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Doing custom work

Start either the Simulated system or the physical robot

Workspace via code-server

When the stack is up, the workspace container serves a web browser-based VS Code interface at http://127.0.0.1:8080. Use this for your development work as the environment has been configured to work with turtlebot robots.

  • Workspace folder: /workspace (mounted from ./turtlebot4-workspace/workspace)
  • Settings/extensions persist to:
    • ./turtlebot4-workspace/code-server/config → /root/.config/code-server
    • ./turtlebot4-workspace/code-server/data → /root/.local/share/code-server

Any files and folders created will be placed under the/turtlebot4-docker/turtlebot4-workspace/workspace folder. If you need to bring in work from outside, Copy the content into that folder as well.

We recommend creating a ROS 2 colcon workspace inside /workspace as shown below

# In the code-server terminal (already sourced via ros entrypoint)
mkdir -p /workspace/turtle_ws/src
cd /workspace
colcon build --merge-install

# Use the overlay
source /workspace/install/setup.bash
ros2 pkg list

Place your packages in /workspace/turtle_ws/src, build with colcon, and run as usual. The code-server terminal is ROS-ready (environment is sourced by the container entrypoint).