feat: 初始化 Go2 导航相关代码与配置

2026-10-15 09:40:29 +08:00
commit 07426fcc09
1282 changed files with 331220 additions and 0 deletions
--- a/unitree_ros2/.devcontainer/Dockerfile-foxy
+++ b/unitree_ros2/.devcontainer/Dockerfile-foxy
@@ -0,0 +1,37 @@
+FROM althack/ros2:foxy-full
+
+ENV TZ=Asia/Shanghai
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone 
+USER root
+
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.ustc.edu.cn/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2.list
+
+# install zsh and oh-my-zsh
+RUN apt update && apt install -y zsh git
+RUN wget https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh && chmod +x install.sh && ls
+RUN ./install.sh
+RUN git clone https://github.com/zsh-users/zsh-autosuggestions.git ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-autosuggestions && \
+    apt install zsh-syntax-highlighting
+
+# configure zsh
+RUN echo 'export ZSH=$HOME/.oh-my-zsh' >> ~/.zshrc && \
+    echo 'ZSH_THEME="ys"' >> ~/.zshrc && \
+    echo 'plugins=(git zsh-autosuggestions)' >> ~/.zshrc && \
+    echo 'source $ZSH/oh-my-zsh.sh' >> ~/.zshrc && \
+    echo 'source /usr/share/zsh-syntax-highlighting/zsh-syntax-highlighting.zsh' >> ~/.zshrc
+
+# # install clang tools
+# RUN wget https://apt.llvm.org/llvm.sh && chmod +x llvm.sh && ./llvm.sh 18 all
+# RUN update-alternatives --install /usr/bin/clangd clangd /usr/bin/clangd-18 100 \
+#     && update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-18 100 \
+#     && update-alternatives --install /usr/bin/clang clang /usr/bin/clang-18 100 \
+#     && update-alternatives --install /usr/bin/clang-tidy clang-tidy /usr/bin/clang-tidy-18 100 \
+#     && update-alternatives --install /usr/bin/run-clang-tidy run-clang-tidy /usr/bin/run-clang-tidy-18 100
+# ENV CC=/usr/bin/clang-18
+# ENV CXX=/usr/bin/clang++-18
+
+WORKDIR /workspace
+RUN echo "source /opt/ros/foxy/setup.sh" >> ~/.zshrc 
+RUN apt update && apt install -y ros-foxy-rmw-cyclonedds-cpp ros-foxy-rosidl-generator-dds-idl
+CMD [ "zsh" ]
--- a/unitree_ros2/.devcontainer/Dockerfile-foxy-from-ubuntu
+++ b/unitree_ros2/.devcontainer/Dockerfile-foxy-from-ubuntu
@@ -0,0 +1,21 @@
+FROM ubuntu:20.04
+
+ENV DEBIAN_FRONTEND=noninteractive \
+    ROS_DISTRO=foxy
+
+RUN sed -i 's|http://.*archive.ubuntu.com|http://mirrors.aliyun.com|g' /etc/apt/sources.list && \
+    sed -i 's|http://.*security.ubuntu.com|http://mirrors.aliyun.com|g' /etc/apt/sources.list
+
+# install ros2 
+RUN apt-get update && apt-get install -y curl gnupg2 lsb-release software-properties-common 
+
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.ustc.edu.cn/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2.list
+
+RUN apt-get update && apt-get install -y ros-${ROS_DISTRO}-desktop git vim wget
+RUN apt-get install -y cmake g++ build-essential ros-foxy-rmw-cyclonedds-cpp ros-foxy-rosidl-generator-dds-idl
+RUN apt install -y python3-colcon-common-extensions
+
+
+WORKDIR /workspace
+CMD ["bash"]
--- a/unitree_ros2/.devcontainer/Dockerfile-humble
+++ b/unitree_ros2/.devcontainer/Dockerfile-humble
@@ -0,0 +1,34 @@
+FROM althack/ros2:humble-full
+
+ENV TZ=Asia/Shanghai
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone 
+USER root
+
+# install zsh and oh-my-zsh
+RUN apt update && apt install -y zsh git
+RUN wget https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh && chmod +x install.sh && ls
+RUN ./install.sh
+RUN git clone https://github.com/zsh-users/zsh-autosuggestions.git ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-autosuggestions && \
+    apt install zsh-syntax-highlighting
+
+# configure zsh
+RUN echo 'export ZSH=$HOME/.oh-my-zsh' >> ~/.zshrc && \
+    echo 'ZSH_THEME="ys"' >> ~/.zshrc && \
+    echo 'plugins=(git zsh-autosuggestions)' >> ~/.zshrc && \
