Initial commit

.devcontainer/Dockerfile

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+FROM althack/ros2:humble-dev 
+
+# ** [Optional] Uncomment this section to install additional packages. **
+#
+# ENV DEBIAN_FRONTEND=noninteractive
+# RUN apt-get update \
+#    && apt-get -y install --no-install-recommends <your-package-list-here> \
+#    #
+#    # Clean up
+#    && apt-get autoremove -y \
+#    && apt-get clean -y \
+#    && rm -rf /var/lib/apt/lists/*
+# ENV DEBIAN_FRONTEND=dialog
+
+# Set up auto-source of workspace for ros user
+ARG WORKSPACE
+RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/ros/.bashrc

.devcontainer/devcontainer.json

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+// See https://aka.ms/vscode-remote/devcontainer.json for format details.
+{
+	"dockerFile": "Dockerfile",
+	"build": {
+		"args": {
+			"WORKSPACE": "${containerWorkspaceFolder}"
+		}
+	},
+	"remoteUser": "ros",
+	"runArgs": [
+		"--network=host",
+		"--cap-add=SYS_PTRACE",
+		"--security-opt=seccomp:unconfined",
+		"--security-opt=apparmor:unconfined",
+		"--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+		"--volume=/mnt/wslg:/mnt/wslg",
+		"--ipc=host"
+		// uncomment to use intel iGPU
+		// "--device=/dev/dri"
+	],
+	"containerEnv": {
+		"DISPLAY": "${localEnv:DISPLAY}", // Needed for GUI try ":0" for windows
+		"WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
+		"XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
+		"PULSE_SERVER": "${localEnv:PULSE_SERVER}",
+		"LIBGL_ALWAYS_SOFTWARE": "1" // Needed for software rendering of opengl
+	},
+	// Set *default* container specific settings.json values on container create.
+	"customizations": {
+		"vscode": {
+			"extensions": [
+				"althack.ament-task-provider",
+				"betwo.b2-catkin-tools",
+				"DotJoshJohnson.xml",
+				"ms-azuretools.vscode-docker",
+				"ms-iot.vscode-ros",
+				"ms-python.python",
+				"ms-vscode.cpptools",
+				"redhat.vscode-yaml",
+				"smilerobotics.urdf",
+				"streetsidesoftware.code-spell-checker",
+				"twxs.cmake",
+				"yzhang.markdown-all-in-one",
+				"zachflower.uncrustify"
+			]
+		}
+	}
+}

.devcontainer/repos_to_submodules.py

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+import glob
+import os
+import subprocess
+import yaml
+
+prefix="src"
+
+def add_git_submodule(repo_name, repo_url, repo_version):
+    subprocess.call(['git', 'submodule', 'add', '-b', repo_version, repo_url, repo_name])
+
+def is_submodule(repo_name):
+    try:
+        subprocess.check_output(['git', 'submodule', 'status', repo_name], stderr=subprocess.DEVNULL)
+        return True
+    except subprocess.CalledProcessError:
+        return False 
+
+def parse_repos_file(file_path):
+    with open(file_path, 'r') as file:
+        repos_data = yaml.safe_load(file)
+        repositories = repos_data['repositories']
+
+        for repo_name, repo_info in repositories.items():
+            if 'type' in repo_info and repo_info['type'] == 'git':
+                repo_url = repo_info['url']
+                repo_version = repo_info['version']
+                submodule_name = os.path.join(prefix, repo_name)
+
+                if not is_submodule(submodule_name):
+                    add_git_submodule(submodule_name, repo_url, repo_version)
+                    print(f"Added {repo_name} as a submodule.")
+
+# Find .repos files within the src directory
+repos_files = glob.glob('src/**/*.repos', recursive=True)
+
+# Process each .repos file
+for repos_file in repos_files:
+    parse_repos_file(repos_file)

.env

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+PYTHONPATH=src:install/lib/python3.10/site-packages

.github/actions/lint/action.yml

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+name: 'Lint'
+description: 'Lint using devcontainer'
+runs:
+  using: 'docker'
+  image: '../../../.devcontainer/Dockerfile'
+  entrypoint: ".github/actions/lint/run.sh"

.github/actions/lint/run.sh

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+#!/bin/bash
+set -e
+
+./setup.sh
+ament_${LINTER} src/

.github/actions/test/action.yml

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+name: 'Test'
+description: 'Test using devcontainer'
+runs:
+  using: 'docker'
+  image: '../../../.devcontainer/Dockerfile'
+  entrypoint: ".github/actions/test/run.sh"

