althack · althack · Aug 4, 2026 · Aug 3, 2026 · Aug 4, 2026 · Aug 4, 2026
diff --git a/.devcontainer/prepare-local-features.sh b/.devcontainer/prepare-local-features.sh
@@ -6,7 +6,8 @@ repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
 local_features_dir="${repo_root}/.devcontainer/local-features"
 
 mkdir -p "${local_features_dir}"
-rm -rf "${local_features_dir}/linux-x11-forwarding" "${local_features_dir}/x11" "${local_features_dir}/wayland"
+rm -rf "${local_features_dir}/linux-x11-forwarding" "${local_features_dir}/ros2" "${local_features_dir}/x11" "${local_features_dir}/wayland"
 cp -R "${repo_root}/features/src/linux-x11-forwarding" "${local_features_dir}/linux-x11-forwarding"
+cp -R "${repo_root}/features/src/ros2" "${local_features_dir}/ros2"
 
 echo "Prepared local smoke-test features in ${local_features_dir}"
diff --git a/.devcontainer/ros2-feature-smoke/devcontainer.json b/.devcontainer/ros2-feature-smoke/devcontainer.json
@@ -0,0 +1,8 @@
+{
+  "name": "ros2-feature-smoke",
+  "image": "mcr.microsoft.com/devcontainers/base:ubuntu-24.04",
+  "features": {
+    "../local-features/ros2": {}
+  },
+  "postCreateCommand": "bash -lc 'ros2 pkg prefix rviz2 >/dev/null && command -v colcon >/dev/null && command -v rosdep >/dev/null && command -v vcs >/dev/null'"
+}
diff --git a/.github/workflows/test-pr.yaml b/.github/workflows/test-pr.yaml
@@ -18,18 +18,80 @@ jobs:
         with:
           template: "gz"
 
-  feature-tests:
+  x11-feature-tests:
     runs-on: ubuntu-latest
+    env:
+      DISPLAY: ":99"
+      XDG_RUNTIME_DIR: /tmp/devcontainers-x11-runtime
+      XAUTHORITY: /tmp/devcontainers-xauthority.test
+      PULSE_SERVER: unix:/tmp/devcontainers-x11-runtime/pulse-native
     steps:
       - uses: actions/checkout@v6
 
       - name: Install devcontainer CLI
         run: npm install --global @devcontainers/cli@0.88.0
 
-      - name: Validate feature metadata
-        run: bash features/test/test_all.sh
+      - name: Prepare X11 test environment
+        run: bash features/test/linux-x11-forwarding/prepare-host.sh
 
-      - name: Validate Feature publishing metadata
+      - name: Test X11 Feature
+        run: |
+          devcontainer features test \
+            --features linux-x11-forwarding \
+            --project-folder features
+
+  ros2-default-test:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+
+      - name: Install devcontainer CLI
+        run: npm install --global @devcontainers/cli@0.88.0
+
+      - name: Validate ROS 2 configuration
+        run: python3 features/test/ros2/validate_config.py
+
+      - name: Test ROS 2 default
+        run: |
+          devcontainer features test \
+            --base-image mcr.microsoft.com/devcontainers/base:ubuntu-24.04 \
+            --features ros2 \
+            --project-folder features \
+            --skip-scenarios
+
+  ros2-scenario-tests:
+    name: "ROS 2 ${{ matrix.scenario }}"
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        scenario:
+          - humble
+          - kilted
+          - lyrical
+    steps:
+      - uses: actions/checkout@v6
+
+      - name: Install devcontainer CLI
+        run: npm install --global @devcontainers/cli@0.88.0
+
+      - name: Test ROS 2 ${{ matrix.scenario }}
+        run: |
+          devcontainer features test \
+            --features ros2 \
+            --project-folder features \
+            --skip-autogenerated \
+            --filter "${{ matrix.scenario }}"
+
+  feature-package:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+
+      - name: Install devcontainer CLI
+        run: npm install --global @devcontainers/cli@0.88.0
+
+      - name: Package Features
         run: |
           devcontainer features package features/src \
             --output-folder "${RUNNER_TEMP}/features" \
@@ -64,36 +126,40 @@ jobs:
   complete:
     needs:
       - docs-check
-      - feature-tests
+      - feature-package
+      - x11-feature-tests
+      - ros2-default-test
+      - ros2-scenario-tests
       - smoke-test
     if: always()
     runs-on: ubuntu-latest
     steps:
       - name: Verify required jobs succeeded
         env:
           SMOKE_TEST_RESULT: ${{ needs.smoke-test.result }}
-          FEATURE_TESTS_RESULT: ${{ needs.feature-tests.result }}
+          X11_FEATURE_TESTS_RESULT: ${{ needs.x11-feature-tests.result }}
+          ROS2_DEFAULT_TEST_RESULT: ${{ needs.ros2-default-test.result }}
+          ROS2_SCENARIO_TESTS_RESULT: ${{ needs.ros2-scenario-tests.result }}
+          FEATURE_PACKAGE_RESULT: ${{ needs.feature-package.result }}
           DOCS_CHECK_RESULT: ${{ needs.docs-check.result }}
         run: |
           set -euo pipefail
 
