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Robotic-Decision-Making-Lab · Jun 10, 2024 · f97c1ab · f97c1ab
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diff --git a/.clang-format b/.clang-format
@@ -0,0 +1,27 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+ColumnLimit: 100
+MaxEmptyLinesToKeep: 1
+
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+PackConstructorInitializers: Never
+
+# Configure brace wrapping cases
+BreakBeforeBraces: Custom
+BraceWrapping:
+  AfterClass: true
+  AfterEnum: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+  AfterUnion: true
+  BeforeCatch: true
diff --git a/.clang-tidy b/.clang-tidy
@@ -0,0 +1,80 @@
+---
+Checks: >
+  -*,
+  abseil-*,
+  bugprone-*,
+  google-*,
+  misc-*,
+  modernize-*,
+  performance-*,
+  portability-*,
+  readability-*,
+  -google-readability-braces-around-statements,
+  -google-readability-namespace-comments,
+  -google-runtime-references,
+  -misc-non-private-member-variables-in-classes,
+  -modernize-return-braced-init-list,
+  -modernize-use-trailing-return-type,
+  -readability-braces-around-statements,
+  -readability-identifier-length,
+  -readability-magic-numbers,
+  -readability-named-parameter,
+  -readability-redundant-declaration,
+  -readability-function-cognitive-complexity,
+  -bugprone-narrowing-conversions,
+  -bugprone-easily-swappable-parameters,
+  -bugprone-implicit-widening-of-multiplication-result,
+  -clang-diagnostic-error,
+  -bugprone-exception-escape
+WarningsAsErrors: "*"
+CheckOptions:
+  - key: readability-braces-around-statements.ShortStatementLines
+    value: "2"
+  - key: readability-identifier-naming.NamespaceCase
+    value: lower_case
+  - key: readability-identifier-naming.ClassCase
+    value: CamelCase
+  - key: readability-identifier-naming.StructCase
+    value: CamelCase
+  - key: readability-identifier-naming.TemplateParameterCase,
+    value: CamelCase,
+  - key: readability-identifier-naming.FunctionCase
+    value: camelBack
+  - key: readability-identifier-naming.MethodCase
+    value: camelBack
+  - key: readability-identifier-naming.VariableCase
+    value: lower_case
+  - key: readability-identifier-naming.ClassMemberCase
+    value: lower_case
+  - key: readability-identifier-naming.ClassMemberSuffix
+    value: _
+  - key: readability-identifier-naming.PrivateMemberSuffix
+    value: _
+  - key: readability-identifier-naming.ProtectedMemberSuffix
+    value: _
+  - key: readability-identifier-naming.EnumConstantCase
+    value: CamelCase
+  - key: readability-identifier-naming.EnumConstantPrefix
+    value: k
+  - key: readability-identifier-naming.ConstexprVariableCase
+    value: CamelCase
+  - key: readability-identifier-naming.ConstexprVariablePrefix
+    value: k
+  - key: readability-identifier-naming.GlobalConstantCase
+    value: CamelCase
+  - key: readability-identifier-naming.GlobalConstantPrefix
+    value: k
+  - key: readability-identifier-naming.MemberConstantCase
+    value: CamelCase
+  - key: readability-identifier-naming.MemberConstantPrefix
+    value: k
+  - key: readability-identifier-naming.StaticConstantCase
+    value: CamelCase
+  - key: readability-identifier-naming.StaticConstantPrefix
+    value: k
+  - key: readability-implicit-bool-conversion.AllowIntegerConditions
+    value: 1
+  - key: readability-implicit-bool-conversion.AllowPointerConditions
+    value: 1
+  - key: readability-function-cognitive-complexity.IgnoreMacros
+    value: 1
diff --git a/.devcontainer/nouveau/Dockerfile b/.devcontainer/nouveau/Dockerfile
@@ -0,0 +1,29 @@
+FROM ghcr.io/robotic-decision-making-lab/ros-template:noetic-desktop
+
+# Install ROS dependencies
+# This is done in a previous stage, but we include it again here in case anyone wants to
+# add new dependencies during development
+ENV USERNAME=ros
+ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
+WORKDIR $USER_WORKSPACE
+
+COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
+
+RUN ls src/$PROJECT_NAME
+
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
+    && rosdep update \
+    && rosdep install -y --from-paths . --ignore-src -r --rosdistro ${ROS_DISTRO} \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+# Install debugging/linting Python packages
+COPY --chown=$USER_UID:$USER_GID requirements-dev.txt .
