chore: Add dev container

.devcontainer/Dockerfile

@@ -0,0 +1,63 @@
+ARG ROS_DISTRO=humble
+FROM ros:$ROS_DISTRO AS base
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Install dependencies
+RUN apt-get update && apt-get install -y \
+    curl \
+    git \
+    libclang-dev \
+    tmux \
+    htop \
+    vim \
+    python3-pip \
+    python3-vcstool \
+    bash-completion
+
+ARG USERNAME=developer
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Create the user
+RUN groupadd --gid "$USER_GID" "$USERNAME" \
+    && useradd --uid "$USER_UID" --gid "$USER_GID" -m "$USERNAME" \
+    # Add sudo support
+    && apt-get update \
+    && apt-get install -y sudo \
+    && echo "$USERNAME" ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/"$USERNAME" \
+    && chmod 0440 /etc/sudoers.d/"$USERNAME"
+
+USER $USERNAME
+
+# Install Rust and the cargo-ament-build plugin
+RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain 1.74.0 -y
+ENV PATH=/home/$USERNAME/.cargo/bin:$PATH
+RUN cargo install cargo-ament-build
+# Install autocompletion for rustup and cargo
+RUN mkdir -p ~/.local/share/bash-completion/completions
+RUN rustup completions bash >> ~/.local/share/bash-completion/completions/rustup
+RUN rustup completions bash cargo >> ~/.local/share/bash-completion/completions/cargo
+
+# Install the colcon-cargo and colcon-ros-cargo plugins
+RUN pip install git+https://github.com/colcon/colcon-cargo.git git+https://github.com/colcon/colcon-ros-cargo.git
+
+# Install ros2_rust and its dependencies
+RUN mkdir -p /home/"$USERNAME"/ros_deps/src
+WORKDIR /home/$USERNAME/ros_deps
+RUN git clone https://github.com/ros2-rust/ros2_rust.git src/ros2_rust
+RUN vcs import src < src/ros2_rust/ros2_rust_humble.repos
+RUN . /opt/ros/humble/setup.sh && colcon build
+
+RUN echo "source /opt/ros/humble/setup.sh" >> /home/"$USERNAME"/.bashrc
+RUN echo "source ~/ros_deps/install/setup.sh" >> /home/"$USERNAME"/.bashrc
+
+ENV CARGO_TERM_COLOR=always
+ENV SHELL /bin/bash
+
+RUN mkdir -p /home/"$USERNAME"/workspace
+WORKDIR /home/$USERNAME/workspace
+
+COPY --chmod=777 .devcontainer/entrypoint /usr/local/bin/
+
+ENTRYPOINT ["bash", "entrypoint"]
+CMD ["/bin/bash"]

.devcontainer/devcontainer.json

@@ -0,0 +1,19 @@
+{
+  "name": "ROS2 Rust Dev Container",
+  "remoteUser": "developer",
+  "build": {
+    "context": "..",
+    "dockerfile": "Dockerfile"
+  },
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/developer/workspace,type=bind",
+  "workspaceFolder": "/home/developer/workspace",
+  "overrideCommand": true,
+  "postStartCommand": "entrypoint",
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "rust-lang.rust-analyzer"
+      ]
+    }
+  }
+}

.devcontainer/entrypoint

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+# Build the package mounted in the container
+echo "Building workspace with colcon"
+. /opt/ros/humble/setup.sh && . ~/ros_deps/install/setup.sh && colcon build
+echo "source ~/workspace/install/setup.sh" >> ~/.bashrc
+
+# Run the CMD (either the default from the Dockerfile or the one provided as docker run argument)
+exec "$@"

.gitignore

@@ -2,6 +2,11 @@
 .cargo/
 target/
 
+# Colcon
+build/
+install/
+log/
+
 # IDE
 .idea/
 .vscode/

README.md

@@ -2,18 +2,34 @@
 
 Enables `voraus.core` integration within the ROS framework.
 
-## Format the code
+## Development
+
+This repository provides a dev container to streamline the development process.
+It offers an environment where all necessary development dependencies are installed and ready-to-use.
+If you are using VSCode, the `Dev Containers` extension might be worth a shot. Other editors also have dev container
+integrations (NeoVim, IntelliJ, ...).
+However, it is still possible to use the dev container using plain docker commands.
+
+### Build the container
+
+`docker build -f .devcontainer/Dockerfile -t voraus-ros-bridge-dev .`
+
+### Run the container
+
+`docker run --rm -it --volume $(pwd):/home/developer/workspace voraus-ros-bridge-dev`
+
+### Format the code
 
 Run `cargo fmt`
 
-## Analyze the code
+### Analyze the code
 
 Run `cargo clippy`
 
-## Test the crate
+### Test the crate
 
 Run `cargo test`
 
-## Build the crate
+### Build the crate
 
 Run `cargo build`