-          echo "smoke_test: ${SMOKE_TEST_RESULT}"
-          echo "feature_tests: ${FEATURE_TESTS_RESULT}"
-          echo "docs_check: ${DOCS_CHECK_RESULT}"
-
-          if [[ "${SMOKE_TEST_RESULT}" != "success" ]]; then
-            echo "Required job 'smoke_test' did not succeed."
-            exit 1
-          fi
-
-          if [[ "${FEATURE_TESTS_RESULT}" != "success" ]]; then
-            echo "Required job 'feature_tests' did not succeed."
-            exit 1
-          fi
-
-          if [[ "${DOCS_CHECK_RESULT}" != "success" ]]; then
-            echo "Required job 'docs-check' did not succeed."
-            exit 1
-          fi
+          check_result() {
+            local job_name="$1"
+            local result="$2"
+            echo "${job_name}: ${result}"
+            if [[ "${result}" != "success" ]]; then
+              echo "Required job '${job_name}' did not succeed."
+              exit 1
+            fi
+          }
+
+          check_result "smoke-test" "${SMOKE_TEST_RESULT}"
+          check_result "x11-feature-tests" "${X11_FEATURE_TESTS_RESULT}"
+          check_result "ros2-default-test" "${ROS2_DEFAULT_TEST_RESULT}"
+          check_result "ros2-scenario-tests" "${ROS2_SCENARIO_TESTS_RESULT}"
+          check_result "feature-package" "${FEATURE_PACKAGE_RESULT}"
+          check_result "docs-check" "${DOCS_CHECK_RESULT}"
 
           echo "All required jobs completed successfully."
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
@@ -41,6 +41,154 @@
       ],
       "problemMatcher": []
     },
+    {
+      "label": "Prepare Local Features",
+      "type": "process",
+      "command": "bash",
+      "args": [
+        ".devcontainer/prepare-local-features.sh"
+      ],
+      "options": {
+        "cwd": "${workspaceFolder}"
+      },
+      "problemMatcher": []
+    },
+    {
+      "label": "Local Smoke Test ROS 2 Feature",
+      "dependsOrder": "sequence",
+      "dependsOn": [
+        "Prepare Local Features"
+      ],
+      "type": "process",
+      "command": "devcontainer",
+      "args": [
+        "up",
+        "--workspace-folder",
+        "${workspaceFolder}",
+        "--config",
+        "${workspaceFolder}/.devcontainer/ros2-feature-smoke/devcontainer.json"
+      ],
+      "options": {
+        "cwd": "${workspaceFolder}"
+      },
+      "problemMatcher": []
+    },
+    {
+      "label": "Validate ROS 2 Configuration",
+      "type": "process",
+      "command": "python3",
+      "args": [
+        "features/test/ros2/validate_config.py"
+      ],
+      "options": {
+        "cwd": "${workspaceFolder}"
+      },
+      "problemMatcher": []
+    },
+    {
+      "label": "Prepare X11 Test Environment",
+      "type": "process",
+      "command": "bash",
+      "args": [
+        "features/test/linux-x11-forwarding/prepare-host.sh"
+      ],
+      "options": {
+        "cwd": "${workspaceFolder}",
+        "env": {
+          "DISPLAY": ":99",
+          "XDG_RUNTIME_DIR": "/tmp/devcontainers-x11-runtime",
+          "XAUTHORITY": "/tmp/devcontainers-xauthority.test",
+          "PULSE_SERVER": "unix:/tmp/devcontainers-x11-runtime/pulse-native"
+        }
+      },
+      "problemMatcher": []
+    },
+    {
+      "label": "Test ROS 2 Default",
+      "dependsOrder": "sequence",
+      "dependsOn": [
+        "Validate ROS 2 Configuration"
+      ],
+      "type": "process",
+      "command": "devcontainer",
+      "args": [
+        "features",
+        "test",
+        "--base-image",
+        "mcr.microsoft.com/devcontainers/base:ubuntu-24.04",
+        "--features",
+        "ros2",
+        "--project-folder",
+        "./features",
+        "--skip-scenarios"
+      ],
+      "options": {
+        "cwd": "${workspaceFolder}"
+      },
+      "problemMatcher": []
+    },
+    {
+      "label": "Test X11 Feature",
+      "dependsOrder": "sequence",
+      "dependsOn": [
+        "Prepare X11 Test Environment"
+      ],
+      "type": "process",
+      "command": "devcontainer",
+      "args": [
+        "features",
+        "test",
+        "--features",
+        "linux-x11-forwarding",
+        "--project-folder",
+        "./features"
+      ],
+      "options": {
+        "cwd": "${workspaceFolder}",
+        "env": {
+          "DISPLAY": ":99",
+          "XDG_RUNTIME_DIR": "/tmp/devcontainers-x11-runtime",
+          "XAUTHORITY": "/tmp/devcontainers-xauthority.test",
+          "PULSE_SERVER": "unix:/tmp/devcontainers-x11-runtime/pulse-native"
+        }
+      },
+      "problemMatcher": []
+    },
+    {
+      "label": "Test ROS 2 Compatibility Matrix",
+      "dependsOrder": "sequence",
+      "dependsOn": [
+        "Validate ROS 2 Configuration"
+      ],
+      "type": "process",
+      "command": "devcontainer",
+      "args": [
+        "features",
+        "test",
+        "--features",
+        "ros2",
+        "--project-folder",
+        "./features",
+        "--skip-autogenerated"
+      ],
+      "options": {
+        "cwd": "${workspaceFolder}"
+      },
+      "problemMatcher": []
+    },
+    {
+      "label": "Test Feature Suite",
+      "dependsOn": [
+        "Test X11 Feature",
+        "Test ROS 2 Default",
+        "Test ROS 2 Compatibility Matrix"
+      ],
+      "group": {
+        "kind": "test",
+        "isDefault": true
+      },
+      "problemMatcher": []
+    },
     {
       "label": "Generate Feature Docs",
       "type": "process",

