Implement Set-Based TPIK and perform initial cleanup

.devcontainer.json → .devcontainer/nouveau/devcontainer.json

@@ -1,11 +1,12 @@
 {
-  "dockerFile": ".docker/Dockerfile",
-  "context": ".",
+  "dockerFile": "../../.docker/Dockerfile",
+  "context": "../..",
   "build": {
     "args": {
       "WORKSPACE": "${containerWorkspaceFolder}",
       "ROS_DISTRO": "rolling"
-    }
+    },
+    "target": "develop"
   },
   "remoteUser": "angler",
   "runArgs": [

.devcontainer/nvidia/devcontainer.json

@@ -0,0 +1,127 @@
+{
+  "dockerFile": "../../.docker/Dockerfile",
+  "context": "../..",
+  "build": {
+    "args": {
+      "WORKSPACE": "${containerWorkspaceFolder}",
+      "ROS_DISTRO": "rolling"
+    },
+    "target": "develop-nvidia"
+  },
+  "remoteUser": "angler",
+  "runArgs": [
+    "--network=host",
+    "--cap-add=SYS_PTRACE",
+    "--security-opt=seccomp:unconfined",
+    "--security-opt=apparmor:unconfined",
+    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+    "--volume=/mnt/wslg:/mnt/wslg",
+    "--gpus=all"
+  ],
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}",
+    "WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
+    "XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
+    "PULSE_SERVER": "${localEnv:PULSE_SERVER}",
+    "LIBGL_ALWAYS_SOFTWARE": "1",
+    "QT_X11_NO_MITSHM": "1"
+  },
+  "customizations": {
+    "vscode": {
+      "settings": {
+        "files.associations": {
+          "*.repos": "yaml",
+          "*.world": "xml",
+          "*.xacro": "xml",
+          "*.srdf": "xml",
+          "*.rviz": "yaml",
+          "*.config": "xml",
+          "*.sdf": "xml"
+        },
+        "terminal.integrated.defaultProfile.linux": "bash",
+        "files.insertFinalNewline": true,
+        "files.trimTrailingWhitespace": true,
+        "editor.formatOnSave": true,
+        "editor.tabSize": 2,
+        "xml.format.maxLineWidth": 100,
+        "json.format.enable": true,
+        "python.linting.enabled": true,
+        "python.linting.flake8Enabled": true,
+        "python.linting.pylintEnabled": false,
+        "python.linting.pydocstyleEnabled": true,
+        "python.linting.mypyEnabled": true,
+        "python.formatting.provider": "black",
+        "autoDocstring.startOnNewLine": false,
+        "autoDocstring.docstringFormat": "google-notypes",
+        "isort.args": ["--profile", "black"],
+        "isort.check": true,
+        "python.autoComplete.extraPaths": [
+          "/opt/ros/rolling/lib/python3.10/site-packages/",
+          "/opt/ros/rolling/local/lib/python3.10/dist-packages/",
+          "${workspaceFolder}/install/"
+        ],
+        "python.analysis.extraPaths": [
+          "/opt/ros/rolling/lib/python3.10/site-packages/",
+          "/opt/ros/rolling/local/lib/python3.10/dist-packages/",
+          "${workspaceFolder}/install/"
+        ],
+        "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"
+        },
+        "[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",
+        "ms-python.black-formatter"
+      ]
+    }
+  }
+}

.docker/Dockerfile

@@ -31,10 +31,8 @@ RUN apt-get -q update \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
-# Install Qualisys Python SDK
-# This isn't available as a rosdep, so we need to install
-# it manually
-RUN python3 -m pip install qtm
+# Install the Python requirements that aren't available as rosdeps
+RUN python3 -m pip install -r $(pwd)/src/angler/requirements-build.txt
 
 # Install gstreamer
 RUN apt-get -q update \
@@ -178,7 +176,8 @@ RUN apt-get -q update \
 RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
     && colcon build \
     # Update /ros_entrypoint.sh to source the workspace
-    && sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$USER_WORKSPACE/setup.sh#g" /ros_entrypoint.sh
+    && sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$USER_WORKSPACE/setup.sh#g" /ros_entrypoint.sh \
+    && echo "source ${USER_WORKSPACE}/setup.sh" >> /home/$USERNAME/.bashrc
 
 ####################################################
 # develop: Setup the image for development purposes
@@ -192,6 +191,9 @@ WORKDIR $ROS_UNDERLAY/..
 
