Merge pull request #15 from sonia-auv/develop

Develop
sonia-auv · May 4, 2022 · d3295f8 · d3295f8
2 parents d87fa5b + 8193392
commit d3295f8
Show file tree

Hide file tree

Showing 40 changed files with 985 additions and 2,595 deletions.
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -19,11 +19,14 @@
 		"--security-opt",
 		"seccomp=unconfined",
 		"--rm",
+		"--privileged",
+		"--env", "AUV=LOCAL",
 		"--network",
 		"host"
 	],
 	"mounts": [
-		"source=vscode-server-extension,target=/home/sonia/.vscode-server/extensions,type=volume"
+		"source=vscode-server-extension,target=/home/sonia/.vscode-server/extensions,type=volume",
+		"source=/dev,target=/dev,type=bind"
 	],
 	"workspaceMount": "target=/home/sonia/ros_sonia_ws/src/provider_imu,type=volume",
 	"workspaceFolder": "/home/sonia/ros_sonia_ws/src/provider_imu"

diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml
@@ -1,11 +1,9 @@
 blank_issues_enabled: false
-# TODO: enter appropriate contacts
-"""
+
 contact_links:
-  - name: GitHub Community Forum
-    url: https://git.luolix.topmunity/
-    about: Please ask and answer questions here.
-  - name: GitHub Security Bug Bounty
-    url: https://bounty.github.com/
-    about: Please report security vulnerabilities here.
-"""
+  - name: SONIA AUV official documentation
+    url: https://wiki.sonia.etsmtl.ca/
+    about: Visit our documentation for more information.
+  - name: SONIA AUV website
+    url: https://sonia.etsmtl.ca/
+    about: Visit our website and feel free to ask any questions.
diff --git a/.github/workflows/docker-image-perception-develop.yml b/.github/workflows/docker-image-perception-develop.yml
@@ -35,7 +35,7 @@ jobs:
 
       - name: Push Image to Github Packages Registry
         run: |
-          docker push ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
+          docker push --all-tags ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
 
   build-ros-perception-arm64:
     name: "Build ROS perception ARM64"
@@ -80,34 +80,4 @@ jobs:
 
       - name: Push Image to Github Packages Registry
         run: |
-          docker push ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
-
-  notify-success:
-    name: "Notify Slack - Success"
-    runs-on: ubuntu-latest
-    needs: [build-ros-perception-x86-64, build-ros-perception-arm64]
-    if: success()
-    steps:
-      - name: Notify Slack Success
-        env:
-          SLACK_BOT_TOKEN: ${{ secrets.SLACK_BOT_TOKEN }}
-        uses: voxmedia/github-action-slack-notify-build@v1
-        with:
-          channel: github-ci-notifications
-          status: SUCCESS
-          color: good
-
-  notify-fail:
-    name: "Notify Slack - Failure"
-    runs-on: ubuntu-latest
-    needs: [build-ros-perception-x86-64, build-ros-perception-arm64]
-    if: failure()
-    steps:
-      - name: Notify Slack Fail
-        env:
-          SLACK_BOT_TOKEN: ${{ secrets.SLACK_BOT_TOKEN }}
-        uses: voxmedia/github-action-slack-notify-build@v1
-        with:
-          channel: github-ci-notifications
-          status: FAILED
-          color: danger
+          docker push --all-tags ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
diff --git a/.github/workflows/docker-image-perception-feature.yml b/.github/workflows/docker-image-perception-feature.yml
@@ -30,7 +30,7 @@ jobs:
 
       - name: Push Image to Github Packages Registry
         run: |
-          docker push ${GITHUB_REMOTE_URL}/${IMAGE_NAME}:${ARCH}-${TARGET_TYPE}-${TARGET_VERSION}-${GITHUB_REF##*/}
+          docker push --all-tags ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
 
   build-ros-perception-arm64:
     name: "Build ROS perception ARM64"
@@ -70,34 +70,4 @@ jobs:
 
