Implement driver and controller interfaces (#25)

* Started project configuration

* Added missing dotfiles

* Started implementation of alpha driver

* continued implementation of alpha driver

* Finished initial crc implementation and started devops error resolution

* Working on resolving build errors for tests

* Resolved linking errors with testing in cmakelists

* cleaned up alpha driver cmakelists file

* Resolved bugs in crc calculation

* implemented cobs encoding and cleaned up crc methods

* Revert back to clang formatting

* added support for clang tidy and resolved clang tidy errors

* resolved copyright errors

* forgot to save

* more files that i forgot to save

* Started designing ros messages

* Implemented support for packet decoding

* Cleanup

* implemented unit tests for packet

* Resolve type warnings and discrepancies between cpplint and clang format

* Made a packet ros msg for comms between driver and control interface

* save point

* started implementing terminal configurations and serial device initialization

* added methods to send data and register read callbacks

* Added support for configuring read to block

* Added active public member

* started implementing heartbeat monitor

* Clean up linter errors

* Cleaned up some guidelines violations and integrated logging support into client

* Finished up initial implementation of serial client

* started implementation of ros wrapper for driver

* resolved some bugs in the serial client

* Resolved bug in serial read

* Cleaned up implemented and comments

* added heartbeat monitor

* sorry google but i hate your method naming convention

* rip buildx

* started refactoring to support ros2 control and started systeminterface implementation

* Continued refactoring driver to better support ros2 control integration

* Cleaned up comments and added new request method

* Converted driver to library and separated control interface

* get rid of gross src directory

* forgot to actually remove src

* started implementation of hardware interface

* removed alpha msgs package and added bringup and description packages

* started implementation of init method

* finished initial version of hardware interface on_init

* started implementing on_cleanup

* added logs and try catch blocks for mode switching

* Remove files from develop to start enforcing pr process

* Starting down the rabbit hole of exception safe code.. cheers Jon Kalb

* Integrate a Linux serial driver with ros2_control position, velocity, and joint trajectory control (#18)

* updated exceptions according to feedback from code review

* removed unnecessary consts

* Integrate ros2_control for position, velocity, and joint trajectory control (#11)

* moved ros2 control work to new branch

* started adding support for position control

* quick save

* Implemented command and state interface exports

* Resolve merge conflicts

* Save point

* added on_configure method

* finished read and write methods

* Implemented initial version of write method

* ported meshes and URDFs from reach sdk

* Added urdf specifications and rviz launch

* fix logger naming in hardware description

* added missing readme

* added missing readme

* starting integration of ros2_control xacro

* fix readme link

* Remove italics

* added ros2_control descriptions nad config and gazebo macro

* added moveit

* started moveit2 integration

* Starting to migrate moveit2 configs to description package

* started working on adding launch files

* removed joint state gui

* squashed system hardware bugs and continued bringup

* why does gazebo suck so much

* Save point

* finished first versions of launch files.. time to debug

* Fixed moveit configs

* curse you moveit

* fixed controller execution

* fixed rviz launch with gazebo

* fixed moveit bugs

* debugging gazebo

* Removed gazebo stuff for time being

* started system cleanup for PR

* i guess its ros 2 not ros2

* cleaned up bringup package

* cleaned up folder structure

* starting cleanup of documentation

* IMPORTANT GAZEBO SAVE POINT

* added gazebo to dockerfile

* Added documented inertial properties

* fixed bugs in state callbacks

* continued bug fixes

* save point for ramen

* resolved bugs in hardware configuration with moveit

* first pass for PR

* Resolved *most* of the comments from the pr review

* fixed joint limit issues

* Fixed initial positions file error

* Added missing changelog document

* Fixed camera angles for rviz and gazebo

* Fixed moveit rviz camera angle

* fixed order of moveit controllers

* Created a CODE_OF_CONDUCT document (#19)

* Integrate GH actions CI/CD pipelines (#21)

* started docker then got distracted

* split dev image from production images

* take 1

* take 2

* moving ci integration here to make docker updates easier

* testing precommit pipeline

* take one on ci

* ran with wrong branch

* attempt to use clang style config files

* another attempt at clang format

* testing different version of clang tidy

* testing to see if ici catches bug in test

* attempt to disable clang format checks

* remove clang format from build tests in favor of pre-commit

* weird things happening with tidy

* weird things happening with tidy

* im tired and want to go to bed

* im just guessing at this point

* another random test

* disable ici clang tidy in favor of other workflow

* why

* why

* why

* pain

* sad

* this is as good as it's going to get

* put env variable in wrong spot

* fixed readme. time for bed

* fixed readme. time for bed

* fixed readme. time for bed

* removed test branch from ci pipeline. actually going to bed now

* Resolved PR comments

.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

.clang-tidy

@@ -0,0 +1,81 @@
+---
+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,
+  -modernize-use-nodiscard
+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

