Python docker vscode and remote debugging

• Docker file (Dockerfile)
  • install project requirements
  • base on python 3.6

FROM python:3.6-alpine

COPY requirements.txt /tmp/requirements.txt
WORKDIR /tmp
RUN pip install -r requirements.txt

WORKDIR /project
CMD ["sh"]

• requirements.txt
  • ptvsd: version 4.1.4 (4.2.X version has issue with run debugging multiple times)

ptvsd==4.1.4

• Docker compose file base on image image: image name build: Docker file path volumes: shared project note that host folder point to current parent folder the remote path add project folder name automaticall

version: '2'

services:
  dev-image:
    image: python_36
    build: .
    ports:
      - 3000:3000
    privileged: true
    container_name: pydev
    volumes:
      - ../:/project

• vscode launch.json file

{
            "name": "Attach (Remote Debug)",
            "type": "python",
            "request": "attach",
            "port": 3000,
            "host": "localhost",
            "pathMappings": [
                {
                    "localRoot": "${workspaceFolder}",
                    "remoteRoot": "/project/"
                }
            ]
        }

• python simple example

import ptvsd
import time
import os

print("Waiting to attach")

address = ('0.0.0.0', 3000)
ptvsd.enable_attach(address)
ptvsd.wait_for_attach()

time.sleep(2)
x = 1
print(x)

run docker (tasks.json)

• start docker
  • --service-port:
  • dev-image: compose file service name
  • --name: container name

docker-compose -f docker-compose.yml run --service-ports --name devenv dev-image

• run remote application

#docker exec -it devenv python "<relative path from working directory>/simple.py"
docker exec -it devenv python "python_remote/src/simple.py"

• stop docker

docker-compose -f docker-compose.yml down

{
    "version": "2.0.0",
    "tasks": [
        {
            "label": "start_docker",
            "type": "shell",
            "options": {
                "cwd": "${workspaceFolder}/python_remote"
            },
            "command": "docker-compose -f docker-compose.yml run --service-ports --name devenv dev-image sh",
            "problemMatcher": []
        },
        {
            "label": "stop_docker",
            "type": "shell",
            "command": "docker-compose -f docker-compose.yml down",
            "options": {
                "cwd": "${workspaceFolder}/python_remote"
            },
            "problemMatcher": []
        },
        {
            "label": "run remote",
            "type": "shell",
            "command":["docker exec devenv", "python", "${relativeFile}"],
            "problemMatcher": []
        }
    ]
}

VSCode cmake and debug

VSCode build with cmake

• ctrl+shift+p -> Tasks: Configure Task

vscode open tasks.json

• Project fs structure

├── bin
├── build
├── doc
└── src
    ├── CMakeLists.txt
    └── hello.cpp
└── CMakeLists.txt

• Add three task
  • cmake: run cmake from build sub folder
  • make: run make depend on cmake
  • build: bind the above

{
    "version": "2.0.0",
    "tasks": [
        {
            "label": "cmake",
            "type": "shell",
            "options": {
                "cwd": "${workspaceRoot}/build"
            },
            "command": "cmake",
            "args": [
                ".."
            ]
        },
        {
            "label": "make",
            "type": "shell",
            "options": {
                "cwd": "${workspaceRoot}/build"
            },
            "command": "make",
            "dependsOn": "cmake"
        },
        {
            "label": "build",
            "type": "shell",
            "dependsOn": "make",
            "command": "echo",
            "group": {
                "kind": "build",
                "isDefault": true
            }
        }
    ]
}

• Note: task build command key need to be fill with some value echo

cmake files

• root cmake
  • set bin folder as binary output
  • set c++ version: set(CMAKE_CXX_STANDARD 11)

cmake_minimum_required(VERSION 3.0)
project(tutorials)

#set binary output
set(EXECUTABLE_OUTPUT_PATH ${CMAKE_SOURCE_DIR}/bin)
message(${EXECUTABLE_OUTPUT_PATH})
#set flags
set(CMAKE_CXX_STANDARD 11)
#add source directory
add_subdirectory(src)

• src

add_executable(hello hello.cpp)

Debug Task

• Control cmake settings from command line
• Add args to task
• Add option variable and if statement to cmake

Main CMakeLists.txt

• Add boolean variable control

option (MODE_DEBUG "Set debug mode" OFF)
if (MODE_DEBUG)
    message("DEBUG MODE")
    set (CMAKE_BUILD_TYPE Debug)
endif()

• Add new task to VSC with args -DMODE_DEBUG=TRUE

{
    "label": "cmake_with_debug",
    "type": "shell",
    "options": {
        "cwd": "${workspaceRoot}/build"
    },
    "command": "cmake",
    "args": [
        "..",
        "-DMODE_DEBUG=TRUE"
        ]
}

• Add VSC keybinding

{
    "key": "ctrl+shift+d",
    "command": "workbench.action.tasks.runTask",
    "args": "cmake_with_debug"
    }

Debug

launch.json

• Changed to debug mode
• From combo box -> Add configuration
  • open launch.json
• Set program to debug

"program": "${workspaceFolder}/bin/hello",

VSCode tips for ROS

Tip1 - Adding a file extension to a language

You can add new file extensions to an existing language with the files.associations setting, for example assign gazebo .world file to XML

"files.associations":{
 ".world": "xml"
}

Tip2 - use code runner to check urdf files

code runner:  Run code snippet or code file for multiple languages

• install 'Code runner' extension into vscode 
• install check_urdf (apt-get install liburdfdom-tools)
• from settings append file extension into code runner mapping
  

"code-runner.executorMapByFileExtension": { 
".urdf": "check_urdf"
} 

Tip3 - use code runner to check xacro files

ROS node xacro in package xacro convert xacro  file to urdf

rosrun xacro xacro <file_name.xacro>

The idea is to run the above command redirect the output to tmp file and then run check_urdf on it.

"files.associations":{
".xacro": "rosrun xacro xacro --inorder $fullFileName > /tmp/tmp.urdf && check_urdf /tmp/tmp.urdf"
}

code runner supported parameters

• $workspaceRoot: The path of the folder opened in VS Code
• $dir: The directory of the code file being run
• $dirWithoutTrailingSlash: The directory of the code file being run without a trailing slash
• $fullFileName: The full name of the code file being run
• $fileName: The base name of the code file being run, that is the file without the directory
• $fileNameWithoutExt: The base name of the code file being run without its extension

VSCode ROS extensions

List of nice VSCode extensions helping work with ROS

Special for ROS

• ROS (link)
• ROS snippet (link)
• URDF (link)
• Msg Language support (link)

Common but useful

• Python (link)
• XML Tools (link)
• YAML Support by Red Hat (link)