feat(turtlebot3_ws): Create turtlebot3_ws

Using the `create_workspace.sh` script, and remove `minimal_pkg`

turtlebot3_ws/.devcontainer/devcontainer.json

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+/* Reference: https://aka.ms/devcontainer.json */
+{
+    "name": "TODO",
+    "dockerComposeFile": "../docker/compose.yaml",
+    "service": "turtlebot3-ws",
+    // Workspace settings
+    "workspaceFolder": "/home/ros2-essentials/turtlebot3_ws",
+    // Vscode extensions
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-vscode.cpptools",
+                "ms-vscode.cpptools-themes",
+                "twxs.cmake",
+                "donjayamanne.python-extension-pack",
+                "eamodio.gitlens",
+                "mhutchie.git-graph",
+                "streetsidesoftware.code-spell-checker",
+                "ms-iot.vscode-ros"
+            ]
+        }
+    }
+}

turtlebot3_ws/.gitignore

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+# Visual Studio Code
+.vscode
+
+# ROS2 basic directories
+/build
+/install
+/log

turtlebot3_ws/README.md

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+# turtlebot3_ws

turtlebot3_ws/docker/.bashrc

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+# Setup paths in `~/.profile` to allow unified environment variable across login/non-login shells
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/bin" ] ; then
+    PATH="$HOME/bin:$PATH"
+fi
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/.local/bin" ] ; then
+    PATH="$HOME/.local/bin:$PATH"
+fi
+# Source global ROS2 environment
+source /opt/ros/$ROS_DISTRO/setup.bash
+# Optionally perform apt update if it has not been executed yet
+if [ -z "$( ls -A '/var/lib/apt/lists' )" ]; then
+    echo "apt-get update has not been executed yet. Running sudo apt-get update..."
+    sudo apt-get update
+fi
+# Optionally perform rosdep update if it has not been executed yet
+if [ ! -d $HOME/.ros/rosdep/sources.cache ]; then
+    echo "rosdep update has not been executed yet. Running rosdep update..."
+    rosdep update
+    cd $ROS2_WS
+    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
+    rosdep install --from-paths src --ignore-src -y -r
+fi
+# Optionally build the workspace if it has not been built yet
+if [ ! -f $ROS2_WS/install/setup.bash ]; then
+    echo "Workspace has not been built yet. Building workspace..."
+    cd $ROS2_WS
+    # TODO: If command `arch` outputs `aarch64`, consider adding `--packages-ignore <package>` to ignore x86 packages
+    # Ref: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html
+    if [ $(arch) == "aarch64" ]; then
+        colcon build --symlink-install
+    else
+        colcon build --symlink-install
+    fi
+    echo "Workspace built."
+fi
+# Source gazebo environment
+# Ref: https://classic.gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros#InstallGazebo
+if [ $(arch) == "x86_64" ]; then
+  source /usr/share/gazebo/setup.bash
+fi
+# TODO: Source other workspace environments as underlay
+# Set Isaac Sim environment variables
+# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
+# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
+export OMNI_USER=admin
+export OMNI_PASS=admin
+export OMNI_KIT_ACCEPT_EULA=YES
+# Source workspace environment
+source $ROS2_WS/install/setup.bash
+echo "Successfully built workspace and configured environment variables."

