Updates to support ROS 2 Rolling (#41)

* Updated dockerfile and devcontainer

* Cleanup controllers for latest version of ros2_control

* Removed dll_export stuff

* Cleanup devcontainer

* Updated to use latest version of hydrodynamics

* Fix clang tidy errors

* Resolve final error in CI

* Fixed dev container name

(cherry picked from commit ad612dc)

# Conflicts:
#	.devcontainer/Dockerfile
#	.devcontainer/nouveau/Dockerfile
#	.devcontainer/nvidia/Dockerfile
#	.github/workflows/ci.yml
#	.github/workflows/docker.yml
#	.vscode/c_cpp_properties.json
#	.vscode/settings.json
#	thruster_allocation_matrix_controller/include/thruster_allocation_matrix_controller/thruster_allocation_matrix_controller.hpp
#	thruster_allocation_matrix_controller/src/thruster_allocation_matrix_controller.cpp
#	thruster_controllers/include/thruster_controllers/polynomial_thrust_curve_controller.hpp
#	thruster_controllers/src/polynomial_thrust_curve_controller.cpp
#	velocity_controllers/include/velocity_controllers/integral_sliding_mode_controller.hpp
#	velocity_controllers/src/integral_sliding_mode_controller.cpp

Author: evan-palmer

.clang-format

@@ -12,8 +12,11 @@ AlignAfterOpenBracket: AlwaysBreak
 ConstructorInitializerIndentWidth: 0
 ContinuationIndentWidth: 2
 DerivePointerAlignment: false
+AllowAllParametersOfDeclarationOnNextLine: false
 PointerAlignment: Middle
 PackConstructorInitializers: Never
+BinPackArguments: false
+BinPackParameters: false
 
 # Configure brace wrapping cases
 BreakBeforeBraces: Custom

.clang-tidy

@@ -13,8 +13,6 @@ Checks: >
   -google-readability-namespace-comments,
   -google-runtime-references,
   -misc-non-private-member-variables-in-classes,
-  -modernize-return-braced-init-list,
-  -modernize-use-trailing-return-type,
   -readability-braces-around-statements,
   -readability-identifier-length,
   -readability-magic-numbers,

.docker/Dockerfile renamed to .devcontainer/Dockerfile

@@ -1,5 +1,10 @@
+<<<<<<< HEAD:.docker/Dockerfile
 ARG ROS_DISTRO=humble
 FROM ros:$ROS_DISTRO-ros-base as ci
+=======
+ARG ROS_DISTRO=rolling
+FROM ros:$ROS_DISTRO-ros-base
+>>>>>>> ad612dc (Updates to support ROS 2 Rolling (#41)):.devcontainer/Dockerfile
 
 ENV DEBIAN_FRONTEND=noninteractive
 WORKDIR /root/ws_ros
@@ -15,86 +20,76 @@ RUN apt-get -q update \
     git \
     sudo \
     clang \
-    clang-format-14 \
-    clang-tidy \
-    clang-tools \
     python3-pip \
     python3-dev \
+    python3-venv \
     apt-utils \
     software-properties-common \
     && apt-get autoremove -y \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
-# Install all ROS dependencies needed for CI
-RUN vcs import src < src/$PROJECT_NAME/ros2.repos \
-    && apt-get -q update \
-    && apt-get -q -y upgrade \
-    && rosdep update \
-    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
-    && rm -rf src \
-    && apt-get autoremove -y \
-    && apt-get clean -y \
-    && rm -rf /var/lib/apt/lists/*
-
-FROM ci as desktop
-
-# Configure a new non-root user
-ARG USERNAME=ros
+# Configure the ubuntu non-root user
+ARG USERNAME=ubuntu
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
 
-RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
-    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
     && chmod 0440 /etc/sudoers.d/$USERNAME \
     && usermod -a -G dialout $USERNAME \
     && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
 
-# Switch to the non-root user
+# Switch to the ubuntu user
 USER $USERNAME
 ENV USER=$USERNAME
 
-ENV DEBIAN_FRONTEND=noninteractive
 ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
 WORKDIR $USER_WORKSPACE
 
 COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
 
+# Create a new virtual environment for Python
+ENV VIRTUAL_ENV=$USER_WORKSPACE/.venv/$PROJECT_NAME
+RUN python3 -m venv --system-site-packages $VIRTUAL_ENV \
+    && echo "source ${VIRTUAL_ENV}/bin/activate" >> /home/$USERNAME/.bashrc \
+    && touch .venv/COLCON_IGNORE \
+    && echo "\n# Ensure colcon is run in the venv\nalias colcon='python3 -m colcon'" >> /home/$USERNAME/.bashrc
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+
 # Install all ROS dependencies
+RUN vcs import src < src/$PROJECT_NAME/ros2.repos
 WORKDIR $USER_WORKSPACE
-RUN vcs import src < src/$PROJECT_NAME/ros2.repos \
-    && sudo apt-get -q update \
+RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && rosdep update \
-    && rosdep install -y --from-paths src --ignore-src -r --rosdistro ${ROS_DISTRO} \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
 
 RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
     && colcon build \
-    && sudo sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$USER_WORKSPACE/setup.sh#g" /ros_entrypoint.sh \
     && echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
     && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
 
