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sync: main to wsl2
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@catslashbin
catslashbin authored Dec 8, 2023
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This template will get you set up using ROS2 with VSCode as your IDE.

A fork of [athackst/vscode_ros2_workspace](https://github.com/athackst/vscode_ros2_workspace) with better wsl GUI support.
A fork of [athackst/vscode_ros2_workspace](https://github.com/athackst/vscode_ros2_workspace) with better wsl2 support.

## Usage
## Setup Tutorial

### Prerequisite

Expand Down Expand Up @@ -44,10 +44,49 @@ See [docker docs](https://docs.docker.com/engine/install/).
- Windows: `wsl2` 分支
- Linux x86_64: `main` 分支

### Open the repo in vscode

1. 使用 vscode 打开本项目目录

Now that you've cloned your repo onto your computer, you can open it in VSCode (File->Open Folder).

2. 安装 vscode 插件 `Dev Container`

按下快捷键 `Ctrl+P` 调出 Vscode Quick Open，输入：
```
ext install ms-vscode-remote.remote-containers
```

3. 启动 DevContainer

按下快捷键 `Ctrl+Shift+P`，输入 `rebuild`，选择 `Dev Containers: Rebuild and Reopen in Container`

> [!NOTE]
> 请在打开 DevContainer 时关闭代理软件的 TUN 模式。否则会导致 vscode 插件无法自动安装。
4. 等待启动。第一次启动需要构筑镜像，可能会花费长达 10 分钟。

If you open a terminal inside VSCode (Terminal->New Terminal), you should see that your username has been changed to `ros`, and the bottom left green corner should say "Dev Container"

![template_container](https://user-images.githubusercontent.com/6098197/91332895-adbf1500-e781-11ea-8afc-7a22a5340d4a.png)

### Update the template with your code

1. Specify the repositories you want to include in your workspace in `src/ros2.repos` or delete `src/ros2.repos` and develop directly within the workspace.
2. If you are using a `ros2.repos` file, import the contents `Terminal->Run Task..->import from workspace file`
3. Install dependencies `Terminal->Run Task..->install dependencies`
4. (optional) Adjust scripts to your liking. These scripts are used both within tasks and CI.
* `setup.sh` The setup commands for your code. Default to import workspace and install dependencies.
* `build.sh` The build commands for your code. Default to `--merge-install` and `--symlink-install`
* `test.sh` The test commands for your code.
5. Develop!

## Optional Setup

### Configurate USB passthrough (WSL Only)

> [!TIP]
> Linux 系统不需要按照此部分操作。可直接使用 USB 设备。
若你需要在开发容器中使用 USB 设备（如工业相机、串口等），请进行以下操作。
Linux 系统不需要按照此部分操作。可直接使用 USB 设备。

