Merge branch 'master' of https://github.com/uwrobotics/uwrt_mars_rover …

…into user/meshvad/cartesian-arm-controller

.devcontainer/devcontainer.json

@@ -0,0 +1,27 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the
+// README at: https://github.com/devcontainers/templates/tree/main/src/docker-existing-dockerfile
+{
+	"name": "Existing Dockerfile",
+	"build": {
+		// 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.
+		"dockerfile": "../Dockerfile.dev"
+	},
+	"containerEnv": { "DISPLAY": "host.docker.internal:0.0" }
+
+	// Features to add to the dev container. More info: https://containers.dev/features.
+	// "features": {},
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Uncomment the next line to run commands after the container is created.
+	// "postCreateCommand": "cat /etc/os-release",
+
+	// Configure tool-specific properties.
+	// "customizations": {},
+
+	// Uncomment to connect as an existing user other than the container default. More info: https://aka.ms/dev-containers-non-root.
+	// "remoteUser": "devcontainer"
+}

.flake8

@@ -0,0 +1,2 @@
+[flake8]
+max-line-length = 120

.github/dependabot.yml → .github/dependabot.yaml

@@ -9,7 +9,8 @@ updates:
     pull-request-branch-name:
       separator: "/"
     assignees:
-      - "wmmc88"
+      - "niiquaye"
+      - "keyonjerome"
     reviewers:
-      - "wmmc88"
       - "niiquaye"
+      - "keyonjerome"

.github/templates/pull_request_template.md

@@ -0,0 +1,22 @@
+<!--
+Please be sure to link the relevant issues in your Pull Request
+-->
+
+# Pull Request
+
+<!-- Provide more details below this comment. Include details on new launch files, nodes, etc -->
+
+<!-- Also include details on your testing procedure -->
+
+## Contribution Checklist
+
+<!-- Put an 'x' in the boxes that apply. -->
+
+- [ ] I have linked all the relevant issues
+
+## Change Checklist
+
+<!-- Put an 'x' in the boxes that apply. -->
+
+- [ ] I have tested my changes.
+- [ ] I have added new packages to the `PACKAGES_TO_TEST` variable in `ci.yaml`.

.github/workflows/cancel-superceeded-jobs.yaml

@@ -5,6 +5,7 @@ on: [ push, pull_request ]
 
 jobs:
   cancel-superceded-jobs:
+    if: ${{ !github.event.act }}
     runs-on: ubuntu-latest
     steps:
       - name: Cancel Superceded Jobs

.github/workflows/ci.yaml

@@ -1,3 +1,4 @@
+# the "if" flag with event.json is for running the workflow locally with `act`.
 name: CI
 
 on:
@@ -10,14 +11,20 @@ on:
     - cron: '0 0 * * *'
 
 env:
+  PACKAGES_TO_TEST: # This limits the packages that are checked in CI. This is to avoid testing upstream packages passed in via .repos files.
+    uwrt_mars_rover
+    uwrt_mars_rover_drivetrain
+    uwrt_mars_rover_drivetrain_description
+    uwrt_mars_rover_drivetrain_hw
+    uwrt_mars_rover_arm_urdf 
+    uwrt_mars_rover_arm_urdf_moveit
   ROS_DISTRO: galactic
-  PACKAGES_TO_TEST: "uwrt_mars_rover uwrt_mars_rover_arm_urdf uwrt_mars_rover_arm_urdf_moveit"
-
-
   IMAGE: "rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-desktop-latest"
 
 jobs:
   prepare-actions-environment:
+    if: ${{ !github.event.act }}
+
     # workaround to use variable for IMAGE. Based off of: https://github.community/t/how-to-use-env-with-container-image/17252/25
     runs-on: ubuntu-latest
     outputs:
@@ -27,6 +34,7 @@ jobs:
         run: echo "::set-output name=image::${{ env.IMAGE }}"
 
   linters:
+    if: ${{ !github.event.act }}
     name: ament-${{ matrix.linter }}
     needs: prepare-actions-environment
     runs-on: ubuntu-latest
@@ -40,24 +48,66 @@ jobs:
 
     steps:
       - name: Checkout Repository
-        uses: actions/checkout@v2
-
+        uses: actions/checkout@v3
+    
       - name: ROS2 Linter - [ament-${{ matrix.linter }}]
         uses: ros-tooling/action-ros-lint@master
         with:
-          distribution: rolling
+          distribution: ${{ env.ROS_DISTRO }}
           linter: ${{ matrix.linter }}
           package-name: ${{ env.PACKAGES_TO_TEST }}
 
+  linters-clang-format:
+    if: ${{ !github.event.act }}
+    name: ament-clang-format
+    needs: prepare-actions-environment
+    runs-on: ubuntu-latest
+    container:
+      image: ${{ needs.prepare-actions-environment.outputs.image }}
+      options: -u root
+
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v3
 
