Merge pull request #16 from sonia-auv/develop

Develop
sonia-auv · Dec 20, 2021 · c13cc99 · c13cc99
2 parents ce9f6bc + 8f615de
commit c13cc99
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Showing 23 changed files with 1,318 additions and 1,382 deletions.
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -1,7 +1,7 @@
 // For format details, see https://aka.ms/vscode-remote/devcontainer.json or this file's README at:
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.128.0/containers/docker-existing-dockerfile
 {
-	"name": "<ENTER_YOUR_NODE_NAME>",
+	"name": "provider_underwater_com",
 	// Sets the run context to one level up instead of the .devcontainer folder.
 	"context": "..",
 	// Update the 'dockerFile' property if you aren't using the standard 'Dockerfile' filename.
@@ -19,12 +19,14 @@
 		"--security-opt",
 		"seccomp=unconfined",
 		"--rm",
+		"--privileged",
 		"--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/<ENTER_YOUR_NODE_NAME>,type=volume",
-	"workspaceFolder": "/home/sonia/ros_sonia_ws/src/<ENTER_YOUR_NODE_NAME>"
+	"workspaceMount": "target=/home/sonia/ros_sonia_ws/src/provider_underwater_com,type=volume",
+	"workspaceFolder": "/home/sonia/ros_sonia_ws/src/provider_underwater_com"
 }
diff --git a/.github/workflows/docker-image-perception-develop.yml b/.github/workflows/docker-image-perception-develop.yml
@@ -13,7 +13,7 @@ jobs:
       ARCH: x86
       TARGET_TYPE: perception
       TARGET_VERSION: develop
-      IMAGE_NAME: template_name
+      IMAGE_NAME: provider_underwater_com
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
     steps:
       - uses: actions/checkout@v2
@@ -45,7 +45,7 @@ jobs:
       ARCH: arm64
       TARGET_TYPE: perception
       TARGET_VERSION: develop
-      IMAGE_NAME: template_name
+      IMAGE_NAME: provider_underwater_com
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
     steps:
       - uses: actions/checkout@v2

diff --git a/.github/workflows/docker-image-perception-feature.yml b/.github/workflows/docker-image-perception-feature.yml
@@ -13,7 +13,7 @@ jobs:
       ARCH: x86
       TARGET_TYPE: perception
       TARGET_VERSION: feature
-      IMAGE_NAME: template_name
+      IMAGE_NAME: provider_underwater_com
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
     steps:
       - uses: actions/checkout@v2
@@ -40,7 +40,7 @@ jobs:
       ARCH: arm64
       TARGET_TYPE: perception
       TARGET_VERSION: feature
-      IMAGE_NAME: template_name
+      IMAGE_NAME: provider_underwater_com
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
     steps:
       - uses: actions/checkout@v2

diff --git a/.github/workflows/docker-image-perception-fix.yml b/.github/workflows/docker-image-perception-fix.yml
@@ -0,0 +1,103 @@
+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: provider_underwater_com
+      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: provider_underwater_com
+      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 ${{ github.actor }} --password-stdin
+      - name: Enable Docker Daemon Experimental Fixes
+        run: |
+          sudo rm /etc/docker/daemon.json
+          echo '{"experimental": true , "cgroup-parent": "/actions_job" }' | sudo tee -a /etc/docker/daemon.json
+          sudo service docker restart
+          docker version
+
+      - name: Install QEMU to be able to compile on X86 into ARM64
+        run: |
+          sudo apt-get update
+          sudo apt-get install qemu binfmt-support qemu-user-static
+          docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
+
+      - name: Build the docker image (perception based)
+        run: |
+          docker build . --tag build-fix-${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}
+
+  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: ${{ secrets.SLACK_BOT_TOKEN }}
+        uses: voxmedia/github-action-slack-notify-build@v1
+        with:
+          channel: github-ci-notifications
+          status: FAILED
+          color: danger
diff --git a/.github/workflows/docker-image-perception-master.yml b/.github/workflows/docker-image-perception-master.yml
@@ -12,7 +12,7 @@ jobs:
       BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_common/sonia_common:x86-perception-latest"
       ARCH: x86
       TARGET_TYPE: perception
-      IMAGE_NAME: template_name
+      IMAGE_NAME: provider_underwater_com
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
     steps:
       - uses: actions/checkout@v2
@@ -48,7 +48,7 @@ jobs:
       BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_common/sonia_common:arm64-perception-latest"
       ARCH: arm64
       TARGET_TYPE: perception
-      IMAGE_NAME: template_name
+      IMAGE_NAME: provider_underwater_com
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
     steps:
       - uses: actions/checkout@v2

diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -9,7 +9,7 @@
             "type": "ros",
             "request": "launch",
             "preLaunchTask": "build",
-            "target": "/home/sonia/ros_sonia_ws/src/<ENTER_YOUR_NODE_NAME>/launch/<ENTER_YOUR_NODE_NAME>.launch",
+            "target": "/home/sonia/ros_sonia_ws/src/provider_underwater_com/launch/provider_underwater_com.launch",
         }
     ]
-}
+}
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -2,5 +2,71 @@
     "python.autoComplete.extraPaths": [
         "/home/sonia/base_lib_ws/devel/lib/python2.7/dist-packages",
         "/opt/ros/melodic/lib/python2.7/dist-packages"
-    ]
+    ],
+    "python.analysis.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",
+        "strstream": "cpp",
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "chrono": "cpp",
+        "complex": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "list": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "fstream": "cpp",
+        "functional": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "numeric": "cpp",
+        "ratio": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "system_error": "cpp",
+        "thread": "cpp",
+        "cfenv": "cpp",
+        "cinttypes": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "algorithm": "cpp",
+        "iterator": "cpp",
+        "map": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "string_view": "cpp"
+    }
 }
diff --git a/BOOTSTRAP.md b/BOOTSTRAP.md