pre-release

Author: Huoleit

.devcontainer/Dockerfile

@@ -6,9 +6,7 @@ FROM $BASE_IMAGE
 RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
     && apt-get -y install --no-install-recommends \
     x11-apps \
-    x11-utils \
-    mesa-utils \
-    gnome-terminal \
+    usbutils \
     && rm -rf /var/lib/apt/lists/*
 
 ARG VNC_RESOLUTION

.devcontainer/devcontainer.json

@@ -25,9 +25,9 @@
 			"configureZshAsDefaultShell": true
 		},
 		"ghcr.io/devcontainers/features/git:1": {},
-		// "ghcr.io/devcontainers/features/desktop-lite:1": {
-		// 	"password": "robotx"
-		// }
+		"ghcr.io/devcontainers/features/desktop-lite:1": {
+			"password": "robotx"
+		}
 	},
 	"forwardPorts": [
 		6080,
@@ -43,6 +43,9 @@
 			"onAutoForward": "silent"
 		}
 	},
+	"otherPortsAttributes": {
+		"onAutoForward": "ignore"
+	},
 	"containerUser": "robotx",
 	"initializeCommand": "docker pull ghcr.io/ethz-robotx/rss_workspace:main",
 	"postCreateCommand": "bash ./.devcontainer/post-create.sh",
@@ -53,7 +56,9 @@
 				"redhat.vscode-xml",
 				"ms-vscode.cpptools-extension-pack",
 				"eamodio.gitlens",
-				"mhutchie.git-graph"
+				"mhutchie.git-graph",
+				"ms-python.python",
+				"tombonnike.vscode-status-bar-format-toggle"
 			]
 		}
 	}

.devcontainer/generate_catkin_buildlist.py

@@ -0,0 +1,32 @@
+#!/bin/python3
+
+# This script generates a buildlist for catkin config
+# Input: List of top-level packages to build
+# Output: List of packages to build
+
+import argparse
+import re
+from subprocess import check_output
+from typing import Set
+
+def generate_dependencies(package_name: str) -> Set[str]:
+    deps_raw = check_output(["catkin", "list", "--rdeps", "-u", package_name])
+    dependencies = re.findall(r'(?<=- ).*?(?=\n|$)', deps_raw.decode())
+    dependencies = set(dependencies)
+    return dependencies
+
+def main():
+    parser = argparse.ArgumentParser(description="Generate a buildlist for catkin config")
+    parser.add_argument("packages", nargs="+", help="List of top-level packages to build")
+    parser.add_argument("--workspace", default=".", help="Path to the catkin workspace")
+    args = parser.parse_args()
+    top_level_packages = args.packages
+    
+    all_build_packages = set()
+    for pkg in top_level_packages:
+        all_build_packages |= generate_dependencies(pkg)
+    all_build_packages = sorted(all_build_packages)    
+    print(" ".join(all_build_packages).lstrip())
+
+if __name__ == "__main__":
+    main()

.devcontainer/generate_catkin_skiplist.py

@@ -26,16 +26,15 @@ fi
 vcs import --input "${SMB_RAW_REPO_FILE_URL}" --recursive --skip-existing "${ROOT}/src"
 
 # Setup catkin workspace
-catkin init --workspace "${ROOT}" 
+catkin init --workspace "${ROOT}" &>/dev/null
 
-# Generate skiplist for catkin config
-# TODO: Add the packages to build in the list below
+# Generate buildlist for catkin config
 # NOTE: catkin build will only build the packages themselve listed in the buildlist but not their dependencies
-#       so we need to generate a skiplist to skip the packages that are not recursively dependent on the packages we want to build
-# NOTE: The input to the script is a list of packages to build and the output is the list of packages to skip
+#       so we need to generate a buildlist of packages that are recursively dependent on the packages we want to build
+# NOTE: The input to the script is a list of top-level packages to build and the output is the complete list of packages to build
 # NOTE: You can use the `scripts/list_top_level_packages.sh` script to list the top level packages in the workspace
-# CAUTION: This script should be run after the workspace is created and the repositories are cloned as it uses the workspace to generate the skiplist
-SKIP_PKG_LIST=$(python3 "${ROOT}/.devcontainer/generate_catkin_skiplist.py" --workspace "${ROOT}" \
+# CAUTION: This script should be run after the workspace is created and the repositories are cloned as it uses the workspace to generate the buildlist
+BUILD_PKG_LIST=$(python3 "${ROOT}/.devcontainer/generate_catkin_buildlist.py" --workspace "${ROOT}" \
                 catkin_simple \
                 smb_exploration \
                 smb_gazebo \
@@ -44,14 +43,15 @@ SKIP_PKG_LIST=$(python3 "${ROOT}/.devcontainer/generate_catkin_skiplist.py" --wo
                 smb_msf \
                 smb_msf_graph \
                 smb_path_planner \
+                object_detection \
                 )
 
