Workspace repo

.devcontainer/Dockerfile

@@ -20,6 +20,7 @@ RUN apt-get update -y \
     iputils-ping \
     ipython3 \
     jq \
+    just \
     less \
     libncurses5-dev \
     locales \
@@ -91,9 +92,6 @@ RUN python3 -m pip install --user --break-system-packages \
     git+https://github.com/timonegk/colcon-notification.git@colors \
     git+https://github.com/timonegk/colcon-output.git@colors
 
-# Create colcon workspace
-RUN mkdir -p /home/$user/colcon_ws/src
-
 # Install oh-my-zsh for pretty terminal
 RUN sh -c "$(wget -O- https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)" && \
   git clone https://github.com/zsh-users/zsh-autosuggestions "${ZSH_CUSTOM:-$HOME/.oh-my-zsh/custom}/plugins/zsh-autosuggestions"
@@ -105,4 +103,4 @@ COPY --chown=$user:$user zshrc /home/$user/.zshrc
 ENV QT_X11_NO_MITSHM=1
 
 # Switch to the workspace directory
-WORKDIR /home/$user/colcon_ws
+WORKDIR /home/$user/bitbots_main

.devcontainer/devcontainer.json

@@ -18,12 +18,30 @@
         "dev.containers.copyGitConfig": false,
         "dev.containers.gitCredentialHelperConfigLocation": "none"
       },
-      "extensions": ["ms-iot.vscode-ros"]
+      "extensions": [
+        "charliermarsh.ruff", // Ruff linting and formatting support
+        "DavidAnson.vscode-markdownlint", // Lints markdown files
+        "DotJoshJohnson.xml", // XML support
+        "lextudio.restructuredtext", // Rendering rst files in preview
+        "Mastermori.dsd", // DSD support
+        "mohsen1.prettify-json", // JSON formatting
+        "MS-CEINTL.vscode-language-pack-de", // German language pack
+        "Ranch-Hand-Robotics.rde-pack", // ROS2 development environment
+        "ms-python.python", // Python support
+        "ms-python.vscode-pylance", // Python support
+        "ms-vscode.cpptools-extension-pack", // C++ support
+        "ms-vscode.cpptools-themes", // C++ support
+        "ms-vscode.cpptools", // C++ support
+        "streetsidesoftware.code-spell-checker-german", // Spell checker
+        "streetsidesoftware.code-spell-checker", // Spell checker
+        "tamasfe.even-better-toml", // TOML support
+        "trond-snekvik.simple-rst" // Syntax highlighting for rst files
+      ]
     }
   },
 
-  "workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/home/bitbots/colcon_ws/src/bitbots_main",
-  "workspaceFolder": "/home/bitbots/colcon_ws/src/bitbots_main",
+  "workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/home/bitbots/bitbots_main",
+  "workspaceFolder": "/home/bitbots/bitbots_main",
 
   "mounts": [
     "type=bind,source=${localEnv:HOME},target=/srv/host_home,consistency=cached"

.devcontainer/zshrc

@@ -62,7 +62,7 @@ export ROS_DOMAIN_ID=24
 export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
 
 # Set the default colcon workspace
-export COLCON_WS="$HOME/colcon_ws"
+export COLCON_WS="$HOME/bitbots_main"
 
 # Set the default log level for colcon
 export COLCON_LOG_LEVEL=30
@@ -75,8 +75,8 @@ export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{name}]: {message}"
 export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 # Load our ros plugin script containing useful functions and aliases for ROS 2 development
-if [[ -f $COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh ]]; then
-  source $COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh
+if [[ -f $COLCON_WS/scripts/ros.plugin.sh ]]; then
+  source $COLCON_WS/scripts/ros.plugin.sh
 fi
 
 # <<< bit-bots initialize <<<
@@ -89,7 +89,7 @@ echo "Hello there! Welcome to the Bit-Bots ROS 2 development environment!"
 echo "If you just (re)build this container a few manual steps are nessessary:"
 echo "Create a ssh key with 'ssh-keygen -q -f $HOME/.ssh/id_rsa -N \"\" &&  cat $HOME/.ssh/id_rsa.pub'."
 echo "Copy the commands output and add it to your GitHub account ('https://github.com/settings/keys') (ctrl+click to open in browser)."
-echo "Now you can install the rest of the workspace and compile everything with 'make install && cba'."
-echo "To update an existing workspace you can use 'make update && cba'."
-echo "To compile all packages in the workspace use 'cba'. If you want to compile only a specific package use 'cbs <package_name>'."
+echo "Now you can install the rest of the workspace and compile everything with 'just install && just build'."
+echo "To update an existing workspace you can use 'just update'."
+echo "To compile all packages in the workspace use 'just build'. If you want to compile only a specific package use 'just build <package_name>'."
 echo "Run 'xhost local:root' in a terminal on the host machine to enable GUI applications (e.g. rviz2) in the container. This needs to be done after every restart of the host machine."

