Develop

.github/workflows/turtlebot4-discovery-jazzy-dev.yml

@@ -0,0 +1,68 @@
+name: Turtlebot4 Discovery Jazzy Dev Build
+
+on:
+  workflow_dispatch:
+
+  push:
+    branches: 
+      - develop
+    paths:
+      - turtlebot4-discovery/**
+      - .github/workflows/turtlebot4-discovery-jazzy-dev.yml
+
+  pull_request:
+    branches: 
+      - develop
+    paths:
+      - turtlebot4-discovery/**
+      - .github/workflows/turtlebot4-discovery-jazzy-dev.yml
+
+
+env:
+  REGISTRY: ghcr.io
+  OWNER: collaborativeroboticslab
+  IMAGE_NAME: turtlebot4-discovery
+
+# https://docs.github.com/en/actions/using-jobs/using-concurrency
+concurrency:
+  # only cancel in-progress jobs or runs for the current workflow - matches against branch & tags
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+
+  build-and-push-image:
+    runs-on: ubuntu-latest
+
+    permissions:
+      contents: write
+      packages: write
+
+    steps:
+      - name: Remove unnecessary files
+        run: |
+          sudo rm -rf /usr/share/dotnet
+          sudo rm -rf "$AGENT_TOOLSDIRECTORY"
+
+      - name: Check out the repository
+        uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to the Container registry
+        run: |
+          docker login --username ${{ env.OWNER }} --password ${{ secrets.ACCESS_TOKEN }} ghcr.io 
+
+      - name: Build and Push
+        uses: docker/build-push-action@v5
+        with:
+          context: ./turtlebot4-discovery
+          file: turtlebot4-discovery/Dockerfile
+          platforms: linux/amd64
+          push: true
+          tags: |
+            ${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:dev

.github/workflows/turtlebot4-rviz-jazzy-dev.yml

@@ -0,0 +1,66 @@
+name: Turtlebot4 Rviz Jazzy Dev Build
+
+on:
+  workflow_dispatch:
+
+  push:
+    branches:
+      - develop
+    paths:
+      - turtlebot4-rviz/**
+      - .github/workflows/turtlebot4-rviz-jazzy-dev.yml
+
+  pull_request:
+    branches:
+      - develop
+    paths:
+      - turtlebot4-rviz/**
+      - .github/workflows/turtlebot4-rviz-jazzy-dev.yml
+
+env:
+  REGISTRY: ghcr.io
+  OWNER: collaborativeroboticslab
+  IMAGE_NAME: turtlebot4-rviz
+
+# https://docs.github.com/en/actions/using-jobs/using-concurrency
+concurrency:
+  # only cancel in-progress jobs or runs for the current workflow - matches against branch & tags
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-and-push-image:
+    runs-on: ubuntu-latest
+
+    permissions:
+      contents: write
+      packages: write
+
+    steps:
+      - name: Remove unnecessary files
+        run: |
+          sudo rm -rf /usr/share/dotnet
+          sudo rm -rf "$AGENT_TOOLSDIRECTORY"
+
+      - name: Check out the repository
+        uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to the Container registry
+        run: |
+          docker login --username ${{ env.OWNER }} --password ${{ secrets.ACCESS_TOKEN }} ghcr.io
+
+      - name: Build and Push
+        uses: docker/build-push-action@v5
+        with:
+          context: ./turtlebot4-rviz
+          file: turtlebot4-rviz/Dockerfile
+          platforms: linux/amd64
+          push: true
+          tags: |
+            ${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:dev

.github/workflows/turtlebot4-simulation-jazzy-dev.yml

@@ -0,0 +1,68 @@
+name: Turtlebot4 GZ Simulation Jazzy Dev Build
+
+on:
+  workflow_dispatch:
+
+  push:
+    branches: 
+      - develop
+    paths:
+      - turtlebot4-simulation/**
+      - .github/workflows/turtlebot4-simulation-jazzy-dev.yml
+
+  pull_request:
+    branches: 
+      - develop
+    paths:
+      - turtlebot4-simulation/**
+      - .github/workflows/turtlebot4-simulation-jazzy-dev.yml
+
+
+env:
+  REGISTRY: ghcr.io
+  OWNER: collaborativeroboticslab
+  IMAGE_NAME: turtlebot4-simulation
+
+# https://docs.github.com/en/actions/using-jobs/using-concurrency
+concurrency:
+  # only cancel in-progress jobs or runs for the current workflow - matches against branch & tags
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+
+  build-and-push-image:
+    runs-on: ubuntu-latest
+
+    permissions:
+      contents: write
+      packages: write
+
+    steps:
+      - name: Remove unnecessary files
+        run: |
+          sudo rm -rf /usr/share/dotnet
+          sudo rm -rf "$AGENT_TOOLSDIRECTORY"
+
+      - name: Check out the repository
+        uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to the Container registry
+        run: |
+          docker login --username ${{ env.OWNER }} --password ${{ secrets.ACCESS_TOKEN }} ghcr.io 
+
+      - name: Build and Push
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: turtlebot4-simulation/Dockerfile
+          platforms: linux/amd64
+          push: true
+          tags: |
+            ${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:dev

