Better env handling

build_ros/Dockerfile

@@ -9,7 +9,7 @@ RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y xserver-
 #Vulkan
 RUN apt-get update && apt-get install -y libvulkan1 mesa-vulkan-drivers vulkan-tools mesa-utils && rm -rf /var/lib/apt/lists/*
 #Utils
-RUN apt-get update && apt-get install -y gdb clang-format git ninja-build git bash-completion clangd ccls && rm -rf /var/lib/apt/lists/*
+RUN apt-get update && apt-get install -y gdb clang-format git ninja-build git bash-completion python3-pylsp clangd ccls && rm -rf /var/lib/apt/lists/*
 #Rosdeps
 RUN apt-get update && apt-get install -y ros-humble-ament-cmake ros-humble-moveit ros-humble-behaviortree-cpp-v3 ros-humble-gazebo-ros ros-humble-ros-gz-sim ros-humble-ros2-control ros-humble-gazebo-ros2-control ros-humble-ros2-controllers ros-humble-moveit-ros-control-interface && rm -rf /var/lib/apt/lists/*
 

build_ros/entrypoint.sh

@@ -29,11 +29,10 @@ if [ ! -f /home/ros/.ssh/id_rsa ]; then
 fi
 
 echo "ros:ros" | chpasswd
-su ros -c "printf 'source /opt/ros/$ROS_DISTRO/setup.bash\nsource /home/ros/workspace/install/setup.bash' > ~/.rosrc"
+su ros -c "printf 'source /opt/ros/$ROS_DISTRO/setup.bash
-printf "export DISPLAY=$DISPLAY" > /etc/profile.d/display.sh
+source /home/ros/workspace/install/setup.bash
-printf "export XAUTHORITY=$XAUTHORITY" > /etc/profile.d/xauth.sh
+export DISPLAY=$DISPLAY
-chmod +x /etc/profile.d/display.sh
+export XAUTHORITY=$XAUTHORITY' > ~/.rosrc"
-chmod +x /etc/profile.d/xauth.sh
 
 echo "Ready to connect."