switch from theia to code-server

.devcontainer/code-server.conf

@@ -0,0 +1,13 @@
+[program:code-server]
+command=code serve-web --host 0.0.0.0 --port 3000 --without-connection-token --accept-server-license-terms
+autostart=true
+autorestart=true
+autostart=true
+autorestart=true
+stdout_logfile=/dev/stdout
+stdout_logfile_maxbytes=0
+stderr_logfile=/dev/stderr
+stderr_logfile_maxbytes=0
+user=developer
+directory=/home/developer
+environment=HOME=/home/developer,ROS_DISTRO=%(ENV_ROS_DISTRO)s

.vscode/settings.json

@@ -1,4 +1,5 @@
 {
+    "workbench.colorTheme": "Monokai",
     "fileTemplates.templates_dir": "/home/developer/templates",
     "files.associations": {
         "*.launch": "xml",
@@ -41,6 +42,7 @@
     ],
     "C_Cpp.intelliSenseCacheSize": 0,
     "C_Cpp.intelliSenseEngine": "Tag Parser",
-    "python.pythonPath": "/usr/bin/python",
-    "python.showStartPage": false
+    "python.analysis.extraPaths": [
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ]
 }

Dockerfile

@@ -56,9 +56,15 @@ RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb
 RUN sh -c 'echo "deb https://deb.nodesource.com/node_14.x `lsb_release -cs` main" > /etc/apt/sources.list.d/nodesource.list' && \
     curl -sSL https://deb.nodesource.com/gpgkey/nodesource.gpg.key | apt-key add -
 
+# vscode
+RUN curl -sSL https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > packages.microsoft.gpg && \
+    install -D -o root -g root -m 644 packages.microsoft.gpg /etc/apt/keyrings/packages.microsoft.gpg && \
+    sh -c 'echo "deb [arch=amd64,arm64,armhf signed-by=/etc/apt/keyrings/packages.microsoft.gpg] https://packages.microsoft.com/repos/code stable main" > /etc/apt/sources.list.d/vscode.list' 88 \
+    rm -f packages.microsoft.gpg
+
 # install depending packages
 RUN apt-get update && apt-get upgrade -y && \
-    apt-get install -y bash-completion less wget vim-tiny iputils-ping net-tools openssh-client git openjdk-8-jdk-headless nodejs sudo imagemagick byzanz python-dev libsecret-1-dev && \
+    apt-get install -y bash-completion less wget language-pack-en code vim-tiny iputils-ping net-tools openssh-client git openjdk-8-jdk-headless nodejs sudo imagemagick byzanz python-dev libsecret-1-dev && \
     npm install -g yarn && \
     apt-get clean
 
@@ -82,7 +88,7 @@ RUN useradd -m developer && \
 
 # install depending packages (install moveit! algorithms on the workspace side, since moveit-commander loads it from the workspace)
 RUN apt-get update && apt-get upgrade -y && \
-    apt-get install -y ros-$ROS_DISTRO-desktop ros-$ROS_DISTRO-moveit ros-$ROS_DISTRO-moveit-commander ros-$ROS_DISTRO-moveit-ros-visualization ros-$ROS_DISTRO-trac-ik ros-$ROS_DISTRO-move-base-msgs ros-$ROS_DISTRO-ros-numpy && \
+    apt-get install -y ros-$ROS_DISTRO-desktop ros-$ROS_DISTRO-gazebo-msgs ros-$ROS_DISTRO-moveit ros-$ROS_DISTRO-moveit-commander ros-$ROS_DISTRO-moveit-ros-visualization ros-$ROS_DISTRO-trac-ik ros-$ROS_DISTRO-move-base-msgs ros-$ROS_DISTRO-ros-numpy && \
     apt-get clean
 
 # install bio_ik
@@ -98,7 +104,7 @@ RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
 # configure services
 RUN mkdir -p /etc/supervisor/conf.d
 COPY .devcontainer/supervisord.conf /etc/supervisor/supervisord.conf
-COPY .devcontainer/theia.conf /etc/supervisor/conf.d/theia.conf
+COPY .devcontainer/code-server.conf /etc/supervisor/conf.d/code-server.conf
 COPY .devcontainer/jupyter.conf /etc/supervisor/conf.d/jupyter.conf
 
 COPY .devcontainer/entrypoint.sh /entrypoint.sh
@@ -140,18 +146,15 @@ RUN rosdep update
 
 # global vscode config
 ADD .vscode /home/developer/.vscode
-ADD .vscode /home/developer/.theia
+ADD .vscode /home/developer/.vscode-server
 ADD .devcontainer/compile_flags.txt /home/developer/compile_flags.txt
 ADD .devcontainer/templates /home/developer/templates
 RUN sudo chown -R developer:developer /home/developer
 
-# install theia web IDE
-COPY .devcontainer/theia-latest.package.json /home/developer/package.json
-RUN yarn --cache-folder ./ycache && rm -rf ./ycache && \
-    NODE_OPTIONS="--max_old_space_size=4096" yarn theia build && \
-    yarn theia download:plugins
-
-ENV THEIA_DEFAULT_PLUGINS local-dir:/home/developer/plugins
+RUN code --install-extension ms-vscode.cpptools-extension-pack && \
+    code --install-extension ms-python.python && \
+    code --install-extension redhat.vscode-xml && \
+    cp -r /home/developer/.vscode/extensions /home/developer/.vscode-server/extensions
 
 # enable jupyter extensions
 RUN jupyter nbextension enable hinterland/hinterland && \

README.md

@@ -6,12 +6,12 @@ Packed with:
 - Tasks definition to run catkin_make, roscore, rviz commands.
 - Preconfigured code completion for C++, Python, XML (package.xml, launchfiles, URDF, SDF).
 - Preconfigured simulation environments (Flatland, TurtleBot3, ARIAC, Virtual RobotX, UUV).
-- Bonus: WebIDE (Theia) with preconfigured C++, Python, XML completion.
+- Bonus: WebIDE (code-server) with preconfigured C++, Python, XML completion.
 
 VSCode and devcontainer running on Mac:
 ![screenshot](https://user-images.githubusercontent.com/18067/58605055-8dc84980-82d1-11e9-8ee5-dc969fcb2ae1.png)
 
-WebIDE (Theia) opened from the local browser while devcontainer is running on the remote server:
+WebIDE opened from the local browser while devcontainer is running on the remote server:
 ![screenshot-theia](https://user-images.githubusercontent.com/18067/59972289-58a8d180-95c7-11e9-86fd-7d271684e8b3.PNG)
 
 How to select simulation environment
@@ -36,7 +36,7 @@ https://github.com/devrt/simulator-index/issues
 How to use the WebIDE (recommended)
 -------------------------------------
 As of writing, docker-compose support of VSCode is not so stable on all the platforms.
-We recommend using Theia WebIDE since it has complete VSCode function support after 1.0 release.
+We recommend using code-server WebIDE since it has complete VSCode function support.
 
 1. Clone this repository:
 ```shell
@@ -140,5 +140,4 @@ License
 Code in this repository (Dockerfile, utility scripts, etc) is distributed under Apache 2.0 license.
 
 Included components are distributed under each different licenses:
-- Theia IDE: EPL or GPL
 - Jupyter notebook: BSD

docker-compose.yml

@@ -34,7 +34,6 @@ services:
     - "3002:8888"
     volumes:
     - workspace:/workspace
-    - ~/.gitconfig:/home/developer/.gitconfig
     environment:
     - DISPLAY=:0
     - ROS_MASTER_URI=http://simulator:11311/