Added project configuration files

Robotic-Decision-Making-Lab · Apr 4, 2023 · 8cdc68d · 8cdc68d
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diff --git a/.clang-format b/.clang-format
@@ -0,0 +1,27 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+ColumnLimit: 100
+MaxEmptyLinesToKeep: 1
+
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+PackConstructorInitializers: Never
+
+# Configure brace wrapping cases
+BreakBeforeBraces: Custom
+BraceWrapping:
+  AfterClass: true
+  AfterEnum: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+  AfterUnion: true
+  BeforeCatch: true
diff --git a/.clang-tidy b/.clang-tidy
@@ -0,0 +1,80 @@
+---
+Checks: >
+  -*,
+  abseil-*,
+  bugprone-*,
+  google-*,
+  misc-*,
+  modernize-*,
+  performance-*,
+  portability-*,
+  readability-*,
+  -google-readability-braces-around-statements,
+  -google-readability-namespace-comments,
+  -google-runtime-references,
+  -misc-non-private-member-variables-in-classes,
+  -modernize-return-braced-init-list,
+  -modernize-use-trailing-return-type,
+  -performance-move-const-arg,
+  -readability-braces-around-statements,
+  -readability-identifier-length,
+  -readability-magic-numbers,
+  -readability-named-parameter,
+  -readability-redundant-declaration,
+  -readability-function-cognitive-complexity,
+  -bugprone-narrowing-conversions,
+  -bugprone-easily-swappable-parameters,
+  -bugprone-implicit-widening-of-multiplication-result,
+  -modernize-avoid-bind
+WarningsAsErrors: "*"
+CheckOptions:
+  - key: readability-braces-around-statements.ShortStatementLines
+    value: "2"
+  - key: readability-identifier-naming.NamespaceCase
+    value: lower_case
+  - key: readability-identifier-naming.ClassCase
+    value: CamelCase
+  - key: readability-identifier-naming.StructCase
+    value: CamelCase
+  - key: readability-identifier-naming.TemplateParameterCase,
+    value: CamelCase,
+  - key: readability-identifier-naming.FunctionCase
+    value: camelBack
+  - key: readability-identifier-naming.MethodCase
+    value: camelBack
+  - key: readability-identifier-naming.VariableCase
+    value: lower_case
+  - key: readability-identifier-naming.ClassMemberCase
+    value: lower_case
+  - key: readability-identifier-naming.ClassMemberSuffix
+    value: _
+  - key: readability-identifier-naming.PrivateMemberSuffix
+    value: _
+  - key: readability-identifier-naming.ProtectedMemberSuffix
+    value: _
+  - key: readability-identifier-naming.EnumConstantCase
+    value: CamelCase
+  - key: readability-identifier-naming.EnumConstantPrefix
+    value: k
+  - key: readability-identifier-naming.ConstexprVariableCase
+    value: CamelCase
+  - key: readability-identifier-naming.ConstexprVariablePrefix
+    value: k
+  - key: readability-identifier-naming.GlobalConstantCase
+    value: CamelCase
+  - key: readability-identifier-naming.GlobalConstantPrefix
+    value: k
+  - key: readability-identifier-naming.MemberConstantCase
+    value: CamelCase
+  - key: readability-identifier-naming.MemberConstantPrefix
+    value: k
+  - key: readability-identifier-naming.StaticConstantCase
+    value: CamelCase
+  - key: readability-identifier-naming.StaticConstantPrefix
+    value: k
+  - key: readability-implicit-bool-conversion.AllowIntegerConditions
+    value: 1
+  - key: readability-implicit-bool-conversion.AllowPointerConditions
+    value: 1
+  - key: readability-function-cognitive-complexity.IgnoreMacros
+    value: 1
diff --git a/.devcontainer.json b/.devcontainer.json
@@ -0,0 +1,118 @@
+{
+  "dockerFile": ".docker/Dockerfile",
+  "context": ".",
+  "build": {
+    "args": {
+      "WORKSPACE": "${containerWorkspaceFolder}",
+      "ROS_DISTRO": "humble"
+    }
+  },
+  "remoteUser": "dev",
+  "runArgs": [
+    "--network=host",
+    "--cap-add=SYS_PTRACE",
+    "--security-opt=seccomp:unconfined",
+    "--security-opt=apparmor:unconfined",
+    "--volume=/dev:/dev",
+    "--privileged"
+  ],
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}",
+    "WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
+    "XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
+    "PULSE_SERVER": "${localEnv:PULSE_SERVER}"
+  },
+  "customizations": {
+    "vscode": {
+      "settings": {
+        "files.associations": {
+          "*.repos": "yaml",
+          "*.world": "xml",
+          "*.xacro": "xml",
+          "*.srdf": "xml",
+          "*.rviz": "yaml"
+        },
+        "terminal.integrated.defaultProfile.linux": "bash",
+        "files.insertFinalNewline": true,
+        "files.trimTrailingWhitespace": true,
+        "editor.formatOnSave": true,
+        "xml.format.maxLineWidth": 100,
+        "json.format.enable": true,
+        "python.linting.enabled": true,
+        "python.linting.flake8Enabled": true,
+        "python.linting.pylintEnabled": false,
+        "python.linting.pydocstyleEnabled": true,
+        "python.linting.mypyEnabled": true,
+        "python.formatting.provider": "black",
+        "autoDocstring.startOnNewLine": false,
+        "autoDocstring.docstringFormat": "google",
+        "isort.args": ["--profile", "black"],
+        "isort.check": true,
+        "python.autoComplete.extraPaths": [