-  linux-amd64-build-and-test:
+      - name: ROS2 Linter - [ament-clang-format]
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          distribution: ${{ env.ROS_DISTRO }}
+          linter: clang-format
+          arguments: "--config .clang-format"
+          package-name: ${{ env.PACKAGES_TO_TEST }}
+
+  linters-flake8:
+    if: ${{ !github.event.act }}
+    name: ament-flake8
     needs: prepare-actions-environment
     runs-on: ubuntu-latest
     container:
       image: ${{ needs.prepare-actions-environment.outputs.image }}
       options: -u root
 
     steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v3
+
+      - name: ROS2 Linter - [ament-flake8]
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          distribution: ${{ env.ROS_DISTRO }}
+          linter: flake8
+          arguments: "--config .flake8"
+          package-name: ${{ env.PACKAGES_TO_TEST }}
+
+  linux-amd64-build-and-test:
+    needs: prepare-actions-environment
+    runs-on: ubuntu-latest
+    container:
+      image: ${{ needs.prepare-actions-environment.outputs.image }}
+
+
+    steps:
+
       - name: Build ROS2 Packages and Run Tests
         uses: ros-tooling/[email protected]
         with:
@@ -69,7 +119,8 @@ jobs:
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/3e627e0fa30db85aea05a50e2c61a9832664d236/index.yaml
           target-ros2-distro: ${{ env.ROS_DISTRO }}
-          vcs-repo-file-url: https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/common_upstream_dependencies.repos
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/common_upstream_dependencies.repos
           package-name: ${{ env.PACKAGES_TO_TEST }}
 
   linux-arm64-build-and-test:
@@ -81,11 +132,11 @@ jobs:
     # Possibly resolveable with https://github.com/actions/runner/issues/320
     steps:
       - name: Checkout Repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: Install Docker/QEMU dependencies
         id: qemu
-        uses: docker/setup-qemu-action@v1
+        uses: docker/setup-qemu-action@v2
         with:
           image: tonistiigi/binfmt:latest
           platforms: arm64
@@ -98,9 +149,11 @@ jobs:
         run: |
           docker run --name arm64-ros --mount type=bind,source=$(pwd),target=/rosws/src/$(basename $(pwd)) --workdir /rosws --detach -i --rm arm64v8/ros:${{ env.ROS_DISTRO }}
 
-      - name: Install ROS Source Dependencies
+      - name: Download ROS Source Dependencies
         run: |
           docker exec --workdir /rosws/src arm64-ros vcs import --input uwrt_mars_rover/common_upstream_dependencies.repos
+        # TODO: add linux_arm64_upstream_dependencies.repos
+
       - name: Install ROS Binary Package Dependencies
         run: |
           docker exec arm64-ros sudo apt update

.github/workflows/event.json

@@ -0,0 +1,3 @@
+{
+    "act": true
+}

Dockerfile.dev

@@ -0,0 +1,16 @@
+# Start with the desktop ROS Galactic 20.04 image
+FROM osrf/ros:galactic-desktop
+
+# This dockerfile assumes you'll share your development folder from your computer over to the container,
+# so we don't do `rosdep install` for you, or clone the repository.
+
+# update everything
+RUN sudo apt update -y --no-install-recommends && sudo apt dist-upgrade -y 
+# Ensure rosinstall and rosdep are installed and up to date
+RUN sudo apt install -y python3-rosdep
+
+# build via  docker build -f .\Dockerfile.dev -t uwrt_dev_image .
+# run via docker run --name uwrt_dev_container -e DISPLAY=host.docker.internal:0.0 -it -v uwrt_dev_image
+
+
+

Dockerfile.prod

@@ -0,0 +1,23 @@
+# Start with the basic ROS Galactic 20.04 image
+FROM ros:galactic
+
+# Copy over the current repository to our image
+COPY . $HOME/dev_ws/src/uwrt_mars_rover
+WORKDIR $HOME/dev_ws/src/
+
+# update everything
+RUN sudo apt update -y --no-install-recommends && sudo apt dist-upgrade -y 
+# Ensure rosinstall and rosdep are installed and up to date
+RUN sudo apt install -y python3-rosdep
+
+# Install upstream source dependencies
+RUN vcs import --input uwrt_mars_rover/common_upstream_dependencies.repos
+
+# Download metapackage dependencies (unused; used in earlier years for HW bridge)
+# RUN vcs import --input uwrt_mars_rover/metapackage_dependencies.repos
+
+# Change directories to run rosdep
+WORKDIR $HOME/dev_ws/
+# Get all ROS dependencies for the ROS packages we use via rosdep
+RUN rosdep install --from-paths src -y --ignore-src
+