ROS MCP Server

FROM osrf/ros:humble-desktop # Install dev tools, ROS2 extras, git, Python and pip RUN apt-get update && apt-get install -y \ python3 \ python3-colcon-common-extensions \ python3-rosdep \ python3-vcstool \ python3-pip \ git \ build-essential \ ros-humble-rosbridge-server \ # GUI + X11/WSL2 compatibility x11-apps \ libx11-xcb1 libxcb-icccm4 libxcb-image0 libxcb-keysyms1 \ libxcb-randr0 libxcb-render-util0 libxcb-xinerama0 \ mesa-utils \ libgl1-mesa-glx \ libglu1-mesa \ libxext6 \ libxrender1 \ libxrandr2 \ libxi6 \ && rm -rf /var/lib/apt/lists/* # Ensure pip is accessible as `pip` RUN ln -sf /usr/bin/pip3 /usr/bin/pip # Initialize rosdep RUN rosdep init || true && rosdep update # Install Ruff, pre-commit, uv globally RUN pip install --no-cache-dir ruff pre-commit uv # Add non-root user for VSCode devcontainer ARG USERNAME=vscode ARG USER_UID=1000 ARG USER_GID=$USER_UID RUN groupadd --gid $USER_GID $USERNAME \ && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \ && echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME \ && chmod 0440 /etc/sudoers.d/$USERNAME # Auto-source ROS2 for all users RUN echo "source /opt/ros/humble/setup.bash" >> /etc/bash.bashrc # Set locale ENV LANG=C.UTF-8 ENV LC_ALL=C.UTF-8 # Ensure Qt apps can run ENV QT_X11_NO_MITSHM=1 ENV QT_QPA_PLATFORM=xcb ENV LIBGL_ALWAYS_SOFTWARE=1 ENV QT_XCB_GL_INTEGRATION=none # Create a workspace for the non-root user RUN mkdir -p /home/$USERNAME/workspace \ && chown -R $USERNAME:$USERNAME /home/$USERNAME/workspace # Set workspace directory WORKDIR /home/$USERNAME/workspace # Switch to non-root user by default in devcontainer USER $USERNAME # Allow pre-commit to run even if no config exists ENV PRE_COMMIT_ALLOW_NO_CONFIG=1 RUN git init . \ && pre-commit install --allow-missing-config || true