Hybrid ROS 1 / ROS 2 devcontainer (#18)

**Public-Facing Changes**

**Description**
Use a single devcontainer.json that contains ROS 1 noetic and ROS 2
galactic in Ubuntu 20.04. Fixes
#17

.devcontainer/Dockerfile

@@ -0,0 +1,43 @@
+FROM ros:noetic-ros-core
+
+# Install system dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends \
+  build-essential \
+  clang-format \
+  curl \
+  git \
+  gnupg \
+  libasio-dev \
+  libssl-dev \
+  libwebsocketpp-dev \
+  lsb-release \
+  nlohmann-json3-dev \
+  python3-colcon-common-extensions \
+  python3-pip \
+  python3-rosdep \
+  python3-rosinstall \
+  python3-rosinstall-generator \
+  python3-wstool \
+  && rm -rf /var/lib/apt/lists/*
+
+# Authorize the ROS 2 GPG key and add the ROS 2 apt repository
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources.list.d/ros2.list
+
+# Install ROS 2
+RUN apt-get update && apt-get install -y --no-install-recommends \
+  ros-galactic-ros-core \
+  && rm -rf /var/lib/apt/lists/*
+
+SHELL ["/bin/bash", "-c"]
+
+# Create a ROS workspace
+RUN mkdir -p /ros_ws/src/ros-foxglove-bridge
+
+# Unset the ROS_DISTRO and add aliases to .bashrc
+RUN echo $'\
+unset ROS_DISTRO\n\
+alias ros2_build_debug="colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug"\n\
+alias ros2_build_release="colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"\n\
+alias ros2_foxglove_bridge="source /ros_ws/install/setup.bash && ros2 run foxglove_bridge foxglove_bridge --ros-args --log-level debug"\n\
+' >> ~/.bashrc

.devcontainer/devcontainer.json

@@ -1,18 +1,10 @@
 // -*- jsonc -*-
 {
-  // ROS 2 dev environment
-  "name": "ROS 2",
-  "workspaceFolder": "/ros2_ws/src/ros-foxglove-bridge",
-  "workspaceMount": "source=${localWorkspaceFolder},target=/ros2_ws/src/ros-foxglove-bridge,type=bind,consistency=cached",
-  "dockerFile": "./Dockerfile.ros2",
-
-  // ROS 1 dev environment
-  // "name": "ROS 1",
-  // "workspaceFolder": "/ros1_ws/src/ros-foxglove-bridge",
-  // "workspaceMount": "source=${localWorkspaceFolder},target=/ros1_ws/src/ros-foxglove-bridge,type=bind,consistency=cached",
-  // "dockerFile": "./Dockerfile.ros1",
-
-  // Shared configuration between ROS 1 and ROS 2 environments
+  // ROS 1 / ROS 2 hybrid dev environment
+  "name": "ROS 1 + 2",
+  "workspaceFolder": "/ros_ws/src/ros-foxglove-bridge",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/ros_ws/src/ros-foxglove-bridge,type=bind,consistency=cached",
+  "dockerFile": "./Dockerfile",
   "context": "..",
   "forwardPorts": [
     8765

.vscode/c_cpp_properties.json

@@ -5,13 +5,15 @@
       "name": "Linux",
       "includePath": [
         "${workspaceFolder}/**",
-        "/opt/ros/${env:ROS_DISTRO}/include/**",
+        "/opt/ros/galactic/include/**",
+        "/opt/ros/noetic/include/**",
         "/usr/include/**"
       ],
       "browse": {
         "path": [
           "${workspaceFolder}",
-          "/opt/ros/${env:ROS_DISTRO}/include",
+          "/opt/ros/galactic/include",
+          "/opt/ros/noetic/include",
           "/usr/include"
         ]
       },

Makefile

@@ -28,9 +28,9 @@ humble:
 rolling:
 	docker build -t foxglove_bridge_rolling -f Dockerfile.ros2 --build-arg ROS_DISTRIBUTION=rolling .
 
-.PHONY: ros2dev
-ros2dev:
-	docker build -t foxglove_bridge_ros2dev -f .devcontainer/Dockerfile.ros2 .
+.PHONY: rosdev
+rosdev:
+	docker build -t foxglove_bridge_rosdev -f .devcontainer/Dockerfile .
 
 clean:
 	docker rmi -f foxglove_bridge_ros1
@@ -40,7 +40,7 @@ clean:
 	docker rmi -f foxglove_bridge_galactic
 	docker rmi -f foxglove_bridge_humble
 	docker rmi -f foxglove_bridge_rolling
-	docker rmi -f foxglove_bridge_ros2dev
+	docker rmi -f foxglove_bridge_rosdev
 
 .PHONY: melodic-test
 melodic-test: melodic
@@ -63,5 +63,5 @@ rolling-test: rolling
 	docker run -t --rm foxglove_bridge_rolling colcon test --event-handlers console_cohesion+
 
 .PHONY: lint
-lint: ros2dev
-	docker run -t --rm -v $(CURDIR):/src foxglove_bridge_ros2dev python3 /src/scripts/format.py /src
+lint: rosdev
+	docker run -t --rm -v $(CURDIR):/src foxglove_bridge_rosdev python3 /src/scripts/format.py /src