refactor(gazebo_world_ws): Sync style with latest template

gazebo_world_ws/.devcontainer/devcontainer.json

@@ -3,7 +3,7 @@
     "name": "gazebo-world-ws",
     "dockerComposeFile": "../docker/compose.yaml",
     "service": "gazebo-world-ws",
-    // workspace settings
+    // Workspace settings
     "workspaceFolder": "/home/ros2-essentials/gazebo_world_ws",
     // Vscode extensions
     "customizations": {
@@ -19,5 +19,5 @@
                 "ms-iot.vscode-ros"
             ]
         }
-    },
-}
+    }
+}

gazebo_world_ws/.gitignore

@@ -1,6 +1,7 @@
+# Visual Studio Code
 .vscode
 
 # ROS2 basic directories
 /build
 /install
-/log
+/log

gazebo_world_ws/docker/.bashrc

@@ -1,7 +1,7 @@
 # Check if the architecture is aarch64
 if [ $(arch) == "aarch64" ]; then
     echo "Architecture is aarch64, which is not supported by Gazebo. Exiting..."
-    exit
+    exit 1
 fi
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
@@ -21,8 +21,15 @@ if [ ! -f $ROS2_WS/install/setup.bash ]; then
     cd $ROS2_WS
     # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
     rosdep install --from-paths src --ignore-src -y -r
-    colcon build --symlink-install
+    # TODO: If command `arch` outputs `aarch64`, consider adding `--packages-ignore <package>` to ignore x86 packages
+    # Ref: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html
+    if [ $(arch) == "aarch64" ]; then
+        colcon build --symlink-install
+    else
+        colcon build --symlink-install
+    fi
     echo "Workspace built."
 fi
+# TODO: Source other workspace environments as underlay
 # Source workspace environment
 source $ROS2_WS/install/setup.bash

gazebo_world_ws/docker/Dockerfile

@@ -1,6 +1,6 @@
-# Base Image : https://hub.docker.com/r/osrf/ros/tags?page=1&name=humble
+# Base Image: https://hub.docker.com/r/osrf/ros/tags?page=1&name=humble
 FROM osrf/ros:humble-desktop-full AS amd64
-# Base Image : https://hub.docker.com/r/arm64v8/ros/tags?page=1&name=humble
+# Base Image: https://hub.docker.com/r/arm64v8/ros/tags?page=1&name=humble
 FROM arm64v8/ros:humble AS arm64
 
 # Use docker automatic platform args to select the base image.
@@ -86,8 +86,10 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
 #     && rm -rf /var/lib/apt/lists/*
 
 USER $USERNAME
-COPY .bashrc /home/$USERNAME/.bashrc
 # Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
 RUN mkdir /home/$USERNAME/.gazebo
+# TODO: Run additional commands as non-root user here
+COPY .bashrc /home/$USERNAME/.bashrc
+# TODO: Copy additional files here
 ENTRYPOINT []
-CMD ["/bin/bash"]
+CMD ["/bin/bash"]

gazebo_world_ws/docker/compose.yaml

@@ -1,9 +1,12 @@
-version: '3'
 services:
   gazebo-world-ws:
     build:
       context: .
       dockerfile: Dockerfile
+      # TODO: Specify the target platform to build the image, otherwise it will build for the host platform.
+      # Reference: https://docs.docker.com/compose/compose-file/build/#platforms
+      # platforms:
+      #   - "linux/arm64"
     image: j3soon/ros2-gazebo-world-ws
     container_name: ros2-gazebo-world-ws
     stdin_open: true
@@ -16,7 +19,6 @@ services:
     environment:
       # Set X11 server environment variable for existing display.
       - DISPLAY=$DISPLAY
-      # TODO: Set ros2 environment variables.
       # References:
       # - https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html
       # - https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html
@@ -27,9 +29,10 @@ services:
         # Domain ID is set to 0 to allow communication through ros1_bridge.
       - RCUTILS_COLORIZED_OUTPUT=1
       - ROS2_WS=/home/ros2-essentials/gazebo_world_ws
+      # TODO: Add more environment variables here.
     # TODO: Uncomment the lines below to enable GPU support.
+    # # Reference: https://docs.docker.com/compose/gpu-support/
     # deploy:
-    # # Reference : https://docs.docker.com/compose/gpu-support/
     #   resources:
     #     reservations:
     #       devices:
@@ -50,14 +53,17 @@ services:
       - /dev/dri:/dev/dri
       # Mount sound card to prevent Gazebo warning.
       - /dev/snd:/dev/snd
-      # Uncomment the line below and comment out the two entries above to enable USB support.
+      # Mount shared memory for ROS2 communication.
+      - /dev/shm:/dev/shm
+      # TODO: Uncomment the line below and comment out the three entries above to enable USB support.
       # - /dev:/dev
       # Mount Gazebo models directory to reuse models downloaded during first launch.
       # Reference: https://answers.ros.org/question/365658
       # Note that this volume is shared among all workspaces.
       - gazebo-cache:/home/user/.gazebo
+      # TODO: Add more volume mounts here.
       # Mount root workspace to allow easy access to all workspaces.
       - ../..:/home/ros2-essentials
 volumes:
   gazebo-cache:
-    name: ros2-gazebo-cache
+    name: ros2-gazebo-cache

tests/diff_base/docker/.bashrc

@@ -1,3 +1,4 @@
+{PLACEHOLDER_MULTILINE}
 # Source global ROS2 environment
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Optionally perform apt update if it has not been executed yet