feat(aloha_ws): Create aloha_ws

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

aloha_ws/.devcontainer/devcontainer.json

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+/* Reference: https://aka.ms/devcontainer.json */
+{
+    "name": "aloha-ws",
+    "dockerComposeFile": "../docker/compose.yaml",
+    "service": "aloha-ws",
+    // workspace settings
+    "workspaceFolder": "/home/ros2-agv-essentials/aloha_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"
+            ]
+        }
+    },
+    // Lifecycle scripts
+    "postCreateCommand": "${containerWorkspaceFolder}/.devcontainer/postCreateCommand.sh"
+}

aloha_ws/.devcontainer/postCreateCommand.sh

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+sudo apt-get update
+sudo rosdep update
+# Note: The following commands are commented out to prevent unintended install/builds.
+# sudo rosdep install --from-paths src --ignore-src -y
+# sudo chown -R user /home/ros2-agv-essentials/
+# colcon build

aloha_ws/.gitignore

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+.vscode
+
+# ROS2 basic directories
+/build
+/install
+/log
+
+# Gazebo cache
+docker/cache/*
+!docker/cache/.gazebo
+docker/cache/.gazebo/*
+!docker/cache/.gazebo/.gitkeep

aloha_ws/README.md

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+# aloha_ws

aloha_ws/docker/.bashrc

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+# Source global ROS2 environment
+source /opt/ros/$ROS_DISTRO/setup.bash
+# Source workspace environment
+# Note: If you have not built your workspace yet, the following command will fail
+source $ROS2_WS/install/setup.bash

aloha_ws/docker/.dockerignore

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+*
+!.bashrc

aloha_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
+
+LABEL org.opencontainers.image.authors="yuzhong1214@gmail.com"
+
+ARG USERNAME=user
+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 \
+    #
+    # [Optional] Add sudo support. Omit if you don't need to install software after connecting.
+    && apt-get update \
+    && apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME \
+    && rm -rf /var/lib/apt/lists/*
+RUN apt-get update && apt-get upgrade -y \
+    && rm -rf /var/lib/apt/lists/*
+RUN apt-get update && apt-get install -y python3-pip \
+    && rm -rf /var/lib/apt/lists/*
+ENV SHELL /bin/bash
+
+# ********************************************************
+# * Anything else you want to do like clean up goes here *
+# ********************************************************
+
+# Install common tools
+RUN apt-get update && apt-get install -y \
+    curl \
+    git \
+    git-extras \
+    htop \
+    net-tools \
+    tmux \
+    vim \
+    wget \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install ROS2 RVIZ and Gazebo
+RUN apt-get update && apt-get install -y \
+    ros-$ROS_DISTRO-gazebo-ros-pkgs \
+    ros-$ROS_DISTRO-rviz2 \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY .bashrc /home/$USERNAME/.bashrc
+
+# [Optional] Set the default user. Omit if you want to keep the default as root.
+USER $USERNAME
+CMD ["/bin/bash"]

aloha_ws/docker/compose.yaml

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+services:
+  aloha-ws:
+    build: .
+    image: j3soon/ros2-aloha-ws
+    container_name: ros2-aloha-ws
+    stdin_open: true
+    tty: true
+    privileged: true
+    command: /bin/bash
+    network_mode: host
+    working_dir: /home/ros2-agv-essentials/aloha_ws
+    environment:
+      - DISPLAY=${DISPLAY}
+      # Set ros2 environment variables.
+      # 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=1
+      - ROS_DOMAIN_ID=42
+      - ROS2_WS=/home/ros2-agv-essentials/aloha_ws
+      - RCUTILS_COLORIZED_OUTPUT=1
+      # If you want to access GPU, please uncomment the lines below.
+      # Reference : https://docs.docker.com/compose/gpu-support/
+      # deploy:
+      #   resources:
+      #     reservations:
+      #       devices:
+      #         - driver: nvidia
+      #           count: all
+      #           capabilities: [ gpu ]
+    volumes:
+      # Mount local timezone into container. ( Readonly )
+      # 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
+      - $HOME/.Xauthority:/home/user/.Xauthority
+      # Direct Rendering Infrastructure
+      - /dev/dri:/dev/dri
+      # Mount sound card to prevent Gazebo warning.
+      - /dev/snd:/dev/snd
+      # Mount Gazebo models directory to reuse models downloaded during first launch.
+      # Reference: https://answers.ros.org/question/365658
+      - ./cache/.gazebo:/home/user/.gazebo
+      # Mounting the following directories will forbid direct deletion.
+      # Consider mount these directories only if the build process is slow.
+      # "source=${localWorkspaceFolder}/../cache/humble/build,target=/home/ws/build,type=bind",
+      # "source=${localWorkspaceFolder}/../cache/humble/install,target=/home/ws/install,type=bind",
+      # "source=${localWorkspaceFolder}/../cache/humble/log,target=/home/ws/log,type=bind"
+      # Mount workspace
+      - ../..:/home/ros2-agv-essentials