.github/actions/test/run.sh

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+#!/bin/bash
+set -e
+
+./setup.sh
+./build.sh
+./test.sh

.github/dependabot.yml

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+version: 2
+updates:
+- package-ecosystem: github-actions
+  directory: "/"
+  schedule:
+    interval: daily
+  open-pull-requests-limit: 10

.github/workflows/docs.yaml

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+name: docs
+
+on:
+  release:
+  push:
+    tags:
+      - 'v*'
+  workflow_dispatch:
+
+jobs:
+  publish:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Build and push docs
+        uses: athackst/[email protected]

.github/workflows/ros.yaml

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+name: ROS
+
+on:
+  pull_request:
+  push:
+    branches: 
+      - foxy*
+      - humble*
+      - iron*
+      - main
+  workflow_dispatch:
+
+jobs:
+  test:
+    name: test
+    runs-on: ubuntu-latest
+    steps:
+      - 
+        name: Checkout code
+        uses: actions/checkout@v4
+      -
+        name: Test
+        uses: ./.github/actions/test/
+
+  lint:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [cppcheck, cpplint, uncrustify, lint_cmake, xmllint, flake8, pep257]
+    steps:
+      - 
+        name: Checkout code
+        uses: actions/checkout@v4
+      -
+        name: Run linter
+        uses: ./.github/actions/lint/
+        env: 
+          LINTER: ${{ matrix.linter }}
+
+  complete:
+    name: Tests passed
+    needs:
+      - lint
+      - test
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check
+        run: echo "Completed successfully!"

.gitignore

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+build/*
+install/*
+log/*
+site/*

.vscode/c_cpp_properties.json

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+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "/opt/ros/humble/include/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+            "cStandard": "c99",
+            "cppStandard": "c++17",
+            "intelliSenseMode": "linux-gcc-x64"
+        }
+    ],
+    "version": 4
+}

.vscode/launch.json

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+{
+  // Use IntelliSense to learn about possible attributes.
+  // Hover to view descriptions of existing attributes.
+  // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+  "version": "0.2.0",
+  "configurations": [
+    // Example launch of a python file
+    {
+      "name": "Python: Current File",
+      "type": "python",
+      "request": "launch",
+      "program": "${file}",
+      "console": "integratedTerminal",
+    },
+    // Example gdb launch of a ros executable
+    {
+      "name": "(gdb) Launch (merge-install)",
+      "type": "cppdbg",
+      "request": "launch",
+      "program": "${workspaceFolder}/install/lib/${input:package}/${input:program}",
+      "args": [],
+      "preLaunchTask": "build",
+      "stopAtEntry": true,
+      "cwd": "${workspaceFolder}",
+      "externalConsole": false,
+      "MIMode": "gdb",
+      "setupCommands": [
+        {
+          "description": "Enable pretty-printing for gdb",
+          "text": "-enable-pretty-printing",
+          "ignoreFailures": true
+        }
+      ]
+    },
+    {
+      "name": "(gdb) Launch (isolated-install)",
+      "type": "cppdbg",
+      "request": "launch",
+      "program": "${workspaceFolder}/install/${input:package}/lib/${input:package}/${input:program}",
+      "args": [],
+      "preLaunchTask": "build",
+      "stopAtEntry": true,
+      "cwd": "${workspaceFolder}",
+      "externalConsole": false,
+      "MIMode": "gdb",
+      "setupCommands": [
+        {
+          "description": "Enable pretty-printing for gdb",
+          "text": "-enable-pretty-printing",
+          "ignoreFailures": true
+        }
+      ]
+    },
+    //Example of a ROS Launch file
+    {
+      "name": "ROS: Launch File (merge-install)",
+      "type": "ros",
+      "request": "launch",
+      "preLaunchTask": "build",
+      "target": "${workspaceFolder}/install/share/${input:package}/launch/${input:ros_launch}",
+    },
+    {
+      "name": "ROS: Launch File (isolated-install)",
+      "type": "ros",
+      "request": "launch",
+      "preLaunchTask": "build",
+      "target": "${workspaceFolder}/install/${input:package}/share/${input:package}/launch/${input:ros_launch}",
+    },
+  ],
+  "inputs": [
+    {
+      "id": "package",
+      "type": "promptString",
+      "description": "Package name",
+      "default": "examples_rclcpp_minimal_publisher"
+    },
+    {
+      "id": "program",
+      "type": "promptString",
+      "description": "Program name",
+      "default": "publisher_member_function"
+    },
+    {
+      "id": "ros_launch",
+      "type": "promptString",
+      "description": "ROS launch name",
+      "default": "file_name_launch.py"
+    }
+  ]
+}