Testing CICD - Please ignore

.devcontainer/amd64/devcontainer.json

@@ -0,0 +1,39 @@
+{
+  "name": "CPRT Dev Container",
+
+  "image": "cprtsoftware/rover:dev-amd64",
+
+  "runArgs": [
+    "--network=host",
+    "--volume=/dev:/dev",
+    "--volume=/sys:/sys",
+    "--volume=/etc/timezone:/etc/timezone",
+    "--ipc=host",
+    "--shm-size=2g"
+  ],
+  "mounts": [
+    "source=${env:SSH_AUTH_SOCK},target=/ssh-agent,type=bind",
+    "source=${env:HOME}/.gitconfig,target=/home/vscode/.gitconfig,type=bind,consistency=cached"
+  ],
+  "containerEnv": {
+    "SSH_AUTH_SOCK": "/ssh-agent",
+    "NVIDIA_VISIBLE_DEVICES": "all",
+    "NVIDIA_DRIVER_CAPABILITIES": "all"
+  },
+  "remoteUser": "vscode",
+  "containerUser": "vscode",
+  "remoteEnv": {
+    "USER": "vscode"
+  },
+
+  // Usual extras (optional)
+  "customizations": {
+    "vscode": {
+      "settings": {
+        "terminal.integrated.shell.linux": "/bin/bash"
+      },
+      "extensions": [ "ms-vscode.cpptools", "ms-azuretools.vscode-docker" ]
+    }
+  },
+"postCreateCommand": "echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc"
+}

.devcontainer/jetson/devcontainer.json

@@ -0,0 +1,41 @@
+{
+  "name": "CPRT Dev Container",
+
+  "image": "cprtsoftware/rover:dev-arm64",
+
+  "runArgs": [
+    "--network=host",
+    "--volume=/dev:/dev",
+    "--volume=/sys:/sys",
+    "--volume=/etc/timezone:/etc/timezone",
+    "--runtime=nvidia",
+    "--gpus=all",
+    "--ipc=host",
+    "--shm-size=2g"
+  ],
+  "mounts": [
+    "source=${env:SSH_AUTH_SOCK},target=/ssh-agent,type=bind",
+    "source=${env:HOME}/.gitconfig,target=/home/vscode/.gitconfig,type=bind,consistency=cached"
+  ],
+  "containerEnv": {
+    "SSH_AUTH_SOCK": "/ssh-agent",
+    "NVIDIA_VISIBLE_DEVICES": "all",
+    "NVIDIA_DRIVER_CAPABILITIES": "all"
+  },
+  "remoteUser": "vscode",
+  "containerUser": "vscode",
+  "remoteEnv": {
+    "USER": "vscode"
+  },
+
+  // Usual extras (optional)
+  "customizations": {
+    "vscode": {
+      "settings": {
+        "terminal.integrated.shell.linux": "/bin/bash"
+      },
+      "extensions": [ "ms-vscode.cpptools", "ms-azuretools.vscode-docker" ]
+    }
+  },
+  "postCreateCommand": "source /opt/ros/humble/setup.bash"
+}

.devcontainer/windows/devcontainer.json

@@ -0,0 +1,43 @@
+{
+  "name": "CPRT Dev Container (Windows Host)",
+  "image": "cprtsoftware/rover:dev-arm64",
+
+  "runArgs": [
+    "--network=host",
+    "--ipc=host",
+    "--shm-size=2g",
+    "--gpus=all"
+  ],
+
+  "mounts": [
+    "source=${env:USERPROFILE}\\.gitconfig,target=/home/vscode/.gitconfig,type=bind,consistency=cached",
+    "source=${env:USERPROFILE}\\.ccache,target=/home/vscode/.ccache,type=bind",
+    "source=${env:USERPROFILE}\\.ssh,target=/home/vscode/.ssh,type=bind,consistency=cached"
+  ],
+
+  "containerEnv": {
+    "NVIDIA_VISIBLE_DEVICES": "all",
+    "NVIDIA_DRIVER_CAPABILITIES": "all"
+  },
+
+  "remoteUser": "vscode",
+  "containerUser": "vscode",
+  "remoteEnv": {
+    "USER": "vscode"
+  },
+
+  "customizations": {
+    "vscode": {
+      "settings": {
+        "terminal.integrated.shell.linux": "/bin/bash"
+      },
+      "extensions": [
+        "ms-vscode.cpptools",
+        "ms-azuretools.vscode-docker",
+        "ms-iot.vscode-ros"
+      ]
+    }
+  },
+
+  "postCreateCommand": "source /opt/ros/humble/setup.bash"
+}