.devcontainer/Dockerfile

@@ -0,0 +1,94 @@
+ARG ROS_DISTRO=rolling
+
+FROM ros:$ROS_DISTRO as core
+
+LABEL maintainer="Evan Palmer"
+LABEL maintainer-email="[email protected]"
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install core apt dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    software-properties-common \
+    git \
+    wget \
+    gnupg2 \
+    lsb-release \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install core ROS dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-$ROS_DISTRO-robot-state-publisher \
+    ros-$ROS_DISTRO-xacro \
+    ros-$ROS_DISTRO-ros2-control \
+    ros-$ROS_DISTRO-ros2-controllers \
+    ros-$ROS_DISTRO-controller-manager \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+FROM core as ci
+
+# Install CI apt dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    clang-format \
+    python3-dev \
+    python3-pip \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install debugging/linting Python packages
+RUN pip3 install \
+    black \
+    flake8 \
+    isort \
+    pydocstyle \
+    pre-commit \
+    mypy
+
+FROM ci as base
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-$ROS_DISTRO-rviz2 \
+    ros-dev-tools \
+    ros-$ROS_DISTRO-moveit \
+    ros-$ROS_DISTRO-gazebo-ros-pkgs \
+    ros-$ROS_DISTRO-gazebo-ros2-control \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+FROM base as develop
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    iputils-ping \
+    net-tools \
+    lsb-release \
+    gdb \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# 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 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
+RUN echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${WORKSPACE}/" >> /home/$USERNAME/.bashrc
+RUN echo "source /usr/share/gazebo/setup.sh" >> /home/$USERNAME/.bashrc

.devcontainer/devcontainer.json

@@ -0,0 +1,145 @@
+{
+  "dockerFile": "Dockerfile",
+  "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": {
+        "terminal.integrated.profiles.linux": {
+          "bash": {
+            "path": "/bin/bash"
+          }
+        },
+        "terminal.integrated.defaultProfile.linux": "bash",
+        "files.associations": {
+          "*.repos": "yaml",
+          "*.world": "xml",
+          "*.xacro": "xml",
+          "*.srdf": "xml",
+          "*.rviz": "yaml"
+        },
+        "files.eol": "\n",
+        "files.insertFinalNewline": true,
+        "files.trimTrailingWhitespace": true,
+        "editor.acceptSuggestionOnEnter": "smart",
+        "editor.wordWrap": "on",
+        "editor.formatOnSave": true,
+        "editor.tabSize": 2,
+        "editor.rulers": [80],
+        "editor.defaultFormatter": "esbenp.prettier-vscode",
+        "xml.format.maxLineWidth": 80,
+        "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",
+        "python.formatting.blackPath": "/usr/local/bin/black",
+        "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",
+        "uncrustify.configPath.linux": "/opt/ros/humble/lib/python3.10/site-packages/ament_uncrustify/configuration/ament_code_style.cfg",
+        "[cpp]": {
+          "editor.wordBasedSuggestions": false,
+          "editor.suggest.insertMode": "replace",
+          "editor.semanticHighlighting.enabled": true,
+          "editor.rulers": [100],
+          "editor.defaultFormatter": "xaver.clang-format",
+          "editor.formatOnSave": true
+        },
+        "[python]": {
+          "editor.tabSize": 4,
+          "editor.rulers": [90],
+          "editor.defaultFormatter": "ms-python.python",
+          "editor.codeActionsOnSave": {
+            "source.organizeImports": true
+          },
+          "editor.formatOnSave": true
+        },
+        "[dockerfile]": {
+          "editor.quickSuggestions": {
+            "strings": true
+          },
+          "editor.defaultFormatter": "ms-azuretools.vscode-docker",
+          "editor.tabSize": 4
+        },
+        "[json]": {
+          "editor.quickSuggestions": {
+            "strings": true
+          },
+          "editor.suggest.insertMode": "replace"
+        },
+        "[xml]": {
+          "editor.defaultFormatter": "redhat.vscode-xml"
+        },
+        "[yaml]": {
+          "editor.insertSpaces": true,
+          "editor.autoIndent": "advanced",
+          "editor.defaultFormatter": "redhat.vscode-yaml"
+        },
+        "[markdown]": {
+          "editor.unicodeHighlight.ambiguousCharacters": false,
+          "editor.unicodeHighlight.invisibleCharacters": false,
+          "diffEditor.ignoreTrimWhitespace": false,
+          "editor.wordWrap": "on",
+          "editor.quickSuggestions": {
+            "comments": "off",
+            "strings": "off",
+            "other": "off"
+          }
+        },
+        "search.exclude": {
+          "**/node_modules": true,
+          "**/bower_components": true,
+          "**/*.code-search": true,
+          "**/build": true,
+          "**/install": true,
+          "**/log": true
+        }
+      },
+      "extensions": [
+        "ms-azuretools.vscode-docker",
+        "ms-python.python",
+        "ms-python.vscode-pylance",
+        "njpwerner.autodocstring",
+        "redhat.vscode-xml",
+        "redhat.vscode-yaml",
+        "cschlosser.doxdocgen",
+        "ms-vscode.cpptools",
+        "josetr.cmake-language-support-vscode",
+        "smilerobotics.urdf",
+        "DavidAnson.vscode-markdownlint",
+        "esbenp.prettier-vscode",
+        "xaver.clang-format"
+      ]
+    }
+  }
+}