync needed.
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```
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Windows (C:\dev\soccer-software)
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↓ (Docker volume mount)
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Linux container (/ws)
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```
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## Persistent Build Cache
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The `.devcontainer/devcontainer.json` runs `colcon build --symlink-install` on container creation. Subsequent edits trigger incremental builds — not full rebuilds.
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## Requirements
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- **Docker Desktop for Windows** with WSL2 backend
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- **VSCode** + **Dev Containers extension** (for Option 1)
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## Troubleshooting
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**Container won't start:**
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```bash
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# Check Docker is running
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docker ps
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# Rebuild from scratch
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docker compose -f deploy/compose/sim.compose.yaml build --no-cache dev
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```
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**ROS 2 commands not found:**
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```bash
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# Re-source the setup scripts in your shell
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source /opt/ros/jazzy/setup.bash
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source ~/ws/install/setup.bash
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```
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**Volume mount not updating:**
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```bash
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# Restart the container
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docker compose -f deploy/compose/sim.compose.yaml restart dev
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```

‎.devcontainer/devcontainer-lock.json‎

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{
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"features": {
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"ghcr.io/devcontainers/features/git:1": {
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"version": "1.3.5",
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"resolved": "ghcr.io/devcontainers/features/git@sha256:27905dc196c01f77d6ba8709cb82eeaf330b3b108772e2f02d1cd0d826de1251",
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"integrity": "sha256:27905dc196c01f77d6ba8709cb82eeaf330b3b108772e2f02d1cd0d826de1251"
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}
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}
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}

‎.devcontainer/devcontainer.json‎

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{
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"name": "soccer-dev",
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"build": {
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"dockerfile": "../deploy/docker/Dockerfile.dev",
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"context": ".."
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},
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"workspaceFolder": "/ws",
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"mounts": [
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"source=${localWorkspaceFolder},target=/ws,type=bind,consistency=cached"
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],
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"remoteEnv": {
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"ROS_DOMAIN_ID": "42"
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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.cmake-tools",
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"ms-vscode.cpptools-extension-pack",
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"ms-vscode.cpptools",
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"ms-python.python",
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"ms-python.vscode-pylance",
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"ms-ros.ros",
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"dotjoshjohnson.xml",
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"ms-vscode-remote.remote-containers"
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],
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"settings": {
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"python.defaultInterpreterPath": "/usr/bin/python3",
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"cmake.cmakePath": "/usr/bin/cmake",
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"[python]": {
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"editor.formatOnSave": true,
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"editor.defaultFormatter": "ms-python.python"
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}
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}
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}
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},
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"postCreateCommand": "bash -c 'source /opt/ros/jazzy/setup.bash && cd ros2_ws && colcon build --symlink-install'",
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"postStartCommand": "bash -c 'source /opt/ros/jazzy/setup.bash && if [ -f /ws/ros2_ws/install/setup.bash ]; then source /ws/ros2_ws/install/setup.bash; fi'",
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"features": {
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"ghcr.io/devcontainers/features/git:1": {}
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}
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}

‎.dockerignore‎

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‎.gitattributes‎

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# Large binary assets tracked with Git LFS so the robot runtime clone stays lean.
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# (See blueprint §11 — heavy Isaac Lab assets and CAD use LFS.)
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sim/assets/**/*.usd filter=lfs diff=lfs merge=lfs -text
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sim/assets/**/*.usdc filter=lfs diff=lfs merge=lfs -text
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hardware/**/*.step filter=lfs diff=lfs merge=lfs -text
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hardware/**/*.stp filter=lfs diff=lfs merge=lfs -text
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hardware/**/*.f3d filter=lfs diff=lfs merge=lfs -text
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hardware/**/*.kicad_pcb filter=lfs diff=lfs merge=lfs -text
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**/*.onnx filter=lfs diff=lfs merge=lfs -text
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**/*.engine filter=lfs diff=lfs merge=lfs -text
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# Normalize line endings for source.
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*.py text eol=lf
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*.cpp text eol=lf
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*.hpp text eol=lf
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*.c text eol=lf
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*.h text eol=lf
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*.sh text eol=lf

