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Initialize iron
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albuckley authored Aug 7, 2023
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17 changes: 17 additions & 0 deletions .devcontainer/Dockerfile
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FROM althack/ros2:iron-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 ${WORKSPACE}/install/setup.bash; fi" >> /home/ros/.bashrc
48 changes: 48 additions & 0 deletions .devcontainer/devcontainer.json
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// See https://aka.ms/vscode-remote/devcontainer.json for format details.
{
"dockerFile": "Dockerfile",
"build": {
"args": {
"WORKSPACE": "${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-python.python",
"ms-vscode.cpptools",
"redhat.vscode-yaml",
"smilerobotics.urdf",
"streetsidesoftware.code-spell-checker",
"twxs.cmake",
"yzhang.markdown-all-in-one",
"zachflower.uncrustify",
"ms-iot.vscode-ros"
]
}
}
}
1 change: 1 addition & 0 deletions .env
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PYTHONPATH=src:install/lib/python3.10/site-packages
6 changes: 6 additions & 0 deletions .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"
5 changes: 5 additions & 0 deletions .github/actions/lint/run.sh
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#!/bin/bash
set -e

./setup.sh
ament_${LINTER} src/
6 changes: 6 additions & 0 deletions .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"
6 changes: 6 additions & 0 deletions .github/actions/test/run.sh
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#!/bin/bash
set -e

./setup.sh
./build.sh
./test.sh
7 changes: 7 additions & 0 deletions .github/dependabot.yml
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version: 2
updates:
- package-ecosystem: github-actions
directory: "/"
schedule:
interval: daily
open-pull-requests-limit: 10
17 changes: 17 additions & 0 deletions .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@v3
- name: Build and push docs
uses: athackst/mkdocs-simple-plugin@v2.3.0
35 changes: 35 additions & 0 deletions .github/workflows/ros.yaml
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name: ROS

on:
pull_request:
push:
workflow_dispatch:

jobs:
test:
name: test
runs-on: ubuntu-latest
steps:
-
name: Checkout code
uses: actions/checkout@v3
-
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@v3
-
name: Run linter
uses: ./.github/actions/lint/
env:
LINTER: ${{ matrix.linter }}
4 changes: 4 additions & 0 deletions .gitignore
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build/*
install/*
log/*
site/*
18 changes: 18 additions & 0 deletions .vscode/c_cpp_properties.json
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{
"configurations": [
{
"name": "Linux",
"includePath": [
"${workspaceFolder}/**",
"/opt/ros/iron/include/**"
],
"defines": [],
"compilerPath": "/usr/bin/gcc",
"compileCommands": "${workspaceFolder}/build/compile_commands.json",
"cStandard": "c99",
"cppStandard": "c++17",
"intelliSenseMode": "linux-gcc-x64"
}
],
"version": 4
}
90 changes: 90 additions & 0 deletions .vscode/launch.json
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{
// Use IntelliSense to learn about possible attributes.
// Hover to view descriptions of existing attributes.
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [
// Example launch of a python file
{
"name": "Python: Current File",
"type": "python",
"request": "launch",
"program": "${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"
}
]
}
74 changes: 74 additions & 0 deletions .vscode/settings.json
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{
"editor.tabSize": 8,
"editor.rulers": [
100
],
"files.associations": {
"*.repos": "yaml",
"*.world": "xml",
"*.xacro": "xml"
},
"python.analysis.extraPaths": [
"/opt/ros/iron/lib/python3.10/site-packages/"
],
// Autocomplete from ros python packages
"python.autoComplete.extraPaths": [
"/opt/ros/iron/lib/python3.10/site-packages/"
],
// Environment file lets vscode find python files within workspace
"python.envFile": "${workspaceFolder}/.env",
// Use the system installed version of autopep8
"python.formatting.autopep8Path": "/usr/bin/autopep8",
"python.formatting.autopep8Args": [
"--max-line-length=100"
],
"C_Cpp.default.intelliSenseMode": "linux-gcc-x86",
"C_Cpp.formatting": "disabled",
"uncrustify.configPath.linux": "/opt/ros/iron/lib/python3.10/site-packages/ament_uncrustify/configuration/ament_code_style.cfg",
"[cpp]": {
"editor.defaultFormatter": "zachflower.uncrustify"
},
"search.exclude": {
"**/node_modules": true,
"**/bower_components": true,
"**/*.code-search": true,
"**/build": true,
"**/install": true,
"**/log": true
},
"cSpell.words": [
"RTPS",
"athackst",
"autopep",
"cmake",
"cppcheck",
"cpplint",
"DCMAKE",
"deque",
"devcontainer",
"ints",
"noqa",
"pytest",
"rclcpp",
"rclpy",
"repos",
"rosdep",
"rosdistro",
"rosidl",
"RTPS",
"uncrustify",
"Wextra",
"Wpedantic",
"xmllint"
],
"cSpell.allowCompoundWords": true,
"cSpell.ignorePaths": [
"**/package-lock.json",
"**/node_modules/**",
"**/vscode-extension/**",
"**/.git/objects/**",
".vscode",
".vscode-insiders",
".devcontainer/devcontainer.json"
]
}
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