.git-blame-ignore-revs

@@ -12,3 +12,4 @@ f29fb619aef9f416cbbdc74ec77c23423dcefe07
 ae9fbef74c50ba1e462d1b76da16779c76aa0d5b
 476e75e3f3d17c35ac89b17f513d93078687d613
 cd3280273363807e1b5df2ade0138d48178cb06b
+5c6c1edc69b5d4e26bb7bdc3fef3399e2a61567b

.github/pull_request_template.md

@@ -11,7 +11,7 @@
 
 ## Checklist
 
-- [ ] Run `colcon build`
+- [ ] Run `just build`
 - [ ] Write documentation
 - [ ] Test on your machine
 - [ ] Test on the robot

.github/workflows/ci.yml

@@ -18,13 +18,13 @@ jobs:
         uses: fkirc/skip-duplicate-actions@v5
         with:
           cancel_others: 'true'
-     
-     # Remove comments to spawn an interactive debigging ssh shell in the ci 
+
+     # Remove comments to spawn an interactive debigging ssh shell in the ci
      #- name: Setup tmate session
      #   uses: mxschmitt/action-tmate@v3
-     #   with:   
+     #   with:
      #     detached: true
-      
+
       - name: Set up ROS ecosystem
         uses: ros-tooling/[email protected]
 
@@ -39,21 +39,20 @@ jobs:
           mkdir -p $HOME/.local/bin
           echo "PATH=$PATH:/github/home/.local/bin" >> "$GITHUB_ENV"
 
-      - name: Pull source code for libraries and install dependencies
+      - name: Install just
         run: |
-          sudo apt-get remove -y python3-pytest-repeat  #TODO remove once the upstream apt package reports the correct version on the newest pip version
-          make install HTTPS=true ARGS="--ci"
+          sudo apt-get update
+          sudo apt-get install -y just
 
-      - name: Set up colcon workspace
+      - name: Pull source code for libraries and install dependencies
         run: |
-          mkdir -p /colcon_ws/src
-          ln -s $(realpath .) /colcon_ws/src/bitbots_main
+          sudo apt-get remove -y python3-pytest-repeat  #TODO remove once the upstream apt package reports the correct version on the newest pip version
+          just HTTPS=true CI=true install
 
       - name: Build packages
         run: |
           . /opt/ros/jazzy/setup.sh
-          colcon build --symlink-install
-        working-directory: /colcon_ws
+          just build
 
       - name: Test packages
         run: |
@@ -62,4 +61,3 @@ jobs:
           . install/setup.sh
           # Run tests for all packages
           colcon test --event-handlers console_direct+ --return-code-on-test-failure --parallel-workers 1
-        working-directory: /colcon_ws

.gitignore

@@ -203,11 +203,10 @@ bitbots_docs_internal
 
 # VS Code ROS extension
 .vscode/browse.vc.*
-log/
 
 # Neural Network Model Path
-/bitbots_vision/models/
-/bitbots_motion/bitbots_rl_motion/rl_walk_models/
+/src/bitbots_vision/models/
+/src/bitbots_motion/bitbots_rl_motion/rl_walk_models/
 
 **/.*.
 .idea/*
@@ -220,15 +219,24 @@ doc_internal/*
 doku/*
 
 # library subdirectories
-/lib/
+/src/lib/
 
 # Path to the protocol buffer definitions, which are a different repository and managed by vcstool
-/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol
+/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol
 # Protobuf generated file
-/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py
-/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.pyi
+/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py
+/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.pyi
 
 # Workspace git status file from the deploy tool
 **/workspace_status.json
 
+# Do not include colcon build files
+/install/
+/build/
+/log/
+
+# Ignore mypy cache
+.mypy_cache/
+
+# Pytest cache
 .pytest_cache/

.vscode/c_cpp_properties.json

@@ -14,6 +14,9 @@
                 "/root/colcon_ws/install/*/include/**",
                 "/root/colcon_ws/build/**/include/**",
                 "/root/colcon_ws/build/**/rosidl_generator_cpp/**",
+                "${workspaceFolder}/install/*/include/**",
+                "${workspaceFolder}/build/**/include/**",
+                "${workspaceFolder}/build/**/rosidl_generator_cpp/**",
                 "${workspaceFolder}/**/include/**",
                 "/opt/ros/${env:ROS_DISTRO}/include/**",
                 "/usr/include/**",

