Adding basic infrastructure

.github/workflows/devel_docker_build.yml

@@ -0,0 +1,41 @@
+name: Unit tests run in CI
+
+on:
+  push:
+    branches:
+      - main
+      - jazzy
+      - jazzy-dev
+
+  pull_request:
+    branches:
+      - main
+      - jazzy
+      - jazzy-dev
+
+concurrency:
+  group: '${{ github.workflow }} @ ${{ github.event.pull_request.head.label || github.head_ref || github.ref }}'
+  cancel-in-progress: true
+
+env:
+  ROS_DOMAIN_ID: 88
+jobs:
+  unit-tests:
+    runs-on: ubuntu-24.04
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v7
+
+    - name: Pre-build docker image
+      run: |
+        ./docker/run.sh --build -- echo "We have a working image!"
+
+    - name: Build code and run tests
+      run: |
+        ./docker/run.sh --build -- bash -c '                   \
+        rm -rf build/* install/* log/*                      && \
+        colcon build --symlink-install                      && \
+        . install/setup.bash                                && \
+        colcon test                                         && \
+        echo "CI test runner completed."                    '

.github/workflows/ros2-ci.yaml

@@ -4,9 +4,13 @@ on:
   pull_request:
     branches:
       - ros2
+      - jazzy
+      - jazzy-dev
   push:
     branches:
       - ros2
+      - jazzy
+      - jazzy-dev
 
 jobs:
 

.gitignore

@@ -1 +1,2 @@
 *.swp
+.vscode/

.pre-commit-config.yaml

@@ -0,0 +1,40 @@
+# Run against all the files: pre-commit run -a
+# Install the git hook scripts: pre-commit install
+
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+      - id: check-ast
+      - id: check-docstring-first
+      - id: check-executables-have-shebangs
+      - id: check-shebang-scripts-are-executable
+      - id: check-yaml
+        args: [--unsafe]
+      - id: check-xml
+      - id: end-of-file-fixer
+      - id: trailing-whitespace
+      - id: check-json
+        exclude: ^\.clang-format$
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v16.0.3
+    hooks:
+      - id: clang-format
+
+  - repo: https://github.com/PyCQA/flake8
+    rev: 6.0.0
+    hooks:
+      - id: flake8
+        additional_dependencies: [flake8-docstrings]
+
+  - repo: https://github.com/psf/black
+    rev:  23.3.0
+    hooks:
+      - id: black
+        args: [--skip-string-normalization]
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+      - id: cmake-lint

docker/Dockerfile.jazzy

@@ -0,0 +1,128 @@
+FROM ubuntu:noble AS package_xml_files_cacher
+
+WORKDIR /ws/src
+
+COPY . project/
+
+RUN mkdir -p /tmp/ws/src \
+ && find ./ -name "package.xml" | xargs cp --parents -t /tmp/ws/src \
+ && find ./ -name "COLCON_IGNORE" | xargs cp --parents -t /tmp/ws/src \
+ || true
+
+FROM ubuntu:noble AS vesc_service_image_base
+
+ARG USER=developer
+ARG GROUP=developer
+
+ENV ROS_DISTRO=jazzy
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+WORKDIR /root
+
+RUN apt update \
+ && apt install --no-install-recommends -y \
+    adduser \
+    bash-completion \
+    ccache \
+    curl \
+    git \
+    htop \
+    locate \
+    mc \
+    nano \
+    psmisc \
+    python-is-python3 \
+    python3-pip \
+    python3-venv \
+    screen \
+    sudo \
+    tmux \
+    vim \
+    wget \
+    xterm \
+ && rm -rf /var/lib/apt/lists/*
+
+RUN apt update \
+ && apt install -y \
+    tzdata \
+ && ln -fs /usr/share/zoneinfo/America/Argentina/Buenos_Aires /etc/localtime \
+ && dpkg-reconfigure --frontend noninteractive tzdata \
+ && rm -rf /var/lib/apt/lists/*
+
+FROM vesc_service_image_base AS vesc_service_image_devel
+
+RUN apt update && sudo apt install curl -y \
+   && export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}') \
+   && curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" \
+   && sudo dpkg -i /tmp/ros2-apt-source.deb \
+   && rm -rf /var/lib/apt/lists/*
+
+RUN apt update \
+ && apt install --no-install-recommends -y \
+    ros-$ROS_DISTRO-ros-base \
+    ros-dev-tools \
+ && rm -rf /var/lib/apt/lists/*
+
+RUN userdel ubuntu \
+ && addgroup --gid 1000 $GROUP \
+ && adduser --uid 1000 --ingroup $GROUP --home /home/$USER --shell /bin/bash --disabled-password --gecos "" $USER \
+ && adduser $USER sudo \
+ && adduser $USER dialout \
+ && echo "$USER ALL=NOPASSWD: ALL" >> /etc/sudoers.d/$USER
+
+USER $USER:$GROUP
+
+ENV USER_WS /home/$USER/ws
+RUN mkdir -p $USER_WS/src
+
+WORKDIR $USER_WS
+
+ENV PIP_BREAK_SYSTEM_PACKAGES=1
+
+RUN colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml \
+ && colcon mixin update default
+
+COPY --chown=$USER:$GROUP docker/files/colcon_defaults.yaml /home/$USER/.colcon/defaults.yaml
+
+#
+# Install the project's dependencies
+
+RUN sudo rosdep init && rosdep update
+
+COPY --from=package_xml_files_cacher --chown=$USER:$GROUP /tmp/ws/ $USER_WS/
+RUN /bin/bash -c '\
+    sudo apt update \
+ && rosdep install -i -y --from-path src \
+ && sudo rm -rf /var/lib/apt/lists/*'
+
+#
+# Fixuid setup
+
+COPY --chown=root:root docker/files/fixuid_config.yml /etc/fixuid/config.yml
+RUN /bin/bash -c '\
+    ARCH=`uname -m` && if [ "$ARCH" == "aarch64" ]; then FIXUID_ARCH="arm64"; else FIXUID_ARCH="amd64"; fi \
+ && curl -SsL https://github.com/boxboat/fixuid/releases/download/v0.6.0/fixuid-0.6.0-linux-$FIXUID_ARCH.tar.gz | sudo tar -C /usr/local/bin -xzf - \
+ && sudo chmod 4755 /usr/local/bin/fixuid \
+ && cd /etc/fixuid \
+ && sudo sed -i "s/_USER_/$USER/" config.yml \
+ && sudo sed -i "s/_GROUP_/$GROUP/" config.yml \
+ && echo Done installing fixuid for $FIXUID_ARCH'
+
+#
+# Final setup of the workspace
+
+
+RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /home/$USER/.bashrc
+
+RUN mkdir -p $USER_WS/persistence && chmod 777 $USER_WS/persistence
+
+RUN sudo updatedb && sudo apt update
+
+ENV WITHIN_DEV=1
+
+COPY --chown=root:root docker/files/fixuid_wrapper.sh /fixuid_wrapper.sh
+COPY --chown=root:root docker/files/entrypoint.sh /ros_entrypoint.sh
+
+CMD        ["/bin/bash"]
+ENTRYPOINT ["/fixuid_wrapper.sh", "fixuid", "-q", "/ros_entrypoint.sh"]