.github/workflows/build-docker.yml

@@ -0,0 +1,144 @@
+name: Docker CI/CD Multi-Arch
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+
+env:
+  IMAGE_NAME: cprtsoftware/rover
+
+jobs:
+  setup:
+    runs-on: ubuntu-latest
+    outputs:
+      IMAGE_NAME: ${{ env.IMAGE_NAME }}
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+  build-amd64:
+    runs-on: ubuntu-latest
+    needs: setup
+    env:
+      IMAGE_NAME: ${{ needs.setup.outputs.IMAGE_NAME }}
+    outputs:
+      app_digest: ${{ steps.build_app.outputs.digest }}
+      dev_digest: ${{ steps.build_dev.outputs.digest }}
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: docker/setup-buildx-action@v3
+
+      - name: Docker login
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      # --- APP (rover) image, amd64 ---
+      - name: Build & push amd64 APP (with registry cache)
+        id: build_app
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          file: ./Dockerfile
+          target: rover
+          platforms: linux/amd64
+          push: true
+          build-args: |
+            BASE_IMAGE=ubuntu:22.04
+            TARGETARCH=amd64
+          tags: |
+            ${{ env.IMAGE_NAME }}:amd64
+            ${{ env.IMAGE_NAME }}:${{ github.sha }}-amd64
+          cache-from: type=registry,ref=${{ env.IMAGE_NAME }}:amd64-cache
+          cache-to: type=registry,ref=${{ env.IMAGE_NAME }}:amd64-cache,mode=max
+          provenance: false
+
+      # --- DEV image, amd64 ---
+      - name: Build & push amd64 DEV (with registry cache)
+        id: build_dev
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          file: ./Dockerfile
+          target: dev
+          platforms: linux/amd64
+          push: true
+          build-args: |
+            BASE_IMAGE=ubuntu:22.04
+            TARGETARCH=amd64
+          tags: |
+            ${{ env.IMAGE_NAME }}:dev-amd64
+            ${{ env.IMAGE_NAME }}:dev-${{ github.sha }}-amd64
+          cache-from: type=registry,ref=${{ env.IMAGE_NAME }}:amd64-cache
+          cache-to: type=registry,ref=${{ env.IMAGE_NAME }}:amd64-cache,mode=max
+          provenance: false
+
+  build-arm64:
+    runs-on: ubuntu-latest
+    needs: setup
+    env:
+      IMAGE_NAME: ${{ needs.setup.outputs.IMAGE_NAME }}
+    outputs:
+      app_digest: ${{ steps.build_app.outputs.digest }}
+      dev_digest: ${{ steps.build_dev.outputs.digest }}
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up QEMU (for arm emulation)
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: linux/arm64
+
+      - uses: docker/setup-buildx-action@v3
+
+      - name: Docker login
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      # --- APP (rover) image, arm64 ---
+      - name: Build & push arm64 APP (with registry cache)
+        id: build_app
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          file: ./Dockerfile
+          target: rover
+          platforms: linux/arm64
+          push: true
+          build-args: |
+            BASE_IMAGE=nvcr.io/nvidia/l4t-jetpack:r36.4.0
+            TARGETARCH=arm64
+          tags: |
+            ${{ env.IMAGE_NAME }}:arm64
+            ${{ env.IMAGE_NAME }}:${{ github.sha }}-arm64
+          cache-from: type=registry,ref=${{ env.IMAGE_NAME }}:arm64-cache
+          cache-to: type=registry,ref=${{ env.IMAGE_NAME }}:arm64-cache,mode=max
+          provenance: false
+
+      # --- DEV image, arm64 ---
+      - name: Build & push arm64 DEV (with registry cache)
+        id: build_dev
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          file: ./Dockerfile
+          target: dev
+          platforms: linux/arm64
+          push: true
+          build-args: |
+            BASE_IMAGE=nvcr.io/nvidia/l4t-jetpack:r36.4.0
+            TARGETARCH=arm64
+          tags: |
+            ${{ env.IMAGE_NAME }}:dev-arm64
+            ${{ env.IMAGE_NAME }}:dev-${{ github.sha }}-arm64
+          cache-from: type=registry,ref=${{ env.IMAGE_NAME }}:arm64-cache
+          cache-to: type=registry,ref=${{ env.IMAGE_NAME }}:arm64-cache,mode=max
+          provenance: false

.github/workflows/lint-and-format.yml

@@ -1,9 +1,6 @@
 name: Lint and Format Check
 
 on:
-  push:
-    branches:
-      - '*'
   pull_request:
     branches:
       - '*'

.gitignore

@@ -1,7 +1,7 @@
 # Directories
-install/
+install*/
 log/
-build/
+build*/
 *.vscode
 raman/
 
@@ -13,4 +13,6 @@ __pycache__
 camera_setup/images/*
 
 # macOS Directory Information
-.DS_Store
+.DS_Store
+
+upgrade_pkg.tar.*

.gitmodules

@@ -1,15 +1,11 @@
-[submodule "src/kindr_ros"]
-	path = src/kindr_ros
-	url = https://github.com/SivertHavso/kindr_ros.git
-	branch = ros2
-[submodule "src/zed-ros2-wrapper"]
-	path = src/zed-ros2-wrapper
-	url = https://github.com/stereolabs/zed-ros2-wrapper.git
-[submodule "ublox"]
-	path = src/ublox
+[submodule "src/third-party/ublox"]
+	path = src/third-party/ublox
 	url = https://github.com/KumarRobotics/ublox.git
 	branch = ros2
-[submodule "src/ouster-ros"]
-	path = src/ouster-ros
+[submodule "src/third-party/ouster-ros"]
+	path = src/third-party/ouster-ros
 	url = https://github.com/ouster-lidar/ouster-ros.git
 	branch = ros2
+[submodule "src/third-party/zed-ros2-wrapper"]
+	path = src/third-party/zed-ros2-wrapper
+	url = https://github.com/stereolabs/zed-ros2-wrapper.git