Added the ROS servicecall API

2 files changed, 88 insertions, 0 deletions

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
new file mode 100644
index 0000000..6992623
--- /dev/null
+++ b/.devcontainer/Dockerfile
@@ -0,0 +1,32 @@
+FROM osrf/ros:noetic-desktop-full
+
+# Add vscode user with same UID and GID as your host system
+# (copied from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user)
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && apt-get update \
+    && apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+# Switch from root to user
+USER $USERNAME
+
+# Add user to video group to allow access to webcam
+RUN sudo usermod --append --groups video $USERNAME
+
+# Update all packages
+RUN sudo apt update && sudo apt upgrade -y
+
+# Install Git
+RUN sudo apt install -y git python3-pip
+
+# Rosdep update
+RUN rosdep update
+
+RUN pip3 install jinja2 ollama geocoder requests python-dotenv parsimonious
+
+# Source the ROS setup file
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
new file mode 100644
index 0000000..53bcc43
--- /dev/null
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,56 @@
+{
+  "name": "noetic-llama devcontainer",
+  "dockerFile": "Dockerfile",
+  "runArgs": [
+    "--privileged",
+    "--network=host",
+    "-v=/dev:/dev",
+    "--privileged",
+    "--runtime=nvidia",
+    "--device-cgroup-rule" "a *:* rmw",
+    "--cap-add=SYS_PTRACE",
+    "--security-opt=seccomp:unconfined",
+    "--security-opt=apparmor:unconfined",
+    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+    "--volume=/home/agilex/.Xauthority:/home/ros/.Xauthority",
+    "--gpus=all",
+    "--env-file","apikeys.env"
+  ],
+  "containerEnv": {
+    "DISPLAY": ":0",
+    "LIBGL_ALWAYS_SOFTWARE": "1" // Needed for software rendering of opengl
+  },
+  "workspaceMount": "source=${localWorkspaceFolder},target=/${localWorkspaceFolderBasename},type=bind",
+  "workspaceFolder": "/${localWorkspaceFolderBasename}",
+  "mounts": [
+    "source=${localEnv:HOME}${localEnv:USERPROFILE}/.bash_history,target=/home/vscode/.bash_history,type=bind"
+  ],
+  "features": {
+    "ghcr.io/devcontainers/features/python:1": {}
+  },
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "dotjoshjohnson.xml",
+        "zachflower.uncrustify",
+        "ms-azuretools.vscode-docker",
+        "ms-iot.vscode-ros",
+        "ms-python.python",
+        "ms-vscode.cpptools",
+        "redhat.vscode-yaml",
+        "smilerobotics.urdf",
+        "streetsidesoftware.code-spell-checker",
+        "twxs.cmake",
+        "yzhang.markdown-all-in-one"
+      ]
+    },
+    "settings": {
+      "terminal.integrated.profiles.linux": {
+        "bash": {
+          "path": "bash"
+        }
+      },
+      "terminal.integrated.defaultProfile.linux": "bash"
+    }
+  }
+}