 COPY . src/angler
 
+# Install debugging/linting Python packages
+RUN python3 -m pip install -r $(pwd)/src/angler/requirements-dev.txt
+
 RUN apt-get -q update \
     && apt-get -q -y upgrade \
     && vcs import src < src/angler/angler.repos \
@@ -209,26 +211,84 @@ RUN apt-get -q update \
     iputils-ping \
     net-tools \
     gdb \
+    nano \
     && apt-get autoremove -y \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
+COPY .docker/entrypoints/dev.sh /
+
+# WARNING: This is a temporary solution for disabling the setuputils installation warning
+ENV PYTHONWARNINGS="ignore"
+
+ARG WORKSPACE
+RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc \
+    && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
+    # Expose the environment variables to the non-root user
+    && echo "if [ -f /sim.sh ]; then source /sim.sh; fi" >> /home/$USERNAME/.bashrc \
+    && echo "if [ -f /dev.sh ]; then source /dev.sh; fi" >> /home/$USERNAME/.bashrc
+
+
+######################################################################################
+# develop-nvidia: Setup the image for development purposes with NVIDIA driver support
+######################################################################################
+FROM deps as develop-nvidia
+
+# Install NVIDIA software
+RUN apt-get update \
+    && apt-get install -y -qq --no-install-recommends \
+    libglvnd0 \
+    libgl1 \
+    libglx0 \
+    libegl1 \
+    libxext6 \
+    libx11-6
+
+# Env vars for the nvidia-container-runtime.
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QT_X11_NO_MITSHM 1
+
+ENV GZ_VERSION=garden
+ENV ROS_UNDERLAY /root/ws_angler/install
+ENV DEBIAN_FRONTEND=noninteractive
+WORKDIR $ROS_UNDERLAY/..
+
+COPY . src/angler
+
 # Install debugging/linting Python packages
-RUN python3 -m pip install \
-    pre-commit \
-    mypy \
-    isort \
-    flake8 \
-    black \
-    setuptools==58.2.0
+RUN python3 -m pip install -r $(pwd)/src/angler/requirements-dev.txt
+
+RUN apt-get -q update \
+    && apt-get -q -y upgrade \
+    && vcs import src < src/angler/angler.repos \
+    && rosdep update \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \
+    && 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 \
+    iputils-ping \
+    net-tools \
+    gdb \
+    nano \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
 
 COPY .docker/entrypoints/dev.sh /
 
+# WARNING: This is a temporary solution for disabling the setuputils installation warning
+ENV PYTHONWARNINGS="ignore"
+
 ARG WORKSPACE
 RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc \
     && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
     # Expose the environment variables to the non-root user
-    && echo "if [ -f /ros_entrypoint.sh ]; then source /ros_entrypoint.sh; fi" >> /home/$USERNAME/.bashrc
-
-ENTRYPOINT [ "/ros_entrypoint.sh" ]
-CMD ["bash"]
+    && echo "if [ -f /sim.sh ]; then source /sim.sh; fi" >> /home/$USERNAME/.bashrc \
+    && echo "if [ -f /dev.sh ]; then source /dev.sh; fi" >> /home/$USERNAME/.bashrc

.docker/entrypoints/sim.sh

@@ -9,11 +9,14 @@ export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLU
 # Optional: add ardupilot_gazebo models and worlds
 export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH
 
-# Add alpha models
+# Add alpha meshes
 export GZ_SIM_RESOURCE_PATH=$HOME/ws_angler/src/alpha/alpha_description/meshes:$GZ_SIM_RESOURCE_PATH
 
 # Add blue models and worlds
 export GZ_SIM_RESOURCE_PATH=$HOME/ws_angler/src/blue/blue_description/gazebo/models:$HOME/ws_angler/src/blue/blue_description/gazebo/worlds:$GZ_SIM_RESOURCE_PATH
 
+# Add blue meshes
+export GZ_SIM_RESOURCE_PATH=$HOME/ws_angler/src/blue/blue_description/meshes:$GZ_SIM_RESOURCE_PATH
+
 # Build ros_gz for Gazebo Garden
 export GZ_VERSION=garden

.dockerignore

@@ -5,9 +5,8 @@
 !angler_bringup
 !angler_planning
 !angler_msgs
-<<<<<<< HEAD
 !angler_mux
 !angler.repos
 !.docker/entrypoints
-=======
->>>>>>> origin/develop
+!requirements-build.txt
+!requirements-dev.txt

.github/PULL_REQUEST_TEMPLATE.md

@@ -19,11 +19,6 @@ toward closing.
 
 - Fixes # (issue)
 
-## Files Changed
-
-Please provide a list of all files changed and a summary of the changes made to
-the respective files.
-
 ## Testing
 
 Please provide a clear and concise description of the testing performed.

.github/workflows/ci.yaml

@@ -22,6 +22,8 @@ jobs:
             ROS_DISTRO: rolling
           - IMAGE: humble-ci
             ROS_DISTRO: humble
+          - IMAGE: iron-ci
+            ROS_DISTRO: iron
     steps:
       - name: Checkout repository
         uses: actions/checkout@v3

.github/workflows/docker.yaml

@@ -20,7 +20,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [humble, rolling]
+        ROS_DISTRO: [humble, rolling, iron]
     runs-on: ubuntu-latest
     permissions:
       packages: write