> [!NOTE]
> 需要更好的解决方案。Docker Desktop 运行于一个基于 Alpine 的 WSL 镜像 `docker-desktop`，而 usbipd-win 不支持直接 attach 到 `docker-desktop` 内。[此 issue](https://github.com/dorssel/usbipd-win/issues/669) 建议安装一个单独的 Ubuntu 22.04 镜像用于接入 USB。能用但不优雅。
Expand Down Expand Up @@ -87,61 +126,32 @@ See [docker docs](https://docs.docker.com/engine/install/).
Persisted:
GUID DEVICE
```
记住你期望在 Docker 中使用的设备的 BUSID。

4. 设置默认 WSL Distro
```powershell
wsl --set-default Ubuntu-22.04
```

4. 配置穿透设备
5. 配置待穿透设备
```powershell
usbipd bind --busid=<BUSID>
usbipd attach --wsl --busid=<BUSID>
```
将你需要在 Docker 环境中使用的设备 BUSID 替换掉以上的 `<BUSID>`。例如：
**将你需要在 Docker 环境中使用的设备 BUSID 替换掉命令中的 `<BUSID>`。**
例如在上述 `usbipd list` 的输出示例中，你希望将 XiaoMi USB 2.0 Webcam 映射到 Docker 中：
```powershell
usbipd bind --busid=3-1
```

> [!TIP]
> 每次重启宿主机，你需要重新运行第 4 步。
> 每次重启宿主机，你需要重新运行第 5 步。

### Setup CUDA

在宿主机上安装普通 CUDA 即可。Docker 镜像中已内置 CUDA。
不需要安装 CUDA for WSL2 或在 WSL2 中安装 CUDA。
```powershell
winget install -e --id Nvidia.CUDA -v 11.8
```

### Open the repo in vscode

Now that you've cloned your repo onto your computer, you can open it in VSCode (File->Open Folder).

> [!NOTE]
> 请在打开 DevContainer 时关闭代理软件的 TUN 模式。否则会导致 vscode 插件无法自动安装。
When you open it for the first time, you should see a little popup that asks you if you would like to open it in a container. Say yes!

![template_vscode](https://user-images.githubusercontent.com/6098197/91332551-36898100-e781-11ea-9080-729964373719.png)

If you don't see the pop-up, click on the little green square in the bottom left corner, which should bring up the container dialog

![template_vscode_bottom](https://user-images.githubusercontent.com/6098197/91332638-5d47b780-e781-11ea-9fb6-4d134dbfc464.png)

In the dialog, select "Remote Containers: Reopen in container"

VSCode will build the dockerfile inside of `.devcontainer` for you. If you open a terminal inside VSCode (Terminal->New Terminal), you should see that your username has been changed to `ros`, and the bottom left green corner should say "Dev Container"

![template_container](https://user-images.githubusercontent.com/6098197/91332895-adbf1500-e781-11ea-8afc-7a22a5340d4a.png)

### Update the template with your code

1. Specify the repositories you want to include in your workspace in `src/ros2.repos` or delete `src/ros2.repos` and develop directly within the workspace.
2. If you are using a `ros2.repos` file, import the contents `Terminal->Run Task..->import from workspace file`
3. Install dependencies `Terminal->Run Task..->install dependencies`
4. (optional) Adjust scripts to your liking. These scripts are used both within tasks and CI.
* `setup.sh` The setup commands for your code. Default to import workspace and install dependencies.
* `build.sh` The build commands for your code. Default to `--merge-install` and `--symlink-install`
* `test.sh` The test commands for your code.
5. Develop!

Docker 镜像中已内置 CUDA。不需要进行任何手动配置。
无需安装 CUDA for WSL2 或在 WSL 中安装 CUDA。

## FAQ

Expand All @@ -151,32 +161,6 @@ VSCode will build the dockerfile inside of `.devcontainer` for you. If you open

请使用 `wsl2` 分支。使用 `main` 分支会导致无法使用 GUI。

#### I want to use vGPU

If you want to access the vGPU through WSL2, you'll need to add additional components to the `.devcontainer/devcontainer.json` file in accordance to [these directions](https://github.com/microsoft/wslg/blob/main/samples/container/Containers.md)

```jsonc
"runArgs": [
"--network=host",
"--cap-add=SYS_PTRACE",
"--security-opt=seccomp:unconfined",
"--security-opt=apparmor:unconfined",
"--volume=/tmp/.X11-unix:/tmp/.X11-unix",
"--volume=/mnt/wslg:/mnt/wslg",
"--volume=/usr/lib/wsl:/usr/lib/wsl",
"--device=/dev/dxg",
"--gpus=all"
],
"containerEnv": {
"DISPLAY": "${localEnv:DISPLAY}", // Needed for GUI try ":0" for windows
"WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
"XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
"PULSE_SERVER": "${localEnv:PULSE_SERVER}",
"LD_LIBRARY_PATH": "/usr/lib/wsl/lib",
"LIBGL_ALWAYS_SOFTWARE": "1" // Needed for software rendering of opengl
},
```

### Repos are not showing up in VS Code source control

This is likely because vscode doesn't necessarily know about other repositories unless you've added them directly.
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