.vscode/settings.json

@@ -240,4 +240,9 @@
     "[jsonc]": {
         "editor.defaultFormatter": "vscode.json-language-features"
     },
+    "search.exclude": {
+        "build": true,
+        "install": true,
+        "log": true,
+    },
 }

Justfile

@@ -0,0 +1,108 @@
+# Justfile
+
+# Set shell
+set shell := ["bash", "-uc"]
+
+# Variables
+HTTPS := ""
+REPO := `pwd`
+CI := ""
+
+# Setup / Update related targets
+
+# Install the proprietary Basler Camera SDK
+install-basler:
+    scripts/make_basler.sh {{ if CI != "" {"--ci"} else {""} }}
+
+# Install Webots Simulation environment
+install-webots:
+	scripts/make_webots.sh {{ if CI != "" {"--ci"} else {""} }}
+
+# Install all dependencies, pull all repositories, ...
+install: pull-init install-basler install-webots update
+
+# Same as install but without sudo commands (apt/ros dependencies must be already installed on the system)
+install-no-root: pull-init update-no-root
+
+# Install python dependencies
+pip:
+    # Install and upgrade pip dependencies
+    pip install --upgrade pip --user --break-system-packages -v
+    pip install --upgrade -r requirements/dev.txt --user --break-system-packages -v
+
+
+# Sets up pre-commit hooks that check code formatting etc. before each commit
+install-pre-commit:
+    pre-commit install
+
+# This is needed as the ROS vscode extension adds absolute paths to some files and we do not want to commit those.
+# Install git filters to remove absolute paths from files before committing them.
+install-git-filters:
+    # Install git filters
+    git config filter.removeFullHomePath.clean "sed '/\/\(home\|root\).*\(install\|build\)/d'"
+
+# Formats the code according to our style guidelines
+format:
+    pre-commit run --all-files
+
+# Clones/Overrides all library repositories and pulls all auxiliary files (like neural network weights)
+pull-init: fresh-libs pull-files
+
+# Pull all auxiliary files (like neural network weights) from the http server
+pull-files:
+    wget --no-verbose --show-progress --timeout=15 --tries=2 --recursive --timestamping --no-parent --no-host-directories --directory-prefix={{REPO}}/src/bitbots_vision --reject "index.html*" "https://data.bit-bots.de/models/"
+    wget --no-verbose --show-progress --timeout=15 --tries=2 --recursive --timestamping --no-parent --no-host-directories --directory-prefix={{REPO}}/src/bitbots_motion/bitbots_rl_motion --reject "index.html*" "https://data.bit-bots.de/rl_walk_models/"
+
+# Remove all library repositories and re-clone them
+fresh-libs: remove-libs clone-libs
+
+# Remove all library repositories
+remove-libs:
+    rm -rf src/lib/*
+    rm -rf src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol
+    rm src/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py || true
+
+# Clone all library repositories
+clone-libs:
+    if [ "{{HTTPS}}" = "true" ]; then \
+        awk '{sub("[email protected]:", "https://github.com/"); print "  " $$0}' workspace.repos | vcs import .; \
+    else \
+        vcs import . < workspace.repos; \
+    fi
+
+# Install all ROS managed dependencies
+rosdep:
+    [ -f /etc/ros/rosdep/sources.list.d/20-default.list ] || sudo rosdep init
+    rosdep update
+    rosdep install --from-paths src --ignore-src --rosdistro jazzy -y
+
+# Update everything (download all lib repositories, update dependencies, ...)
+update: pull-init rosdep pip install-git-filters
+
+# Same as update but without sudo commands (all apt/ros dependencies must be already installed on the system)
+update-no-root: pull-init pip install-git-filters
+
+
+# Build related targets
+
+# Build a specific package or all packages
+build *packages:
+    colcon build --symlink-install --continue-on-error {{ if packages != "" {"--packages-select " + packages} else {""} }}
+
+# Clean all build artifacts or only those of specific packages
+clean *packages:
+	if [ "{{packages}}" != "" ]; then \
+		colcon clean packages --packages-select {{packages}}; \
+	else \
+		rm -rf install build log; \
+	fi
+
+# Run tests of all packages or a specific package
+test *packages:
+    colcon test --event-handlers console_direct+ --return-code-on-test-failure {{ if packages != "" {"--packages-select " + packages} else {""} }}
+
+# Development related targets
+
+# Deploy the code to a robot
+deploy *args:
+    scripts/deploy_robots.py {{args}}