turtlebot3_ws/docker/.dockerignore

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+*
+!.bashrc

turtlebot3_ws/docker/Dockerfile

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+# Base Image: https://hub.docker.com/r/osrf/ros/tags?page=1&name=humble
+FROM osrf/ros:humble-desktop-full AS amd64
+# Base Image: https://hub.docker.com/r/arm64v8/ros/tags?page=1&name=humble
+FROM arm64v8/ros:humble AS arm64
+
+# Use docker automatic platform args to select the base image.
+# It may be `arm64` or `amd64` depending on the platform.
+# Ref: https://docs.docker.com/reference/dockerfile/#automatic-platform-args-in-the-global-scope
+FROM $TARGETARCH
+ARG TARGETARCH
+
+# Arguments for the default user
+ARG USERNAME=user
+ARG USER_UID=1000
+
+# Keep downloaded packages for caching purposes
+# Ref: https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/reference.md#example-cache-apt-packages
+RUN rm -f /etc/apt/apt.conf.d/docker-clean; echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/keep-cache
+
+# Upgrade packages
+# Ref: https://pythonspeed.com/articles/security-updates-in-docker/
+# Ref: https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/reference.md#example-cache-apt-packages
+# Ref: https://github.com/moby/buildkit/issues/1673#issuecomment-1264502398
+# Ref: https://github.com/moby/buildkit/issues/1673#issuecomment-1987107404
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get upgrade -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install sudo and create a user with sudo privileges
+# Ref: https://stackoverflow.com/a/65434659
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y sudo \
+    && useradd -m -s /bin/bash -u $USER_UID -G sudo $USERNAME \
+    && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install common tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    curl \
+    git \
+    htop \
+    iputils-ping \
+    nano \
+    net-tools \
+    tmux \
+    tree \
+    unzip \
+    vim \
+    wget \
+    zip \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install Python pip
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    python3-pip \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install GUI debugging tools
+# - `x11-apps` and `x11-utils` for `xeyes` and `xdpyinfo`
+#   Ref: https://packages.debian.org/sid/x11-apps
+#   Ref: https://packages.debian.org/sid/x11-utils
+# - `mesa-utils` for `glxgears` and `glxinfo`
+#   Ref: https://wiki.debian.org/Mesa
+# - `vulkan-tools` for `vkcube` and `vulkaninfo`
+#   Ref: https://docs.vulkan.org/tutorial/latest/02_Development_environment.html#_vulkan_packages
+#   Ref: https://gitlab.com/nvidia/container-images/vulkan/-/blob/master/docker/Dockerfile.ubuntu
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    x11-apps x11-utils \
+    mesa-utils \
+    libgl1 vulkan-tools \
+    && rm -rf /var/lib/apt/lists/*
+
+# Setup the required capabilities for the container runtime
+# Ref: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/docker-specialized.html#driver-capabilities
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=all
+
+# Install Vulkan config files
+# Ref: https://gitlab.com/nvidia/container-images/vulkan
+RUN cat > /etc/vulkan/icd.d/nvidia_icd.json <<EOF
+{
+    "file_format_version" : "1.0.0",
+    "ICD": {
+        "library_path": "libGLX_nvidia.so.0",
+        "api_version" : "1.3.194"
+    }
+}
+EOF
+
+# Install ROS2 Gazebo packages for amd64
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    if [ "$TARGETARCH" = "amd64" ]; then \
+        apt-get update && apt-get install -y \
+        ros-$ROS_DISTRO-gazebo-ros-pkgs \
+        ros-$ROS_DISTRO-gazebo-ros2-control \
+        && rm -rf /var/lib/apt/lists/*; \
+    fi
+
+# Install ROS2 RVIZ and other custom ROS2 packages
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    ros-$ROS_DISTRO-rviz2 \
+    && rm -rf /var/lib/apt/lists/*
+
+USER $USERNAME
+
+# Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
+RUN mkdir /home/$USERNAME/.gazebo
+
+# Install Isaac Sim (requires Python 3.10)
+# Note that installing Isaac Sim with pip is experimental, keep this in mind when unexpected error occurs
+# TODO: Remove the note above when it is no longer experimental
+# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#installation-using-pip
+RUN --mount=type=cache,target=/home/user/.cache/pip,sharing=private \
+    if [ "$TARGETARCH" = "amd64" ]; then \
+        python3 -V | grep "Python 3.10" \
+        && pip install isaacsim==4.1.0.0 --extra-index-url https://pypi.nvidia.com \
+        && pip install isaacsim-extscache-physics==4.1.0.0 isaacsim-extscache-kit==4.1.0.0 isaacsim-extscache-kit-sdk==4.1.0.0 --extra-index-url https://pypi.nvidia.com; \
+    fi
+
+# Install custom tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    sudo apt-get update && sudo apt-get install -y \
+    git-extras \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+# TODO: Add more commands here
+COPY .bashrc /home/$USERNAME/.bashrc
+# TODO: Copy additional files here
+ENTRYPOINT []
+CMD ["/bin/bash"]