+RUN python3 -m pip install -r requirements-dev.txt \
+    && rm -rf requirements-dev.txt
+
+# Disable the setuputils installation warning
+# This prevents us from needing to pin the setuputils version (which doesn't always work)
+ENV PYTHONWARNINGS="ignore"
diff --git a/.devcontainer/nouveau/devcontainer.json b/.devcontainer/nouveau/devcontainer.json
@@ -0,0 +1,41 @@
+{
+  "name": "ROS Dev Container",
+  "dockerFile": "Dockerfile",
+  "context": "../..",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ros/ws_ros/src/ros-template,type=bind",
+  "workspaceFolder": "/home/ros/ws_ros/src/ros-template",
+  "remoteUser": "ros",
+  "runArgs": [
+    "--network=host",
+    "--cap-add=SYS_PTRACE",
+    "--security-opt=seccomp:unconfined",
+    "--security-opt=apparmor:unconfined",
+    "--volume=/dev:/dev",
+    "--privileged",
+    "--volume=/run/user/1000:/run/user/1000"
+  ],
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}",
+    "WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
+    "XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
+    "PULSE_SERVER": "${localEnv:PULSE_SERVER}"
+  },
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-azuretools.vscode-docker",
+        "ms-python.python",
+        "njpwerner.autodocstring",
+        "ms-vscode.cpptools",
+        "redhat.vscode-xml",
+        "redhat.vscode-yaml",
+        "smilerobotics.urdf",
+        "DavidAnson.vscode-markdownlint",
+        "esbenp.prettier-vscode",
+        "xaver.clang-format",
+        "charliermarsh.ruff",
+        "ms-python.black-formatter"
+      ]
+    }
+  }
+}
diff --git a/.devcontainer/nvidia/Dockerfile b/.devcontainer/nvidia/Dockerfile
@@ -0,0 +1,29 @@
+FROM ghcr.io/robotic-decision-making-lab/ros-template:noetic-desktop-nvidia
+
+# Install ROS dependencies
+# This is done in a previous stage, but we include it again here in case anyone wants to
+# add new dependencies during development
+ENV USERNAME=ros
+ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
+WORKDIR $USER_WORKSPACE
+
+COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
+
+RUN ls src/$PROJECT_NAME
+
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
+    && rosdep update \
+    && rosdep install -y --from-paths . --ignore-src -r --rosdistro ${ROS_DISTRO} \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+# Install debugging/linting Python packages
+COPY --chown=$USER_UID:$USER_GID requirements-dev.txt .
