sam-devcontainer

A curated collection of devcontainer features used by SAM ROS 2.
Features are organized under the features/ directory, and prebuilt configurations are stored in the prebuild/ directory.

Each feature is self-contained and includes detailed documentation within its respective folder.

⚠️ Important: When updating a feature, always increment its version number, ideally following Semantic Versioning (SemVer). The DevContainer CLI skips publishing if a version tag already exists. Re-publishing an existing version requires manually deleting the tag from the container registry which is strongly discouraged.

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📦 Available Features

Feature	Purpose
caret	Adds CARET tooling for ROS performance analysis
clangd	Installs the clangd language server for enhanced C/C++ code completion, navigation, and diagnostics
cuda	Installs CUDA, cuDNN, and TensorRT for object detection. Versions are selected for compatibility with Pascal-based GPUs (e.g. GTX 1050Ti), such as those used in the AADC car project.
pylon	Adds support for Basler Pylon cameras
realsense	Adds support for Intel RealSense cameras
ros	Automatically installs ROS 2 based on Ubuntu version
utility	Container utilities for updating system components during build

⚠️ Currently, these features only support Debian-based distributions via apt.

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🔧 Build

The build process is automated using a GitLab CI pipeline, but you can also build manually:

🛠️ Manual Build

# publish to sam-devcontainer
CI_REGISTRY_IMAGE=sam-dev.cs.hm.edu:5023/sam-dev/sam-devcontainer

# publish to ros2/sam-devcontainer (main repo)
CI_REGISTRY_IMAGE=sam-dev.cs.hm.edu:5023/sam-dev/ros2/sam-devcontainer

# for amd64
devcontainer build \
  --workspace-folder prebuild \
  --image-name $CI_REGISTRY_IMAGE:amd64 \
  --platform linux/amd64

# for arm64
devcontainer build \
  --workspace-folder prebuild \
  --image-name $CI_REGISTRY_IMAGE:arm64 \
  --platform linux/arm64

# manually create one "latest" manifest that refereces both images
docker manifest rm $CI_REGISTRY_IMAGE:latest
docker manifest create $CI_REGISTRY_IMAGE:latest $CI_REGISTRY_IMAGE:amd64 $CI_REGISTRY_IMAGE:arm64
docker manifest annotate $CI_REGISTRY_IMAGE:latest $CI_REGISTRY_IMAGE:amd64 --os linux --arch amd64
docker manifest annotate $CI_REGISTRY_IMAGE:latest $CI_REGISTRY_IMAGE:arm64 --os linux --arch arm64
docker manifest push $CI_REGISTRY_IMAGE:latest

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🚀 Publish Features

docker login sam-dev.cs.hm.edu:5023 -u sam-devcontainer -p <redacted>
# or
export DEVCONTAINERS_OCI_AUTH="sam-dev.cs.hm.edu:5023|sam-devcontainer|<redacted>"

devcontainer features publish \
  -r sam-dev.cs.hm.edu:5023 \
  -n sam-dev/sam-devcontainer/features \
  features