-FROM desktop as desktop-nvidia
+WORKDIR $USER_WORKSPACE
 
-# Install NVIDIA software
-RUN sudo apt-get update \
+# Install debugging/linting Python packages
+RUN pip install \
+    pre-commit \
+    mypy
+
+# Install debugging/linting C++ packages
+RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
-    && sudo apt-get install -y -qq --no-install-recommends \
-    libglvnd0 \
-    libgl1 \
-    libglx0 \
-    libegl1 \
-    libxext6 \
-    libx11-6 \
+    && sudo apt-get install -y \
+    clang-format-18 \
+    clang-tidy \
+    clang-tools \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
 
-# 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
+# Disable the setuputils installation warning
+# This prevents us from needing to pin the setuputils version (which doesn't always work)
+ENV PYTHONWARNINGS="ignore"

.devcontainer/devcontainer.json

@@ -0,0 +1,26 @@
+{
+  "name": "ROS 2 Dev Container",
+  "dockerFile": "Dockerfile",
+  "context": "../",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_ros/src/auv_controllers,type=bind",
+  "workspaceFolder": "/home/ubuntu/ws_ros/src/auv_controllers",
+  "remoteUser": "ubuntu",
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-azuretools.vscode-docker",
+        "ms-python.python",
+        "njpwerner.autodocstring",
+        "ms-vscode.cpptools",
+        "redhat.vscode-xml",
+        "redhat.vscode-yaml",
+        "smilerobotics.urdf",
+        "DavidAnson.vscode-markdownlint",
+        "esbenp.prettier-vscode",
+        "xaver.clang-format",
+        "charliermarsh.ruff",
+        "ms-vscode.cmake-tools"
+      ]
+    }
+  }
+}

.devcontainer/nouveau/devcontainer.json

@@ -1,11 +1,13 @@
 # ignore everything
+
 *
 
 # Except the following
-!requirements-dev.txt
+
 !auv_controllers
 !velocity_controllers
 !thruster_allocation_matrix_controller
 !thruster_controllers
 !auv_control_msgs
+!auv_control_demos
 !ros2.repos

.devcontainer/nvidia/devcontainer.json

@@ -19,6 +19,7 @@ jobs:
       fail-fast: false
       matrix:
         env:
+<<<<<<< HEAD
           - IMAGE: humble-ci
             ROS_DISTRO: humble
     steps:
@@ -33,15 +34,19 @@ jobs:
           registry: ghcr.io
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
+=======
+          - ROS_DISTRO: rolling
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+>>>>>>> ad612dc (Updates to support ROS 2 Rolling (#41))
 
       - name: Run ROS Industrial CI
         uses: ros-industrial/industrial_ci@master
         env:
-          DOCKER_IMAGE: ghcr.io/robotic-decision-making-lab/auv_controllers:${{ matrix.env.IMAGE }}
+          ROS_DISTRO: ${{ matrix.env.ROS_DISTRO }}
+          CXXFLAGS: -Wall -Wextra -Wpedantic
+          CLANG_TIDY: true
           UPSTREAM_WORKSPACE: ros2.repos
           AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
           AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src
-          CXXFLAGS: >-
-            -Wall -Wextra -Wpedantic -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
-          CC: ${{ env.CLANG_TIDY && 'clang' }}
-          CXX: ${{ env.CLANG_TIDY && 'clang++' }}

.dockerignore

@@ -2,3 +2,6 @@
 build/
 install/
 log/
+
+.mypy_cache/
+.ruff_cache/

.github/workflows/ci.yml

@@ -1,9 +1,4 @@
 repos:
-  - repo: https://github.com/psf/black
-    rev: 23.1.0
-    hooks:
-      - id: black
-
   - repo: https://github.com/astral-sh/ruff-pre-commit
     rev: v0.0.291
     hooks:
@@ -14,17 +9,17 @@ repos:
     rev: v2.2.4
     hooks:
       - id: codespell
-        args: ["--write-changes"]
 
-  - repo: local
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v18.1.8
+    hooks:
+    -   id: clang-format
+        types_or: [c++, c]
+
+  - repo: https://github.com/BlankSpruce/gersemi
+    rev: 0.13.5
     hooks:
-      - id: clang-format
-        name: clang-format
-        description: Format files with ClangFormat.
-        entry: clang-format-14
-        language: system
-        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
-        args: ['-fallback-style=Google', '-i']
+    - id: gersemi
 
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v4.4.0
@@ -36,9 +31,6 @@ repos:
       - id: check-yaml
       - id: check-xml
       - id: check-merge-conflict
-      - id: check-symlinks
-      - id: debug-statements
-      - id: destroyed-symlinks
       - id: detect-private-key
       - id: end-of-file-fixer
       - id: mixed-line-ending

.gitignore

@@ -4,15 +4,19 @@
       "name": "Linux",
       "includePath": [
         "${workspaceFolder}/**",
+<<<<<<< HEAD
         "/opt/ros/humble/include/**",
+=======
+        "/opt/ros/rolling/include/**",
+>>>>>>> ad612dc (Updates to support ROS 2 Rolling (#41))
         "/usr/include/eigen3/**",
-        "/home/ros/ws_ros/**"
+        "/home/${USER}/ws_ros/install/**"
       ],
       "defines": [],
-      "compilerPath": "/usr/bin/gcc",
+      "compilerPath": "/usr/bin/clang",
       "cStandard": "c99",
       "cppStandard": "c++20",
-      "intelliSenseMode": "linux-gcc-x64"
+      "intelliSenseMode": "linux-clang-x64"
     }
   ],
   "version": 4