# Setup ROS 2 with VSCode and Docker on MAC

## Install XQuartz and socat
1. Install XQuartz from [website](https://www.xquartz.org) or using homebrew

brew cask install xquartz

2. Install socat

brew cask install socat

3. Run XQuartz
4. In the XQuartz preferences, go to the Security tab and make sure Allow connections from network clients is ticked.
5. Open XQuartz terminal and type the following:

defaults write org.xquartz.X11 enable_iglx -bool YES

6. Exit XQuartz

## Access docker container gui from OSX
1. Open MAC terminal and type the following:

socat TCP-LISTEN:6000,reuseaddr,fork UNIX-CLIENT:\"$DISPLAY\"

2. Run XQuartz
3. Open XQuartz terminal and type the following:

xhost +

## Open and Build Development Container
1. Install vscode and docker
2. Edit devcontainer.json

{
	"name": "osrf/ros:humble-desktop-full",
	"build": {
		"dockerfile": "Dockerfile"
	},
	"runArgs": [
		// "--cap-add=SYS_PTRACE", // Allows the container to trace processes using ptrace system call
		// "--security-opt=seccomp=unconfined", // Disables seccomp security profiles for the container
		// "--ipc=host", // Shares the host's IPC namespace with the container
		// "--network=host", // Shares the host's network namespace with the container
		// "--pid=host", // Shares the host's PID namespace with the container
		// "--privileged", // Gives the container full access to the host's devices and allows it to run with root privileges
	],
	"workspaceMount": "source=${localWorkspaceFolder},target=/root/${localWorkspaceFolderBasename},type=bind",
	"workspaceFolder": "/root/${localWorkspaceFolderBasename}",
	"containerEnv": {
		"DISPLAY": "host.docker.internal:0"
	},
	"mounts": [
		//* Uncomment to allow the container to access the X server on the host e.g. to run Rviz and other GUI tools
		{
			"source": "/tmp/.X11-unix",
			"target": "/tmp/.X11-unix",
			"type": "bind"
		},
		/*
		{
			"source": "${localEnv:XAUTHORITY:-$HOME/.Xuthority}",
			"target": "/root/.Xauthority",
			"type": "bind"
		},
		/* Uncomment to persist bash history between sessions
		{
			"source": "${localEnv:HOME}${localEnv:USERPROFILE}/.bash_history",
			"target": "/root/.bash_history",
			"type": "bind"
		}
		*/
	],
	"customizations": {
		"vscode": {
			"settings": {},
			"extensions": [
				"mhutchie.git-graph",
				// "eamodio.gitlens",
				// "donjayamanne.githistory",
				// "ms-python.vscode-pylance",
				// "ms-python.python"
				// "ms-vscode.cpptools",
				// "ms-vscode.cpptools-extension-pack"
			]
		}
	}
}

3. Edit Dockerfile

FROM osrf/ros:humble-desktop-full

SHELL [ "/bin/bash" , "-c" ]

# Upgrade all packages
RUN sudo apt update && sudo apt upgrade -y

# Install essential packages
RUN sudo apt install -y wget x11-apps python3-pip net-tools
RUN pip3 install pygame

# Create overlay workspace
# WORKDIR /root/ros_ws/src
# COPY packages.repos .

# RUN vcs import < packages.repos; \
#    cd ..; \
#    rosdep install --from-paths src --ignore-src -r -y; \
#    source /opt/ros/${ROS_DISTRO}/setup.bash; \
#    colcon build;

# Add sourcing ROS setup.bash to .bashrc
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
RUN echo "export LIBGL_ALWAYS_INDIRECT=1" >> ~/.bashrc