       - name: Push Image to Github Packages Registry
         run: |
-          docker push ${GITHUB_REMOTE_URL}/${IMAGE_NAME}:${ARCH}-${TARGET_TYPE}-${TARGET_VERSION}-${GITHUB_REF##*/}
-
-  notify-success:
-    name: "Notify Slack - Success"
-    runs-on: ubuntu-latest
-    needs: [build-ros-perception-x86-64, build-ros-perception-arm64]
-    if: success()
-    steps:
-      - name: Notify Slack Success
-        env:
-          SLACK_BOT_TOKEN: ${{ secrets.SLACK_BOT_TOKEN }}
-        uses: voxmedia/github-action-slack-notify-build@v1
-        with:
-          channel: github-ci-notifications
-          status: SUCCESS
-          color: good
-
-  notify-fail:
-    name: "Notify Slack - Failure"
-    runs-on: ubuntu-latest
-    needs: [build-ros-perception-x86-64, build-ros-perception-arm64]
-    if: failure()
-    steps:
-      - name: Notify Slack Fail
-        env:
-          SLACK_BOT_TOKEN: ${{ secrets.SLACK_BOT_TOKEN }}
-        uses: voxmedia/github-action-slack-notify-build@v1
-        with:
-          channel: github-ci-notifications
-          status: FAILED
-          color: danger
+          docker push --all-tags ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
diff --git a/.github/workflows/docker-image-perception-fix.yml b/.github/workflows/docker-image-perception-fix.yml
@@ -0,0 +1,73 @@
+name: Docker Image CI - Fix Branch
+
+on:
+  push:
+    branches: [fix/**]
+
+jobs:
+  build-ros-perception-x86-64:
+    name: "Build ROS perception X86/64"
+    runs-on: ubuntu-latest
+    env:
+      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_common/sonia_common:x86-perception-latest"
+      ARCH: x86
+      TARGET_TYPE: perception
+      TARGET_VERSION: fix
+      IMAGE_NAME: template_name
+      GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
+    steps:
+      - uses: actions/checkout@v2
+      - name: Login to Github Package Registry
+        run: |
+          echo "${{ secrets.GITHUB_TOKEN }}" | docker login docker.pkg.github.com -u ${{ github.actor }} --password-stdin
+      - name: Build the docker image (perception based)
+        run: |
+          docker build . --tag build-fix-${GITHUB_REF##*/}-${GITHUB_RUN_NUMBER} --build-arg BUILD_DATE=$(date '+%Y-%m-%d_%H:%M:%S') --build-arg VERSION=${GITHUB_REF##*/}-$(date '  +%Y-%m-%d_%H:%M:%S') --build-arg BASE_IMAGE=${BASE_IMAGE}
+
+      - name: Create Docker Image Tag
+        run: |
+          docker tag build-fix-${GITHUB_REF##*/}-${GITHUB_RUN_NUMBER} ${GITHUB_REMOTE_URL}/${IMAGE_NAME}:${ARCH}-${TARGET_TYPE}-${TARGET_VERSION}-${GITHUB_REF##*/}
+
+      - name: Push Image to Github Packages Registry
+        run: |
+          docker push --all-tags ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
+
+  build-ros-perception-arm64:
+    name: "Build ROS perception ARM64"
+    runs-on: ubuntu-latest
+    env:
+      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_common/sonia_common:arm64-perception-latest"
+      ARCH: arm64
+      TARGET_TYPE: perception
+      TARGET_VERSION: fix
+      IMAGE_NAME: template_name
+      GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
+    steps:
+      - uses: actions/checkout@v2
+      - name: Login to Github Package Registry
+        run: |
+          echo "${{ secrets.GITHUB_TOKEN }}" | docker login docker.pkg.github.com -u ${{ github.actor }} --password-stdin
+      - name: Enable Docker Daemon Experimental Features
+        run: |
+          sudo rm /etc/docker/daemon.json
+          echo '{"experimental": true , "cgroup-parent": "/actions_job" }' | sudo tee -a /etc/docker/daemon.json
+          sudo service docker restart
+          docker version
+
+      - name: Install QEMU to be able to compile on X86 into ARM64
+        run: |
+          sudo apt-get update
+          sudo apt-get install qemu binfmt-support qemu-user-static
+          docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
+
+      - name: Build the docker image (perception based)
+        run: |
+          docker build . --tag build-fix-${GITHUB_REF##*/}-${GITHUB_RUN_NUMBER} --build-arg BUILD_DATE=$(date '+%Y-%m-%d_%H:%M:%S') --build-arg VERSION=${GITHUB_REF##*/}-$(date '  +%Y-%m-%d_%H:%M:%S') --build-arg BASE_IMAGE=${BASE_IMAGE}
+
+      - name: Create Docker Image Tag
+        run: |
+          docker tag build-fix-${GITHUB_REF##*/}-${GITHUB_RUN_NUMBER} ${GITHUB_REMOTE_URL}/${IMAGE_NAME}:${ARCH}-${TARGET_TYPE}-${TARGET_VERSION}-${GITHUB_REF##*/}
+
+      - name: Push Image to Github Packages Registry
+        run: |
+          docker push --all-tags ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
diff --git a/.github/workflows/docker-image-perception-master.yml b/.github/workflows/docker-image-perception-master.yml
@@ -20,7 +20,7 @@ jobs:
         run: |
           echo "${{ secrets.GITHUB_TOKEN }}" | docker login docker.pkg.github.com -u ${{ github.actor }} --password-stdin
       - name: Set Target version
-        run: echo '::set-env name=TARGET_VERSION::release-'$(sed -n -e 's/.*<version>\(.*\)<\/version>.*/\1/p' package.xml)
+        run: echo "TARGET_VERSION=release-$(sed -n -e 's/.*<version>\(.*\)<\/version>.*/\1/p' package.xml)" >> $GITHUB_ENV
 
