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By Kevin McAleer, 3 Minutes
Microsoft VSCode can connect to a remote computer, such as our Raspberry Pi, over SSH and then connect to running contains on that remote machine so that we can write, run and debug our ROS2 programs.
We will need to install some extensions first, then connect to our ROS2 container on the Raspberry Pi.
Lets install the two docker extensions on our main computer (not the Raspberry Pi), that we will use to write, run and debug code.
docker
Docker
remote
Remote - SSH
Remote Explorer
We can now connect to the Raspberry Pi 4 running our new docker container by using SSH from our main computer running VSCode.
CTRL + SHIFT + P
connect
Remote-SSH Connect to Host...
[email protected]
pi
IP Address
To find the ip address of your Pi you can type ip a from the Raspberry Pi terminal; there will be a list of all the addresses the Pi is using.
ip a
Open Folder
You can browse the remote file system and open the files we downloaded earlier
We can now connect to the running docker container that we created in step 7. We can create code from the comfort of our main computer running vscode and run code remotely on our robot. This will make the development process much simpler.
To connect to the container:
CTLR + SHIFT + `
docker exec -it docker_ros2_1 bash
Where docker_ros2_1 is the name of the running container
docker_ros2_1
To list all the running containers, type docker ps from the terminal
docker ps
🎉 Congratulations, you’ve now setup ROS2 in a container on the Raspberry Pi and connected to it from another computer running VSCode.
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