Fixing up dev container and adding build script

Still debugging issue with ament_python_install_package()

Author: jwag

.devcontainer/devcontainer.json

@@ -61,10 +61,10 @@
 				"ms-iot.vscode-ros",
 				"alefragnani.Bookmarks",
 				"ms-vscode.live-server"
-
+				
 			]
 		}
 	},
-	"workspaceMount": "source=${localWorkspaceFolder}/../,target=/workspace/src,type=bind",
-	"workspaceFolder": "/workspace/src"
+	"workspaceMount": "source=${localWorkspaceFolder}/,target=/home/ros/workspace/src/elevation_mapping_cupy/,type=bind",
+	"workspaceFolder": "/home/ros/workspace/src/elevation_mapping_cupy/"
 }

docker/Dockerfile.x64

@@ -190,7 +190,17 @@ RUN apt update && \
     && apt clean && \
     rm -rf /var/lib/apt/lists/*
 
+# Development stage
+FROM dev as dev2
+ARG WORKSPACE="/home/ros/workspace"
+
+# Print workspace to terminal
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    echo "Workspace: ${WORKSPACE}"
 
+RUN mkdir -p ${WORKSPACE}/src/elevation_mapping_cupy && chown -R ${USER_UID}:${USER_GID} /home/${USERNAME}
+RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/ros/.bashrc
+WORKDIR ${WORKSPACE}
 # Switch to non-root user
 USER $USERNAME
 

docker/build.sh

@@ -1,3 +1,22 @@
-#! /bin/bash
-home=`realpath "$(dirname "$0")"/../`
-cd $home && sudo docker build -t elevation_mapping_cupy -f docker/Dockerfile.x64 --no-cache . 
+#!/bin/bash
+set -e
+cd ~/workspace
+# Set the default build type
+source /opt/ros/$ROS_DISTRO/setup.bash
+BUILD_TYPE=RelWithDebInfo #Debug, Release, RelWithDebInfo, MinSizeRel
+colcon build \
+        --continue-on-error \
+        --parallel-workers $(nproc) \
+        --merge-install \
+        --symlink-install \
+        --event-handlers console_cohesion+ \
+        --base-paths src \
+        --cmake-args \
+                "-DCMAKE_BUILD_TYPE=$BUILD_TYPE" \
+                "-DCMAKE_EXPORT_COMPILE_COMMANDS=On" \
+                "-DBUILD_TESTING=OFF"\
+                "-DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined""\
+        -Wall -Wextra -Wpedantic -Wshadow \
+        --packages-skip \
+                convex_plane_decomposition \
+                convex_plane_decomposition_ros

docker/setup.sh

@@ -1,5 +1,5 @@
 #!/bin/bash
-cd /workspace
+cd ~/workspace
 vcs import < src/elevation_mapping_cupy/docker/src.repos src/ --recursive -w $(($(nproc)/2))
 
 sudo apt update