 # Split the string into an array of package names to pass to catkin config as positional arguments
-IFS=' ' read -r -a SKIP_PKGS_ARRAY <<< "${SKIP_PKG_LIST}"
+IFS=' ' read -r -a BUILD_PKGS_ARRAY <<< "${BUILD_PKG_LIST}"
 
 # Configure the workspace
 catkin config --workspace "${ROOT}" \
               --extend /opt/ros/noetic \
               --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -- \
-              --skiplist "${SKIP_PKGS_ARRAY[@]}"
+              --buildlist "${BUILD_PKGS_ARRAY[@]}"
 

.devcontainer/post-create.sh

@@ -2,4 +2,8 @@
 .zsh_history
 devel/
 logs/
-build/
+build/
+
+# ignore rosbags
+bags/
+**/*.bag

.gitignore

@@ -0,0 +1,23 @@
+# ==========================
+# ===  General settings  ===
+# ==========================
+
+set -g default-terminal "screen-256color"
+setw -g allow-rename off
+setw -g automatic-rename off
+
+## Change prefix key to C-a, easier to type, same to "screen"
+# unbind C-b
+# set -g prefix C-a
+
+# Enable mouse support
+set -g mouse on
+
+# Prompt to rename window right after it's created
+set-hook -g after-new-window 'command-prompt -I "#{window_name}" "rename-window '%%'"'
+
+# Reload tmux configuration 
+bind C-r source-file ./.tmux.conf \; display "Config reloaded"
+
+# Toggle snycronized panes
+bind C-s setw synchronize-panes \; display "Synchronize panes is #{?pane_synchronized,on,off}"

.tmux.conf

@@ -19,5 +19,16 @@
     "src/misc/mav_comm",
     "src/misc/eigen_catkin",
     "src/misc/yaml_cpp_catkin"
-  ]
+  ],
+  "terminal.integrated.profiles.linux": {
+    "smb-tmux": {
+      "path": "zsh",
+      "args": [
+        "${workspaceFolder}/scripts/start_smb_tmux.sh",
+        "smb"
+      ],
+      "icon": "piano",
+      "color": "terminal.ansiYellow"
+    }
+  }
 }

.vscode/settings.json

@@ -0,0 +1,32 @@
+#!/bin/bash
+
+# if [ "$#" -ne 1 ]; then
+#   echo "Usage: $0 <session_name>"
+#   exit 1
+# fi
+
+SESSION_NAME="${1:-smb_tmux}"
+
+ROOT=$(dirname "$(dirname "$(readlink -f $0)")")
+TMUX_CONFIG="${ROOT}/.tmux.conf"
+
+# Check if a tmux session named "smb_tmux" already exists
+if tmux has-session -t $SESSION_NAME 2>/dev/null; then
+  # If the session exists, attach to it
+  tmux attach-session -t $SESSION_NAME
+else
+  # If the session doesn't exist, create a new one and load the config file
+  tmux -f $TMUX_CONFIG new-session -d -s $SESSION_NAME
+
+  # Split the window into three panes
+  tmux split-window -h
+  tmux split-window -v
+
+  # Send the command to panes
+  tmux send-keys -t $SESSION_NAME:0.0 'wssetup && roslaunch smb_gazebo sim.launch launch_gazebo_gui:=true keyboard_teleop:=true'
+  tmux send-keys -t $SESSION_NAME:0.1 'wssetup && roslaunch object_detection object_detection.launch gpu:=off'
+  tmux send-keys -t $SESSION_NAME:0.2 'wssetup && command'
+
+  # Attach to the new session
+  tmux attach-session -t $SESSION_NAME
+fi