turtlebot3_ws/docker/compose.yaml

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+services:
+  volume-instantiation:
+    # Ref: https://github.com/moby/moby/issues/47842#issuecomment-2249050939
+    image: ubuntu:22.04
+    container_name: ros2-volume-instantiation
+    command: bash -c "
+        mkdir -p /isaac-sim/cache/{kit,ov,pip,glcache,computecache} &&
+        mkdir -p /isaac-sim/{logs,data,documents} &&
+        mkdir -p /isaac-sim/standalone/cache/ov &&
+        mkdir -p /isaac-sim/standalone/{logs,data} &&
+        chown -R 1000:1000 /isaac-sim"
+    volumes:
+      - isaac-sim-cache:/isaac-sim
+  turtlebot3-ws:
+    depends_on:
+      - volume-instantiation
+    build:
+      context: .
+      dockerfile: Dockerfile
+      # TODO: Specify the target platform to build the image, otherwise it will build for the host platform.
+      # Reference: https://docs.docker.com/compose/compose-file/build/#platforms
+      # platforms:
+      #   - "linux/arm64"
+    image: j3soon/ros2-turtlebot3-ws
+    container_name: ros2-turtlebot3-ws
+    stdin_open: true
+    tty: true
+    # TODO: Comment the line below if the workspace don't need to communicate through `/dev/*` devices.
+    privileged: true
+    command: /bin/bash
+    network_mode: host
+    working_dir: /home/ros2-essentials/turtlebot3_ws
+    environment:
+      # Set X11 server environment variable for existing display.
+      - DISPLAY=$DISPLAY
+      # References:
+      # - https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html
+      # - https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html
+      # - https://docs.ros.org/en/humble/Tutorials/Demos/Logging-and-logger-configuration.html#console-output-colorizing
+      - ROS_LOCALHOST_ONLY=0
+        # Localhost only is disabled by default to allow communication with external devices.
+      - ROS_DOMAIN_ID=0
+        # Domain ID is set to 0 to allow communication through ros1_bridge.
+      - RCUTILS_COLORIZED_OUTPUT=1
+      - ROS2_WS=/home/ros2-essentials/turtlebot3_ws
+      # TODO: Add more environment variables here.
+    # TODO: Uncomment the lines below to enable GPU support.
+    # # Reference: https://docs.docker.com/compose/gpu-support/
+    # deploy:
+    #   resources:
+    #     reservations:
+    #       devices:
+    #         - driver: nvidia
+    #           count: all
+    #           capabilities: [ gpu ]
+    volumes:
+      # Mount local timezone into container.
+      # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container
+      - /etc/timezone:/etc/timezone:ro
+      - /etc/localtime:/etc/localtime:ro
+      # Mount X11 server
+      - /tmp/.X11-unix:/tmp/.X11-unix
+        # X11-unix is mounted to allow GUI applications to display on host.
+      - $HOME/.Xauthority:/home/user/.Xauthority
+        # Xauthority is mounted to allow X11 forwarding for remote display.
+      # Mount Direct Rendering Infrastructure (DRI) for hardware acceleration support such as OpenGL.
+      - /dev/dri:/dev/dri
+      # Mount sound card to prevent Gazebo warning.
+      - /dev/snd:/dev/snd
+      # Mount shared memory for ROS2 communication.
+      - /dev/shm:/dev/shm
+      # TODO: Uncomment the line below and comment out the three entries above to enable USB support.
+      # - /dev:/dev
+      # Mount Gazebo models directory to reuse models downloaded during first launch.
+      # Reference: https://answers.ros.org/question/365658
+      # Note that this volume is shared among all workspaces.
+      - gazebo-cache:/home/user/.gazebo
+      # Mount Isaac Sim cache directories.
+      # Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html#container-deployment
+      # Note that this volume is shared among all workspaces.
+      - type: volume
+        source: isaac-sim-cache
+        target: /isaac-sim/kit/cache
+        volume:
+          subpath: cache/kit
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/ov
+        volume:
+          subpath: cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/cache  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/cache/ov
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/pip
+        volume:
+          subpath: cache/pip
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.cache/nvidia/GLCache
+        volume:
+          subpath: cache/glcache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nv/ComputeCache
+        volume:
+          subpath: cache/computecache
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.nvidia-omniverse/logs
+        volume:
+          subpath: logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/logs  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/logs
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/share/ov/data
+        volume:
+          subpath: data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/.local/lib/python3.10/site-packages/omni/data  # For Isaac Sim standalone
+        volume:
+          subpath: standalone/data
+      - type: volume
+        source: isaac-sim-cache
+        target: /home/user/Documents
+        volume:
+          subpath: documents
+      # TODO: Add more volume mounts here.
+      # Mount root workspace to allow easy access to all workspaces.
+      - ../..:/home/ros2-essentials
+volumes:
+  gazebo-cache:
+    name: ros2-gazebo-cache
+  isaac-sim-cache:
+    name: ros2-isaac-sim-cache