‎.github/workflows/ci.yml‎

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name: ci
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# Git holds the recipe; the registry holds the baked cake (blueprint §12).
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# This pipeline builds + lints + tests the ROS 2 workspace and publishes a
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# lean multi-arch runtime image that robots pull via Ansible.
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on:
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push:
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branches: [main]
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pull_request:
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branches: [main]
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permissions:
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contents: read
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packages: write
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jobs:
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# ── 1. Build + test the ROS 2 workspace ──
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ros2-build-test:
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runs-on: ubuntu-24.04
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container: ros:jazzy-ros-base
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steps:
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- uses: actions/checkout@v4
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- name: Install dependencies (rosdep)
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run: |
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apt-get update
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rosdep update
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rosdep install --from-paths ros2_ws/src --ignore-src -r -y
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- name: colcon build
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working-directory: ros2_ws
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run: |
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. /opt/ros/jazzy/setup.sh
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colcon build --symlink-install --event-handlers console_direct+
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- name: colcon test
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working-directory: ros2_ws
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run: |
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. /opt/ros/jazzy/setup.sh
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. install/setup.sh
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colcon test --event-handlers console_direct+
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colcon test-result --verbose
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# ── 2. Python lint (perception / localization / tooling) ──
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python-lint:
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runs-on: ubuntu-24.04
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: "3.12"
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- run: pip install ruff
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- run: ruff check ros2_ws/src sim tools
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# ── 3. Firmware build (host unit tests of the 1 kHz control math) ──
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firmware-build:
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runs-on: ubuntu-24.04
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steps:
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- uses: actions/checkout@v4
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- name: Build host-side firmware unit tests
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working-directory: firmware/motor_controller
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run: |
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cmake -S . -B build -DBUILD_HOST_TESTS=ON
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cmake --build build
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ctest --test-dir build --output-on-failure
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# ── 4. Build + push lean arm64 runtime image (only on main) ──
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docker-image:
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needs: [ros2-build-test, python-lint, firmware-build]
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if: github.ref == 'refs/heads/main'
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runs-on: ubuntu-24.04
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steps:
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- uses: actions/checkout@v4
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- uses: docker/setup-qemu-action@v3
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- uses: docker/setup-buildx-action@v3
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- name: Log in to GitHub Container Registry
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uses: docker/login-action@v3
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with:
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registry: ghcr.io
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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- name: Build + push runtime image (arm64 for Jetson)
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uses: docker/build-push-action@v6
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with:
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context: .
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file: deploy/docker/Dockerfile.runtime
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platforms: linux/arm64
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push: true
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tags: ghcr.io/${{ github.repository }}/minibot-runtime:${{ github.sha }}

‎.gitignore‎

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build/
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install/
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log/
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# Python
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# ── ROS 2 / colcon ──
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ros2_ws/build/
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ros2_ws/install/
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ros2_ws/log/
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*.colcon
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# ── Python ──
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__pycache__/
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*.pyc
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*.py[cod]
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*.egg-info/
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.eggs/
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.venv/
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venv/
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.pytest_cache/
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# C++ / build
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.mypy_cache/
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.ruff_cache/
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# ── C/C++ / firmware ──
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build/
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Debug/
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Release/
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*.o
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*.so
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# Editor / OS
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*.d
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*.su
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*.elf
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*.bin
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*.hex
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*.map
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# ── ML / sim artifacts ──
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sim/runs/
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sim/logs/
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*.onnx
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*.engine
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*.pt
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*.ckpt
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# ── DevOps / secrets ──
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*.env
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.env
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!*.env.example
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deploy/ansible/inventory.local.ini
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# ── Editors / OS ──
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.vscode/
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.idea/
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*.swp
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.DS_Store
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# ROS
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*.bag
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*.swp
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# ── Git LFS-tracked large binaries are NOT ignored; see .gitattributes ──

‎Dockerfile‎

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‎LICENSE‎

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BSD 3-Clause License
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Copyright (c) 2026, The RoboCup Humanoid Team
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

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