Integrate ros2_control and add user documentation (backport #162)

.codespellrc

@@ -0,0 +1,3 @@
+[codespell]
+skip = *.json
+ignore-words-list = parm,ned,sitl

.devcontainer/documentation/Dockerfile

@@ -0,0 +1,12 @@
+FROM node:20
+
+RUN apt-get -q update \
+    && apt-get -q -y upgrade \
+    && apt-get install sudo \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+ARG USERNAME=node
+RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME

.devcontainer/documentation/devcontainer.json

@@ -0,0 +1,22 @@
+{
+  "name": "Documentation",
+  "build": {
+    "dockerfile": "Dockerfile"
+  },
+  "remoteUser": "node",
+  "customizations": {
+    "vscode": {
+      "settings": {
+        "files.insertFinalNewline": true,
+        "files.trimTrailingWhitespace": true,
+        "editor.formatOnSave": true,
+        "editor.tabSize": 2,
+        "editor.rulers": [80]
+      },
+      "extensions": [
+        "esbenp.prettier-vscode",
+        "unifiedjs.vscode-mdx"
+      ]
+    }
+  }
+}

.devcontainer/nouveau/Dockerfile

@@ -17,9 +17,9 @@ RUN sudo apt-get -q update \
     && sudo rm -rf /var/lib/apt/lists/*
 
 # Install debugging/linting Python packages
-COPY --chown=$USER_UID:$USER_GID requirements-dev.txt .
-RUN python3 -m pip install -r requirements-dev.txt \
-    && rm -rf requirements-dev.txt
+RUN python3 -m pip install \
+    pre-commit \
+    mypy
 
 # Disable the setuputils installation warning
 # This prevents us from needing to pin the setuputils version (which doesn't always work)

.devcontainer/nouveau/devcontainer.json

@@ -1,5 +1,5 @@
 {
-  "name": "Blue Nouveau Dev Container",
+  "name": "Nouveau Dev Container",
   "dockerFile": "Dockerfile",
   "context": "../..",
   "workspaceMount": "source=${localWorkspaceFolder},target=/home/blue/ws_blue/src/blue,type=bind",
@@ -22,6 +22,7 @@
   },
   "customizations": {
     "vscode": {
+<<<<<<< HEAD
       "settings": {
         "files.associations": {
           "*.repos": "yaml",
@@ -92,22 +93,19 @@
           "**/log": true
         }
       },
+=======
+>>>>>>> 3709432 (Integrate ros2_control and add user documentation (#162))
       "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"
+        "charliermarsh.ruff",
+        "josetr.cmake-language-support-vscode",
+        "unifiedjs.vscode-mdx"
       ]
     }
   }

.devcontainer/nvidia/Dockerfile

@@ -17,9 +17,9 @@ RUN sudo apt-get -q update \
     && sudo rm -rf /var/lib/apt/lists/*
 
 # Install debugging/linting Python packages
-COPY --chown=$USER_UID:$USER_GID requirements-dev.txt .
-RUN python3 -m pip install -r requirements-dev.txt \
-    && rm -rf requirements-dev.txt
+RUN python3 -m pip install \
+    pre-commit \
+    mypy
 
 # Disable the setuputils installation warning
 # This prevents us from needing to pin the setuputils version (which doesn't always work)

.devcontainer/nvidia/devcontainer.json

@@ -1,5 +1,5 @@
 {
-  "name": "Blue NVIDIA Dev Container",
+  "name": "NVIDIA Dev Container",
   "dockerFile": "Dockerfile",
   "context": "../..",
   "workspaceMount": "source=${localWorkspaceFolder},target=/home/blue/ws_blue/src/blue,type=bind",
@@ -26,6 +26,7 @@
   },
   "customizations": {
     "vscode": {
+<<<<<<< HEAD
       "settings": {
         "files.associations": {
           "*.repos": "yaml",
@@ -98,22 +99,19 @@
           "**/log": true
         }
       },
+=======
+>>>>>>> 3709432 (Integrate ros2_control and add user documentation (#162))
       "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"
+        "charliermarsh.ruff",
+        "josetr.cmake-language-support-vscode",
+        "unifiedjs.vscode-mdx"
       ]
     }
   }

.docker/Dockerfile

@@ -18,6 +18,9 @@ RUN apt-get -q update \
     clang-tools \
     python3-pip \
     python3-dev \
+    lsb-release \
+    wget \
+    gnupg \
     software-properties-common \
     && apt-get autoremove -y \
     && apt-get clean -y \
@@ -49,29 +52,16 @@ RUN groupadd --gid $USER_GID $USERNAME \
 
 ENV DEBIAN_FRONTEND=noninteractive
 
-# Switch to the non-root user for the rest of the installation.
-# We do this to avoid any conflicts with user permissions
+# Switch to the non-root user for the rest of the installation
 USER $USERNAME
 ENV USER=$USERNAME
 
-# Install some core apt packages
-RUN sudo apt-get -q update \
-    && sudo apt-get -q -y upgrade \
-    && sudo apt-get -q install --no-install-recommends -y \
-    lsb-release \
-    wget \
-    gnupg \
-    && sudo apt-get autoremove -y \
-    && sudo apt-get clean -y \
-    && sudo rm -rf /var/lib/apt/lists/*
-
 # Install MAVROS dependencies
 WORKDIR /home/$USERNAME
 RUN wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh \
     && chmod +x install_geographiclib_datasets.sh \
     && sudo ./install_geographiclib_datasets.sh
 
-# Copy the project over to the image
 ENV USER_WORKSPACE=/home/$USERNAME/ws_blue
 WORKDIR $USER_WORKSPACE
 COPY --chown=$USER_UID:$USER_GID . src/blue
@@ -95,7 +85,6 @@ RUN sudo apt-get -q update \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
 
-# Install all ROS dependencies
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && rosdep update \
@@ -104,9 +93,8 @@ RUN sudo apt-get -q update \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
 
-# Setup the environment variables
 RUN echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
-    && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashr
+    && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc
 
 FROM robot as desktop
 
@@ -116,7 +104,7 @@ ENV GZ_VERSION=garden
 # Install Gazebo Garden: https://gazebosim.org/docs/garden/install_ubuntu
 RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
     && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
-    && sudo apt-get update \
+    && sudo apt-get -q update \
     && sudo apt-get -y --quiet --no-install-recommends install \
     gz-garden \
     && sudo apt-get autoremove -y \
@@ -163,13 +151,13 @@ RUN [ "/bin/bash" , "-c" , " \
     && cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo \
     && make -j4" ]
 
-# Install Gazebo
+# Install ros_gz and other project dependencies
 WORKDIR $USER_WORKSPACE
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && vcs import src < src/blue/blue.repos \
     && rosdep update \
-    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \
+    && 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/*

.dockerignore

@@ -2,15 +2,10 @@
 *
 
 # Except the following
-!blue_dynamics
-!blue_manager
-!blue_control
 !blue_bringup
 !blue_localization
-!blue_utils
-!blue_joy
 !blue_description
+!blue_demos
 !blue.repos
 !.docker/entrypoints
 !requirements-build.txt
-!requirements-dev.txt

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,12 +1,3 @@
-# Checklist
-
-- [ ] I have performed a thorough review of my code
-- [ ] I have sufficiently commented my code
-- [ ] The implementation follows the project style conventions
-- [ ] All project unit tests are passing
-- [ ] If relevant, documentation has been provided or updated to discuss the changes made
-- [ ] System integration tests were performed successfully
-
 ## Changes Made
 
 Please provide a description of all changes made in this PR and why the changes