feat: 初始化 Go2 导航相关代码与配置

unitree_sdk2/.devcontainer/Dockerfile.devcontainer

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+FROM ubuntu:20.04
+
+ENV TZ=Asia/Shanghai
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone 
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+USER root
+
+# install zsh and oh-my-zsh
+RUN apt update && apt-get install -y git wget zsh && \
+    wget https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh && chmod +x install.sh
+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
+RUN chsh -s /bin/zsh 
+
+# install build tools
+RUN apt-get install -y build-essential gcc-9  g++-9 gdb  cmake  ninja-build
+
+RUN update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 100 \
+    && update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-9 100
+
+# install libraries
+RUN apt-get install -y libyaml-cpp-dev libeigen3-dev
+
+WORKDIR /workspace
+
+CMD ["zsh"]

unitree_sdk2/.devcontainer/devcontainer.json

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+{
+	"name": "Existing Docker Compose (Extend)",
+	"dockerComposeFile": [
+		"docker-compose.yml"
+	],
+	"service": "devcontainer",
+	"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"
+			]
+		}
+	}
+}

unitree_sdk2/.devcontainer/docker-compose.yml

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+version: '3'
+services: 
+  devcontainer: 
+    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.devcontainer 
+
+    privileged: true
+    network_mode: "host"
+