       - name: Build the docker image (perception based)
         run: |
@@ -39,7 +39,7 @@ jobs:
 
       - name: Push Image to Github Packages Registry
         run: |
-          docker push ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
+          docker push --all-tags ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
 
   build-ros-perception-arm64:
     name: "Build ROS perception ARM64"
@@ -56,7 +56,7 @@ jobs:
         run: |
           echo "${{ secrets.GITHUB_TOKEN }}" | docker login docker.pkg.github.com -u ${{ github.actor }} --password-stdin
       - name: Set Target version
-        run: echo '::set-env name=TARGET_VERSION::release-'$(sed -n -e 's/.*<version>\(.*\)<\/version>.*/\1/p' package.xml)
+        run: echo "TARGET_VERSION=release-$(sed -n -e 's/.*<version>\(.*\)<\/version>.*/\1/p' package.xml)" >> $GITHUB_ENV
 
       - name: Enable Docker Daemon Experimental Features
         run: |
@@ -87,7 +87,7 @@ jobs:
 
       - name: Push Image to Github Packages Registry
         run: |
-          docker push ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
+          docker push --all-tags ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
 
   create-release:
     name: "Create Github Release"
@@ -96,7 +96,7 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - name: Set Target version
-        run: echo '::set-env name=TARGET_VERSION::'$(sed -n -e 's/.*<version>\(.*\)<\/version>.*/\1/p' package.xml)
+        run: echo "TARGET_VERSION=release-$(sed -n -e 's/.*<version>\(.*\)<\/version>.*/\1/p' package.xml)" >> $GITHUB_ENV
 
       - name: Create Git Tag
         run: |
@@ -114,33 +114,3 @@ jobs:
             A new release for this package has been created
           draft: false
           prerelease: false
-
-  notify-success:
-    name: "Notify Slack - Success"
-    runs-on: ubuntu-latest
-    needs: [build-ros-perception-x86-64, build-ros-perception-arm64, create-release]
-    if: success()
-    steps:
-      - name: Notify Slack Success
-        env:
-          SLACK_BOT_TOKEN: ${{ secrets.SLACK_BOT_TOKEN }}
-        uses: voxmedia/github-action-slack-notify-build@v1
-        with:
-          channel: github-ci-notifications
-          status: SUCCESS
-          color: good
-
-  notify-fail:
-    name: "Notify Slack - Failure"
-    runs-on: ubuntu-latest
-    needs: [build-ros-perception-x86-64, build-ros-perception-arm64, create-release]
-    if: failure()
-    steps:
-      - name: Notify Slack Fail
-        env:
-          SLACK_BOT_TOKEN: ${{ secrets.SLACK_BOT_TOKEN }}
-        uses: voxmedia/github-action-slack-notify-build@v1
-        with:
-          channel: github-ci-notifications
-          status: FAILED
-          color: danger
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -8,10 +8,7 @@
             "name": "ROS: Launch",
             "type": "ros",
             "request": "launch",
-            "preLaunchTask": {
-                "task": "build",
-                "type": "catkin_make"
-            },
+            "preLaunchTask": "build",
             "target": "/home/sonia/ros_sonia_ws/src/provider_imu/launch/provider_imu.launch",
         }
     ]

diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -2,5 +2,88 @@
     "python.autoComplete.extraPaths": [
         "/home/sonia/base_lib_ws/devel/lib/python2.7/dist-packages",
         "/opt/ros/melodic/lib/python2.7/dist-packages"
+    ],
+    "files.associations": {
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "hash_map": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "chrono": "cpp",
+        "cinttypes": "cpp",
+        "compare": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "ranges": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "typeinfo": "cpp",
+        "valarray": "cpp",
+        "variant": "cpp",
+        "csignal": "cpp",
+        "any": "cpp",
+        "strstream": "cpp",
+        "codecvt": "cpp",
+        "complex": "cpp",
+        "source_location": "cpp",
+        "future": "cpp",
+        "numbers": "cpp",
+        "semaphore": "cpp",
+        "shared_mutex": "cpp",
+        "cfenv": "cpp",
+        "typeindex": "cpp"
+    },
+    "python.analysis.extraPaths": [
+        "/home/sonia/base_lib_ws/devel/lib/python2.7/dist-packages",
+        "/opt/ros/melodic/lib/python2.7/dist-packages"
     ]
 }
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
@@ -5,6 +5,10 @@
     "tasks": [
         {
             "type": "catkin_make",
+            "args": [
+                "--directory",
+                "/home/sonia/ros_sonia_ws"
+            ],
             "problemMatcher": [
                 "$catkin-gcc"
             ],