docker/docker-compose.yml

@@ -0,0 +1,27 @@
+services:
+  vesc_devel_base:
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile.${ROS_DISTRO}
+      target: vesc_service_image_devel
+    environment:
+      - DISPLAY
+      - QT_X11_NO_MITSHM=1
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
+      - XAUTHORITY=/tmp/.docker.xauth
+    stdin_open: true
+    tty: true
+    user: ${USERID:-1000}:${GROUPID:-1000}
+    volumes:
+      - ..:/home/developer/ws/src/project
+      - /dev:/dev
+      - /tmp:/tmp:rw
+      - vesc_persistence:/home/developer/ws/persistence
+
+  vesc_devel:
+    extends:
+      service: vesc_devel_base
+    network_mode: host
+
+volumes:
+  vesc_persistence:

docker/files/colcon_defaults.yaml

@@ -0,0 +1,5 @@
+{
+    "build": {
+        "mixin": [ "ccache" ]
+    }
+}

docker/files/entrypoint.sh

@@ -0,0 +1,48 @@
+#!/bin/bash
+
+if [ $# -eq 0 ]; then
+    echo "Missing command line argument"
+    echo "Usage: $(basename $0) <command>"
+    exit 1
+fi
+
+mkdir -p $USER_WS/persistence/$(id -u)/cache
+mkdir -p $USER_WS/persistence/$(id -u)/ccache
+mkdir -p $USER_WS/persistence/$(id -u)/install
+mkdir -p $USER_WS/persistence/$(id -u)/build
+
+rm -rf $HOME/.cache
+rm -rf $HOME/.ccache
+
+ln -s $USER_WS/persistence/$(id -u)/cache  $HOME/.cache
+ln -s $USER_WS/persistence/$(id -u)/ccache  $HOME/.ccache
+ln -s $USER_WS/persistence/$(id -u)/install $USER_WS/install
+ln -s $USER_WS/persistence/$(id -u)/build   $USER_WS/build
+
+
+# if bash_history is not a symlink or if it does not exist, remove it and create a new symlink
+if [ ! -h "$HOME/.bash_history" ]; then
+    if [ -f "$HOME/.bash_history" ]; then
+        rm $HOME/.bash_history
+    fi
+    touch $USER_WS/persistence/$(id -u)/.bash_history
+    ln -s $USER_WS/persistence/$(id -u)/.bash_history $HOME/.bash_history
+fi
+
+if [ ! -f "$USER_WS/persistence/$(id -u)/COLCON_IGNORE" ]; then
+    touch $USER_WS/persistence/$(id -u)/COLCON_IGNORE
+fi
+
+. /opt/ros/$ROS_DISTRO/setup.bash
+
+ros2 daemon start
+
+echo
+echo "ROS_DISTRO         : $ROS_DISTRO"
+echo "ROS_DOMAIN_ID      : $ROS_DOMAIN_ID"
+echo
+
+# set the flag indicating that fixuid is done
+touch fixuid_complete
+
+exec "$@"

docker/files/fixuid_config.yml

@@ -0,0 +1,4 @@
+user: _USER_
+group: _GROUP_
+paths:
+  - /home

docker/files/fixuid_wrapper.sh

@@ -0,0 +1,13 @@
+#!/bin/bash
+
+if [ $# -eq 0 ]; then
+    echo "Missing command line argument"
+    echo "Usage: $(basename "$0") <command>"
+    exit 1
+fi
+
+echo
+echo "Starting docker container..."
+echo
+
+exec "$@"