+          "/opt/ros/humble/lib/python3.10/site-packages/"
+        ],
+        "python.analysis.extraPaths": [
+          "/opt/ros/humble/lib/python3.10/site-packages/"
+        ],
+        "C_Cpp.default.intelliSenseMode": "linux-gcc-x86",
+        "C_Cpp.clang_format_fallbackStyle": "Google",
+        "C_Cpp.codeAnalysis.clangTidy.enabled": true,
+        "C_Cpp.codeAnalysis.clangTidy.runAutomatically": true,
+        "clang-format.executable": "/usr/bin/clang-format-14",
+        "[cpp]": {
+          "editor.rulers": [100],
+          "editor.tabSize": 2,
+          "editor.defaultFormatter": "xaver.clang-format"
+        },
+        "[python]": {
+          "editor.tabSize": 4,
+          "editor.rulers": [90],
+          "editor.codeActionsOnSave": {
+            "source.organizeImports": true
+          }
+        },
+        "[dockerfile]": {
+          "editor.quickSuggestions": {
+            "strings": true
+          },
+          "editor.defaultFormatter": "ms-azuretools.vscode-docker",
+          "editor.tabSize": 4
+        },
+        "[json]": {
+          "editor.defaultFormatter": "esbenp.prettier-vscode"
+        },
+        "[xml]": {
+          "editor.defaultFormatter": "redhat.vscode-xml"
+        },
+        "[yaml]": {
+          "editor.defaultFormatter": "redhat.vscode-yaml"
+        },
+        "[markdown]": {
+          "editor.rulers": [80],
+          "editor.defaultFormatter": "DavidAnson.vscode-markdownlint"
+        },
+        "search.exclude": {
+          "**/build": true,
+          "**/install": true,
+          "**/log": true
+        }
+      },
+      "extensions": [
+        "ms-azuretools.vscode-docker",
+        "ms-python.python",
+        "njpwerner.autodocstring",
+        "cschlosser.doxdocgen",
+        "ms-vscode.cpptools",
+        "redhat.vscode-xml",
+        "redhat.vscode-yaml",
+        "josetr.cmake-language-support-vscode",
+        "smilerobotics.urdf",
+        "DavidAnson.vscode-markdownlint",
+        "esbenp.prettier-vscode",
+        "xaver.clang-format",
+        "ms-python.isort",
+        "ms-python.flake8"
+      ]
+    }
+  }
+}
diff --git a/.docker/Dockerfile b/.docker/Dockerfile
@@ -0,0 +1,123 @@
+ARG ROS_DISTRO=rolling
+FROM ros:$ROS_DISTRO-ros-base as ci
+
+LABEL maintainer="Evan Palmer"
+LABEL maintainer-email="[email protected]"
+
+ENV DEBIAN_FRONTEND=noninteractive
+WORKDIR /root/ws_angler
+
+COPY . src/angler
+
+# Install apt packages
+RUN apt-get -q update \
+    && apt-get -q -y upgrade \
+    && apt-get -q install --no-install-recommends -y \
+    git \
+    wget \
+    curl \
+    sudo \
+    clang \
+    clang-format-14 \
+    clang-tidy \
+    clang-tools \
+    software-properties-common \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install MAVROS dependencies prior to installing ROS dependencies
+RUN [ "/bin/bash" , "-c" , "\
+    wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh \
+    && chmod +x install_geographiclib_datasets.sh \
+    && sudo ./install_geographiclib_datasets.sh" ]
+
+# Install all ROS dependencies
+RUN apt-get -q update \
+    && apt-get -q -y upgrade \
+    && rosdep update \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
+    && rm -rf src \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+FROM ci as source
+
+ENV ROS_UNDERLAY /root/ws_angler/install
+ENV DEBIAN_FRONTEND=noninteractive
+WORKDIR $ROS_UNDERLAY/..
+
+COPY . src/angler
+
+RUN apt-get -q update \
+    && apt-get -q -y upgrade \
+    && rosdep update \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
+    && colcon build \
+    --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+    --ament-cmake-args -DCMAKE_BUILD_TYPE=Release \
+    --event-handlers desktop_notification- status- \
+    # Update /ros_entrypoint.sh to source the new workspace
+    && sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/setup.sh#g" /ros_entrypoint.sh
+
+FROM ci as develop
+
+ENV ROS_UNDERLAY /root/ws_angler/install
+ENV DEBIAN_FRONTEND=noninteractive
+WORKDIR $ROS_UNDERLAY/..
+
+COPY . src/angler
+
+RUN apt-get -q update \
+    && apt-get -q -y upgrade \
+    && rosdep update \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
+    && rm -rf src \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install development tools
+RUN apt-get -q update \
+    && apt-get -q -y upgrade \
+    && apt-get -q install --no-install-recommends -y \
+    python3-dev \
+    python3-pip \
+    iputils-ping \
+    net-tools \
+    gdb \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install debugging/linting Python packages
+RUN pip3 install \
+    pre-commit \
+    mypy \
+    isort \
+    flake8 \
+    black
+
+# Configure a new non-root user
+ARG USERNAME=dev
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && apt-get update && apt-get upgrade -y \
+    && apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME \
+    && rm -rf /var/lib/apt/lists/* \
+    && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc \
+    && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
+
+ARG WORKSPACE
+RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc
diff --git a/.dockerignore b/.dockerignore
@@ -0,0 +1,2 @@
+# ignore everything
+*