+    echo 'source $ZSH/oh-my-zsh.sh' >> ~/.zshrc && \
+    echo 'source /usr/share/zsh-syntax-highlighting/zsh-syntax-highlighting.zsh' >> ~/.zshrc
+
+# install clang tools
+RUN wget https://apt.llvm.org/llvm.sh && chmod +x llvm.sh && ./llvm.sh 18 all
+RUN update-alternatives --install /usr/bin/clangd clangd /usr/bin/clangd-18 100 \
+    && update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-18 100 \
+    && update-alternatives --install /usr/bin/clang clang /usr/bin/clang-18 100 \
+    && update-alternatives --install /usr/bin/clang-tidy clang-tidy /usr/bin/clang-tidy-18 100 \
+    && update-alternatives --install /usr/bin/run-clang-tidy run-clang-tidy /usr/bin/run-clang-tidy-18 100
+ENV CC=/usr/bin/clang-18
+ENV CXX=/usr/bin/clang++-18
+
+WORKDIR /workspace
+RUN echo "source /opt/ros/humble/setup.sh" >> ~/.zshrc 
+RUN apt update && apt install -y ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl
+CMD [ "zsh" ]
--- a/unitree_ros2/.devcontainer/devcontainer.json
+++ b/unitree_ros2/.devcontainer/devcontainer.json
@@ -0,0 +1,29 @@
+{
+	"name": "Existing Docker Compose (Extend)",
+	"dockerComposeFile": [
+		"docker-compose.yml"
+	],
+	"service": "devcontainer-humble",
+	"workspaceFolder": "/workspace",
+	"customizations": {
+		"vscode": {
+			"extensions": [
+				"gitlab.gitlab-workflow",
+				"llvm-vs-code-extensions.vscode-clangd",
+				"xaver.clang-format",
+				"ms-vscode.cmake-tools",
+				"zxh404.vscode-proto3",
+				"donjayamanne.githistory",
+				"mhutchie.git-graph",
+				"matepek.vscode-catch2-test-adapter",
+				"ryanluker.vscode-coverage-gutters",
+				"donjayamanne.python-extension-pack",
+				"adam-bender.commit-message-editor",
+				"axetroy.vscode-changelog-generator",
+				"vsliveshare.vsliveshare",
+				"bierner.markdown-mermaid",
+				"vadimcn.vscode-lldb"
+			]
+		}
+	}
+}
--- a/unitree_ros2/.devcontainer/docker-compose.yml
+++ b/unitree_ros2/.devcontainer/docker-compose.yml
@@ -0,0 +1,55 @@
+version: '3'
+services: 
+  devcontainer-humble:
+    volumes: 
+      - ..:/workspace:cached
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - /mnt/wslg:/mnt/wslg
+      - /root/.gazebo/models/:/root/.gazebo/models/
+      - /var/run/docker.sock:/var/run/docker.sock 
+      - $HOME/.Xauthority:/tmp/.Xauthority:rw
+    environment:
+      - DISPLAY=${DISPLAY}
+      - XAUTHORITY=/tmp/.Xauthority
+
+    cap_add:
+      - SYS_PTRACE  
+    command: /bin/sh -c "while sleep 1000; do :; done"
+ 
+    build:
+      context: .
+      dockerfile: Dockerfile-humble
+    # image: ros2-humble-dev:latest
+    
+    # run `cd .devcontainer/ && docker build . -t ros2-humble-dev:latest -f Dockerfile-humble` 
+    # to use the development environment, or you can build it with Dockerfile.
+    # Perhaps Unitree will provide a dockerhub image later to save you time compiling.
+    privileged: true
+    network_mode: "host"
+  devcontainer-foxy:
+    volumes: 
+      - ..:/workspace:cached
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - /mnt/wslg:/mnt/wslg
+      - /root/.gazebo/models/:/root/.gazebo/models/
+      - /var/run/docker.sock:/var/run/docker.sock 
+      - $HOME/.Xauthority:/tmp/.Xauthority:rw
+    environment:
+      - DISPLAY=${DISPLAY}
+      - XAUTHORITY=/tmp/.Xauthority
+
+    cap_add:
+      - SYS_PTRACE  
+    command: /bin/sh -c "while sleep 1000; do :; done"
+ 
+    build:
+      context: .
+      dockerfile: Dockerfile-foxy
+    # image: ros2-foxy-dev:latest
+
+    # run `cd .devcontainer/ && docker build . -t ros2-humble-dev:latest -f Dockerfile-humble` 
+    # to use the development environment, or you can build it with Dockerfile.
+    # Perhaps Unitree will provide a dockerhub image later to save you time compiling.
+
+    privileged: true
+    network_mode: "host"