diff --git a/README.md b/README.md
@@ -14,10 +14,11 @@ Devcontainer templates repository focused on robotics and simulation.
 
 - `.devcontainer/gz-smoke/devcontainer.json`
 - `.devcontainer/linux-x11-forwarding-smoke/devcontainer.json`
+- `.devcontainer/ros2-feature-smoke/devcontainer.json`
 
 Before using the samples locally, run
 `bash .devcontainer/prepare-local-features.sh` so `devcontainer up` can resolve
-the unpublished Feature.
+the unpublished Features.
 
 On classic Xorg hosts where the authority cookie lives outside
 `XDG_RUNTIME_DIR`, add a bind mount to `/tmp/devcontainer-xauthority-host`.

diff --git a/features/src/ros2/NOTES.md b/features/src/ros2/NOTES.md
@@ -0,0 +1,32 @@
+## Supported Ubuntu releases
+
+ROS 2 deb packages target a specific Ubuntu release. Choose a compatible base
+image for the selected `distro`. The default `auto` setting selects:
+
+| ROS 2 distribution | Ubuntu release |
+|---|---|
+| Humble | 22.04 (Jammy) |
+| Jazzy | 24.04 (Noble) |
+| Kilted | 24.04 (Noble) |
+| Lyrical | 26.04 (Resolute) |
+
+The installation stops with an explanatory error when the selected ROS 2 and
+Ubuntu releases are incompatible. On Ubuntu 24.04, `auto` selects Jazzy because
+it is the long-term ROS 2 release; select Kilted explicitly if desired.
+
+The `package` option defaults to the GUI-oriented `desktop` installation. Select
+`ros-base` for a smaller installation. In both cases, the Feature installs
+`ros-dev-tools`, including common ROS development commands such as `colcon`,
+`rosdep`, and `vcs`.
+
+## Shell and workspace setup
+
+The ROS installation is sourced automatically for the existing container user.
+If the configured `workspace` contains `install/setup.sh`, that overlay is
+sourced afterward. The Feature does not create or replace the container user.
+
+ROS 2 packages installed from debs use Ubuntu's system Python. Conda or a
+separately installed Python interpreter may be incompatible with those packages.
+
+The Feature's ROS 2-to-Ubuntu compatibility data is stored in
+`distributions.json` and packaged with the Feature.