# 1. 更新apt包索引
sudo apt update

# 2. 安裝必要的依賴(lài)包，用于添加HTTPS倉(cāng)庫(kù)支持
sudo apt install -y ca-certificates curl gnupg lsb-release

# 3. 添加Docker官方GPG密鑰以確保下載安全
sudo mkdir -p /etc/apt/keyrings
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg

# 4. 設(shè)置Docker穩(wěn)定版?zhèn)}庫(kù)源
echo \
  "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
  $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null

# 5. 再次更新apt包索引以包含新添加的倉(cāng)庫(kù)
sudo apt update

# 6. 安裝Docker引擎及相關(guān)組件
sudo apt install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin

# 創(chuàng)建docker用戶(hù)組（如果尚未創(chuàng)建）
sudo groupadd docker

# 將當(dāng)前用戶(hù)添加到docker組
sudo usermod -aG docker $USER

# 應(yīng)用組更改（無(wú)需重新登錄）
newgrp docker

docker run hello-world  # 應(yīng)該能夠無(wú)需sudo直接運(yùn)行

docker pull ghcr.io/autowarefoundation/autoware:universe-devel-20250903-amd64

~/work/autoware

cd ~/work/autoware
mkdir .devcontainer

{
  "name": "Autoware Universe Dev",
  "image": "ghcr.io/autowarefoundation/autoware:universe-devel-20250903-amd64",

  // 設(shè)置容器內(nèi)的工作目錄
  "workspaceFolder": "/home/developer/autoware",

  // 端口轉(zhuǎn)發(fā)配置，用于支持可視化工具和服務(wù)訪(fǎng)問(wèn)
  "forwardPorts": [8080, 9090, 50051],

  // 目錄掛載配置，實(shí)現(xiàn)本地與容器間文件同步
  "mounts": [
    {
      "type": "bind",
      "source": "${localWorkspaceFolder}",
      "target": "/home/developer/autoware"
    }
  ],

  // 容器創(chuàng)建后的初始化命令（可選）
  //   "postCreateCommand": "source /opt/ros/humble/setup.bash && cd /home/developer/autoware && echo 'Dev container ready!'",

  // 推薦的VS Code擴(kuò)展配置
  "customizations": {
    "vscode": {
      "extensions": [
        "ms-vscode.cpptools-extension-pack",
        "ms-vscode.cmake-tools",
        "ms-python.python",
        "ms-python.debugpy",
        "ms-python.vscode-python-envs",
        "Ranch-Hand-Robotics.rde-pack"
      ],
      "settings": {
        "terminal.integrated.defaultProfile.linux": "bash"
      }
    }
  },

  // 容器運(yùn)行參數(shù)配置
  "runArgs": [
    "--privileged", // 特權(quán)模式，用于訪(fǎng)問(wèn)GPU、串口等硬件設(shè)備
    "-e",
    "DISPLAY=${env:DISPLAY}",
    "--volume=/tmp/.X11-unix:/tmp/.X11-unix:rw"
  ],
  "postCreateCommand": "xhost +local:root"  // 允許容器內(nèi)的 GUI 應(yīng)用訪(fǎng)問(wèn)主機(jī)的 X Server
}

xhost +local:root

git clone https://github.com/autowarefoundation/autoware.git
cd autoware
mkdir src
vcs import src < autoware.repos

sudo apt update && sudo apt upgrade
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release