Configure ROS 2 shell integration and tests

.github/workflows/test-pr.yaml

@@ -124,6 +124,7 @@ jobs:
           - osrf_ros
           - upstream_ros
           - workspace_overlay
+          - shells
     steps:
       - uses: actions/checkout@v6
 

features/src/ros2/install.sh

@@ -164,16 +164,26 @@ chmod 0644 /etc/profile.d/ros2.sh
 
 remote_user="${_REMOTE_USER:-${_CONTAINER_USER:-}}"
 remote_user_home="${_REMOTE_USER_HOME:-${_CONTAINER_USER_HOME:-}}"
+ros_profile_line='[ -f /etc/profile.d/ros2.sh ] && . /etc/profile.d/ros2.sh'
+
 if [[ -n "${remote_user}" && -n "${remote_user_home}" && -d "${remote_user_home}" ]]; then
-    shell_init="${remote_user_home}/.bashrc"
-    touch "${shell_init}"
-    if ! grep -Fq '[ -f /etc/profile.d/ros2.sh ] && . /etc/profile.d/ros2.sh' "${shell_init}"; then
-        printf '\n%s\n' '[ -f /etc/profile.d/ros2.sh ] && . /etc/profile.d/ros2.sh' >> "${shell_init}"
+    shell_inits=("${remote_user_home}/.bashrc")
+    if command -v zsh >/dev/null 2>&1; then
+        shell_inits+=("${remote_user_home}/.zshrc")
     fi
-    if ! grep -Fq '[ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ] && . /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash' "${shell_init}"; then
-        printf '%s\n' '[ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ] && . /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash' >> "${shell_init}"
+    for shell_init in "${shell_inits[@]}"; do
+        touch "${shell_init}"
+        if ! grep -Fq "${ros_profile_line}" "${shell_init}"; then
+            printf '\n%s\n' "${ros_profile_line}" >> "${shell_init}"
+        fi
+        chown "${remote_user}:$(id -gn "${remote_user}")" "${shell_init}"
+    done
+
+    bash_completion_line='[ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ] && . /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash'
+    bash_init="${remote_user_home}/.bashrc"
+    if ! grep -Fq "${bash_completion_line}" "${bash_init}"; then
+        printf '%s\n' "${bash_completion_line}" >> "${bash_init}"
     fi
-    chown "${remote_user}:$(id -gn "${remote_user}")" "${shell_init}"
 else
     echo "No effective Dev Container user was provided; skipping user-specific shell configuration."
 fi

features/test/ros2-idempotency/Dockerfile

@@ -15,4 +15,5 @@ RUN bash -lc 'test "${ROS_DISTRO}" = jazzy' \
     && sudo -u vscode bash -ic 'complete -p colcon >/dev/null' \
     && test -f /etc/ros/rosdep/sources.list.d/20-default.list \
     && test "$(grep -Fc '[ -f /etc/profile.d/ros2.sh ] && . /etc/profile.d/ros2.sh' /home/vscode/.bashrc)" -eq 1 \
+    && test "$(grep -Fc '[ -f /etc/profile.d/ros2.sh ] && . /etc/profile.d/ros2.sh' /home/vscode/.zshrc)" -eq 1 \
     && test "$(grep -Fc '[ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ] && . /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash' /home/vscode/.bashrc)" -eq 1

features/test/ros2/scenarios.json

@@ -36,5 +36,15 @@
   "workspace_overlay": {
     "image": "mcr.microsoft.com/devcontainers/base:ubuntu-24.04",
     "features": { "ros2": { "package": "ros-base", "workspace": "/tmp/ros2_overlay" } }
+  },
+  "shells": {
+    "image": "mcr.microsoft.com/devcontainers/base:ubuntu-24.04",
+    "features": {
+      "ros2": {
+        "distro": "jazzy",
+        "package": "ros-base",
+        "workspace": "/tmp/ros2_shell_overlay"
+      }
+    }
   }
 }

features/test/ros2/shells.sh

@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+
+set -e
+source dev-container-features-test-lib
+
+mkdir -p /tmp/ros2_shell_overlay/install
+printf '%s\n' 'export ROS2_SHELL_OVERLAY_TEST=loaded' > /tmp/ros2_shell_overlay/install/setup.sh
+
+check "Bash ROS CLI is available" bash -lc 'command -v ros2 >/dev/null'
+check "Bash ROS distribution is available" bash -lc '[ "${ROS_DISTRO:-}" = "jazzy" ]'
+check "Bash workspace overlay is sourced" bash -lc '[ "${ROS2_SHELL_OVERLAY_TEST:-}" = loaded ]'
+check "Zsh ROS CLI is available" zsh -ic 'command -v ros2 >/dev/null'
+check "Zsh ROS distribution is available" zsh -ic '[ "${ROS_DISTRO:-}" = "jazzy" ]'
+check "Zsh workspace overlay is sourced" zsh -ic '[ "${ROS2_SHELL_OVERLAY_TEST:-}" = loaded ]'
+check "Bash colcon completion is enabled" bash -ic 'complete -p colcon >/dev/null'
+
+reportResults