.github/workflows/turtlebot4-workspace-jazzy-dev.yml

@@ -0,0 +1,68 @@
+name: Turtlebot4 Workspace Jazzy Dev Build
+
+on:
+  workflow_dispatch:
+
+  push:
+    branches: 
+      - develop
+    paths:
+      - turtlebot4-workspace/**
+      - .github/workflows/turtlebot4-workspace-jazzy-dev.yml
+
+  pull_request:
+    branches: 
+      - develop
+    paths:
+      - turtlebot4-workspace/**
+      - .github/workflows/turtlebot4-workspace-jazzy-dev.yml
+
+
+env:
+  REGISTRY: ghcr.io
+  OWNER: collaborativeroboticslab
+  IMAGE_NAME: turtlebot4-workspace
+
+# https://docs.github.com/en/actions/using-jobs/using-concurrency
+concurrency:
+  # only cancel in-progress jobs or runs for the current workflow - matches against branch & tags
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+
+  build-and-push-image:
+    runs-on: ubuntu-latest
+
+    permissions:
+      contents: write
+      packages: write
+
+    steps:
+      - name: Remove unnecessary files
+        run: |
+          sudo rm -rf /usr/share/dotnet
+          sudo rm -rf "$AGENT_TOOLSDIRECTORY"
+
+      - name: Check out the repository
+        uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to the Container registry
+        run: |
+          docker login --username ${{ env.OWNER }} --password ${{ secrets.ACCESS_TOKEN }} ghcr.io 
+
+      - name: Build and Push
+        uses: docker/build-push-action@v5
+        with:
+          context: ./turtlebot4-workspace
+          file: turtlebot4-workspace/Dockerfile
+          platforms: linux/amd64
+          push: true
+          tags: |
+            ${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:dev

.gitignore

@@ -1,2 +1,4 @@
 turtlebot4-simulation/gazebo_data
-turtlebot4-simulation/rviz
+turtlebot4-simulation/rviz
+turtlebot4-workspace/code-server
+turtlebot4-workspace/workspace

README.md

@@ -54,11 +54,17 @@ Pull the latest docker containers
 docker compose pull
 ```
 
-Allow permission for UI interfaces from docker containers
-```bash
-# Allow local-root X11 access for GUI apps in containers
-xhost +local:root
-```
+### Workspace via code-server
+
+When the stack is up, the workspace container serves a web VS Code at http://127.0.0.1:8080.
+
+- Default password: `student` (set via `PASSWORD` in compose)
+- Workspace folder: `/workspace` (mounted from `./turtlebot4-workspace/workspace`)
+- Settings/extensions persist to:
+    - `./turtlebot4-workspace/code-server/config` → `/root/.config/code-server`
+    - `./turtlebot4-workspace/code-server/data` → `/root/.local/share/code-server`
+
+To change the password, edit the `PASSWORD` env in [compose.yaml](compose.yaml) under the `turtlebot4-workspace` service.
 
 <br>
 
@@ -78,6 +84,12 @@ Start the docker containers
 docker compose up
 ```
 
+For GUI containers (simulation, rviz), allow X11 access on the host if needed:
+```bash
+# Allow local-root X11 access for GUI apps in containers
+xhost +local:root
+```
+
 ## Using the Physical robot and remote pc
 
 ### Mapping
@@ -147,4 +159,17 @@ docker compose -f compose-physical.yaml up
 
 ## Doing custom work
 
-Copy your packages or create your pacakges within `/turtlebot4-workspace/turtle_ws/src` this folder is mounted into the workspace container and packages can be compiled and executed within the container.
+Use code-server to edit files under `/workspace` (mounted from `./turtlebot4-workspace/workspace`). We recommend creating a ROS 2 colcon workspace inside `/workspace`:
+
+```bash
+# In the code-server terminal (already sourced via ros entrypoint)
+mkdir -p /workspace/turtle_ws/src
+cd /workspace
+colcon build --merge-install
+
+# Use the overlay
+source /workspace/install/setup.bash
+ros2 pkg list
+```
+
+Place your packages in `/workspace/turtle_ws/src`, build with `colcon`, and run as usual. The code-server terminal is ROS-ready (environment is sourced by the container entrypoint).

compose-physical.yaml

@@ -1,6 +1,6 @@
 services:
   turtlebot4-rviz:
-    image: ghcr.io/collaborativeroboticslab/turtlebot4-rviz:jazzy
+    image: ghcr.io/collaborativeroboticslab/turtlebot4-rviz:dev
     command: ["ros2", "launch", "turtlebot4_viz", "view_navigation.launch.py"]
     # command: ["ros2", "launch", "turtlebot4_viz", "view_diagnostics.launch.py"]
     environment:
@@ -28,32 +28,18 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw    # GUI related
 
   turtlebot4-workspace:
-    image: ghcr.io/collaborativeroboticslab/turtlebot4-workspace:jazzy
-    command: ["/usr/local/bin/launch-terminal.sh"]
+    image: ghcr.io/collaborativeroboticslab/turtlebot4-workspace:dev
     environment:
-      - PYTHONUNBUFFERED=1                # GUI related
-      - DISPLAY                           # GUI related
-      - QT_X11_NO_MITSHM=1                # GUI related
-      - NVIDIA_VISIBLE_DEVICES=all        # GUI related
-      - NVIDIA_DRIVER_CAPABILITIES=all    # GUI related
+      - PASSWORD=student                   # code-server login
       - ROS_DOMAIN_ID=10
       - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
       - ROS_DISCOVERY_SERVER=10.42.0.1:11811
       - ROS_SUPER_CLIENT=1
       - NO_AT_BRIDGE=1
     restart: unless-stopped
-    privileged: true
-    deploy:
-      resources:
-        reservations:
-          devices:
-            - driver: nvidia
-              count: 1
-              capabilities: [gpu]
     network_mode: host
     ipc: host
     tty: true
     stdin_open: true
     volumes:
-      - /tmp/.X11-unix:/tmp/.X11-unix:rw    # GUI related
-      - ./turtlebot4-workspace/turtle_ws/src:/turtle_ws/src:rw
+      - ./turtlebot4-workspace/workspace:/workspace:rw