alliander-opensource
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diff --git a/‎…ed/franka_arm.ros2_control.xacro.license‎ ‎.devcontainer/dev/.dev_bashrc.license‎ros2_ws/src/rcdt_franka/urdf/adapted/franka_arm.ros2_control.xacro.license renamed to .devcontainer/dev/.dev_bashrc.license b/‎…ed/franka_arm.ros2_control.xacro.license‎ ‎.devcontainer/dev/.dev_bashrc.license‎ros2_ws/src/rcdt_franka/urdf/adapted/franka_arm.ros2_control.xacro.license renamed to .devcontainer/dev/.dev_bashrc.license
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@@ -0,0 +1,4 @@
+source /opt/ros/jazzy/setup.bash
+source /rcdt/ros/install/setup.bash
+export PYTHONPATH="/rcdt/.venv/lib/python3.12/site-packages:$PYTHONPATH"
+export PATH="/rcdt/.venv/bin:$PATH"
@@ -0,0 +1,61 @@
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+FROM rcdt/robotics:base
+
+ARG REMOTE_USER
+ARG COLCON_BUILD_SEQUENTIAL
+ENV ROS_DISTRO=jazzy
+WORKDIR /rcdt/ros
+
+# Install linting tools:
+RUN apt update && apt install -y --no-install-recommends \
+    doxygen \
+    clang \
+    && rm -rf /var/lib/apt/lists/* \
+    && apt autoremove -y \
+    && apt clean  
+
+# Install MoveIt: 
+RUN apt update && apt install -y --no-install-recommends \
+    ros-$ROS_DISTRO-moveit \
+    ros-$ROS_DISTRO-moveit-servo \
+    ros-$ROS_DISTRO-moveit-visual-tools \
+    ros-$ROS_DISTRO-moveit-ros-perception \
+    ros-$ROS_DISTRO-topic-tools \
+    && rm -rf /var/lib/apt/lists/* \
+    && apt autoremove -y \
+    && apt clean
+
+# Install Nav2:
+RUN apt update && apt install -y --no-install-recommends \
+    ros-$ROS_DISTRO-nav2-simple-commander  \
+    && rm -rf /var/lib/apt/lists/* \
+    && apt autoremove -y \
+    && apt clean
+
+# Install custom msgs:
+RUN git clone --depth=1 --filter=blob:none -b v3.1.1 \
+  https://github.com/frankarobotics/franka_ros2.git src/franka_ros2 \
+  && cd src/franka_ros2 \
+  && git sparse-checkout set franka_msgs
+
+# Setup configuration files:
+COPY common/colcon_build.sh /rcdt/colcon_build.sh
+COPY .devcontainer/dev/.dev_bashrc /.dev_bashrc
+RUN echo "source /.dev_bashrc" >> /home/$REMOTE_USER/.bashrc
+
+# Copy repo packages:
+COPY rcdt_core/src/ /rcdt/ros/src
+COPY rcdt_moveit/src/ /rcdt/ros/src
+
+# Build repo packages:
+ENV DCMAKE_EXPORT_COMPILE_COMMANDS=1
+RUN /rcdt/colcon_build.sh
+
+# Install python dependencies:
+COPY pyproject.toml /rcdt/pyproject.toml
+RUN uv sync --all-groups
+
+WORKDIR /rcdt
+CMD ["sleep", "infinity"]
@@ -0,0 +1,36 @@
+//SPDX-FileCopyrightText: Alliander N. V.
+//
+//SPDX-License-Identifier: Apache-2.0
+{
+  "name": "dev",
+  "remoteUser": "ubuntu",
+  "build": {
+    "dockerfile": "Dockerfile",
+    "context": "../..",
+    "args": {
+      "REMOTE_USER": "ubuntu"
+    }
+  },
+  "workspaceMount": "source=${localWorkspaceFolder},target=/rcdt_robotics,type=bind",
+  "workspaceFolder": "/rcdt_robotics",
+  "overrideCommand": true,
+  "runArgs": [
+    "--rm"
+  ],
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-python.python",
+        "llvm-vs-code-extensions.vscode-clangd",
+        "charliermarsh.ruff",
+        "astral-sh.ty",
+        "kevinglasson.cornflakes-linter",
+        "tamasfe.even-better-toml",
+        "ms-azuretools.vscode-docker",
+        "twxs.cmake",
+        "kylinideteam.cmake-intellisence",
+        "redhat.vscode-yaml"
+      ]
+    }
+  }
+}
@@ -0,0 +1,28 @@
+# SPDX-FileCopyrightText: Alliander N. V.
+# 
+# SPDX-License-Identifier: Apache-2.0
+
+# Using NVIDIA GPU:
+DISPLAY
+NVIDIA_VISIBLE_DEVICES=all
+NVIDIA_DRIVER_CAPABILITIES=all
+
+# Colored terminal:
+RCUTILS_COLORIZED_OUTPUT=1
+
+# Set the RMW implementation to Cyclone DDS for communication with the Panther:
+RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+# Define GZ_IP to use Gazebo with firewall enabled:
+GZ_IP=127.0.0.1
+
+# Define Gazebo resource path:
+GZ_SIM_RESOURCE_PATH=/rcdt/ros/src:/rcdt/external/src
+
+# Enable usage of git repo inside container:
+GIT_CONFIG_COUNT=1
+GIT_CONFIG_KEY_0=safe.directory
+GIT_CONFIG_VALUE_0=*
+
+# Define cache location for pre-commit:
+PRE_COMMIT_HOME=/rcdt_robotics/.cache/pre-commit