+RUN python3 -m pip install -r requirements-dev.txt \
+    && rm -rf requirements-dev.txt
+
+# Disable the setuputils installation warning
+# This prevents us from needing to pin the setuputils version (which doesn't always work)
+ENV PYTHONWARNINGS="ignore"
diff --git a/.devcontainer/nvidia/devcontainer.json b/.devcontainer/nvidia/devcontainer.json
@@ -0,0 +1,45 @@
+{
+  "name": "ROS NVIDIA Dev Container",
+  "dockerFile": "Dockerfile",
+  "context": "../..",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ros/ws_ros/src/ros-template,type=bind",
+  "workspaceFolder": "/home/ros/ws_ros/src/ros-template",
+  "remoteUser": "ros",
+  "runArgs": [
+    "--network=host",
+    "--cap-add=SYS_PTRACE",
+    "--security-opt=seccomp:unconfined",
+    "--security-opt=apparmor:unconfined",
+    "--volume=/dev:/dev",
+    "--privileged",
+    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+    "--volume=/mnt/wslg:/mnt/wslg",
+    "--gpus=all"
+  ],
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}",
+    "WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
+    "XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
+    "PULSE_SERVER": "${localEnv:PULSE_SERVER}",
+    "LIBGL_ALWAYS_SOFTWARE": "1",
+    "QT_X11_NO_MITSHM": "1"
+  },
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-azuretools.vscode-docker",
+        "ms-python.python",
+        "njpwerner.autodocstring",
+        "ms-vscode.cpptools",
+        "redhat.vscode-xml",
+        "redhat.vscode-yaml",
+        "smilerobotics.urdf",
+        "DavidAnson.vscode-markdownlint",
+        "esbenp.prettier-vscode",
+        "xaver.clang-format",
+        "charliermarsh.ruff",
+        "ms-python.black-formatter"
+      ]
+    }
+  }
+}
diff --git a/.docker/Dockerfile b/.docker/Dockerfile
@@ -0,0 +1,119 @@
+ARG ROS_DISTRO=noetic
+FROM ros:$ROS_DISTRO-ros-base as ci
+
+ENV DEBIAN_FRONTEND=noninteractive
+WORKDIR /root/ws_ros
+
+# Update to be your project's name
+ENV PROJECT_NAME=ros-template
+
+COPY . src/$PROJECT_NAME
+
+# Install apt packages
+RUN apt-get -q update \
+    && apt-get -q -y upgrade \
+    && apt-get -q install --no-install-recommends -y \
+    git \
+    sudo \
+    clang \
+    clang-format-12 \
+    clang-tidy \
+    clang-tools \
+    python3-pip \
+    python3-dev \
+    apt-utils \
+    software-properties-common \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install all ROS dependencies needed for CI
+RUN apt-get -q update \
+    && apt-get -q -y upgrade \
+    && rosdep update \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
+    && rm -rf src \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+FROM ci as robot
+
+# Configure a new non-root user
+ARG USERNAME=ros
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME \
+    && usermod -a -G dialout $USERNAME \
+    && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
+
+# Switch to the non-root user
+USER $USERNAME
+ENV USER=$USERNAME
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
+WORKDIR $USER_WORKSPACE
+
+COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
+
+# Uncomment to download and install external repos used by the project
+# RUN vcs import src < src/$PROJECT_NAME/ros2.repos
+
+# Install all ROS dependencies
+WORKDIR $USER_WORKSPACE
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
+    && rosdep update \
+    && rosdep install -y --from-paths src --ignore-src -r --rosdistro ${ROS_DISTRO} \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
+    && catkin_make \
+    && sudo sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$USER_WORKSPACE/setup.sh#g" /ros_entrypoint.sh \
+    && echo "source ${USER_WORKSPACE}/devel/setup.bash" >> /home/$USERNAME/.bashrc \
+    && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
+
+FROM robot as desktop
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
+WORKDIR $USER_WORKSPACE
+
+# Install Gazebo packages
+RUN sudo apt-get update \
+    && sudo apt-get -q -y upgrade \
+    && curl -sSL http://get.gazebosim.org | sh \
+    && sudo apt-get -q install --no-install-recommends -y \
+    ros-$ROS_DISTRO-gazebo-ros-pkgs \
+    ros-$ROS_DISTRO-gazebo-ros-control \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+FROM desktop as desktop-nvidia
+
+# Install NVIDIA software
+RUN sudo apt-get update \
+    && sudo apt-get -q -y upgrade \
+    && sudo apt-get install -y -qq --no-install-recommends \
+    libglvnd0 \
+    libgl1 \
+    libglx0 \
+    libegl1 \
+    libxext6 \
+    libx11-6 \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+# Env vars for the nvidia-container-runtime.
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QT_X11_NO_MITSHM 1
diff --git a/.dockerignore b/.dockerignore
@@ -0,0 +1,8 @@
+# ignore everything
+*
+
+# Except the following
+!requirements-dev.txt
+
+# Allow your ROS packages here, e.g.:
+!example_pkg