Add VS Code Remote Docker dev support

.devcontainer/Dockerfile

+FROM osrf/ros:melodic-desktop-full-bionic
+
+RUN apt-get update && apt-get install -q -y \
+    openssh-client
+
+RUN echo 'source /opt/ros/melodic/setup.bash' >> /root/.bashrc
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.devcontainer/devcontainer.json

+{
+    "name": "panda_simulation-dev",
+    "dockerFile": "Dockerfile",
+    "extensions": [
+        "ms-vscode.cpptools",
+        "ms-iot.vscode-ros"
+    ],
+    "runArgs": [
+        "--cap-add=SYS_PTRACE",
+        "--security-opt",
+        "seccomp=unconfined",
+        "-v",
+        "${env:HOME}${env:USERPROFILE}/.ssh:/root/.ssh"
+    ],
+    "settings": {
+        "terminal.integrated.shell.linux": "/bin/bash"
+    },
+    "postCreateCommand": "bash /catkin_ws/src/panda_simulation/scripts/docker-setup.sh",
+    "workspaceMount": "src=/Users/pekel/code/ros/panda_simulation,dst=/catkin_ws/src/panda_simulation,type=bind,consistency=cached",
+    "workspaceFolder": "/catkin_ws"
+}
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launch/simulation.launch

@@ -40,7 +40,9 @@
     <include file="$(find panda_moveit_config)/launch/move_group.launch" >
         <arg name="load_gripper" value="$(arg load_gripper)" />
     </include>
-    <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />
+    <group if="$(arg gui)">
+        <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />
+    </group>
 
     <node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
     

scripts/docker-setup.sh

+#!/bin/bash
+
+REPOSITORY_DIR=$(pwd)
+WORKSPACE_DIR=/catkin_ws
+DEPENDENCIES_DIR=$WORKSPACE_DIR/dependencies
+APP_DIR=/root/.panda_simulation
+
+# Install libfranka
+mkdir $DEPENDENCIES_DIR && cd $DEPENDENCIES_DIR
+git clone --recursive https://github.com/frankaemika/libfranka
+cd libfranka
+git checkout 0.5.0
+git submodule update
+mkdir build && cd build
+cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=0 ..
+cmake --build . -- -j$(nproc)
+
+# Clone the franka_ros and panda_moveit_config repositories for simulating Panda robot
+cd $WORKSPACE_DIR/src
+git clone https://github.com/erdalpekel/panda_moveit_config.git
+git clone --branch simulation https://github.com/erdalpekel/franka_ros.git
+
+# Install package dependencies with rosdep
+cd $WORKSPACE_DIR
+rosdep install --from-paths src --ignore-src -y --skip-keys libfranka --skip-keys moveit_perception
+
+# Clone the Visual-Studio-Code-ROS repository into the workspace directory /catkin_ws
+cd $WORKSPACE_DIR
+git clone git@github.com:erdalpekel/Visual-Studio-Code-ROS.git
+mv Visual-Studio-Code-ROS .vscode
+
+# create app directory for config files
+mkdir $APP_DIR
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