Integrate ros2_control and add user documentation (#162)

* Started migration to new controller package and ardusub interface * Replaced launch files with yaml * Started integrating new control framework * Removed old scripts and configuration files; continued ardusub manager integration * Fixed launch files and started debugging manager * Fixed mavros configuration file * Added vscode file * Working state - need to finish updates to joy package * Working state all vehicles updated * Save point before I break things * Waiting to add demos until i add documentation * Added docs * Started reintegrating demos * Cleaned up devcontainer config * Added demos and vehicle images * Added links to demo readme * Added tutorials * Cleaned up site visualizations and styling * Updated readme * Moved citation * Fixed issues in tutorials * Fixed ci * Removed codespell * Fixed spelling errors * Fixed dockerignore * Added user documentation (#160) * Added docs * Started reintegrating demos * Cleaned up devcontainer config * Added demos and vehicle images * Added links to demo readme * Added tutorials * Cleaned up site visualizations and styling * Updated readme * Moved citation * Fixed issues in tutorials * Fixed ci * Removed codespell * Fixed spelling errors * Fixed dockerignore * Testing docs cd pipeline * Fixed reference to package-lock * Added path to docs * prolly wont work but worth a shot * take 2 * Another attempt * Testing * Removed previous change * Added separate ci docs pipeline * Added fixes and switched back to rolling * Fixed dockerfile ros version * Fixed readme
Robotic-Decision-Making-Lab · Apr 20, 2024 · 3709432 · 3709432
1 parent 1f38f65
commit 3709432
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diff --git a/.clang-format b/.clang-format
diff --git a/.clang-tidy b/.clang-tidy
diff --git a/.codespellrc b/.codespellrc
@@ -0,0 +1,3 @@
+[codespell]
+skip = *.json
+ignore-words-list = parm,ned,sitl
diff --git a/.devcontainer/documentation/Dockerfile b/.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
diff --git a/.devcontainer/documentation/devcontainer.json b/.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"
+      ]
+    }
+  }
+}
diff --git a/.devcontainer/nouveau/Dockerfile b/.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)

diff --git a/.devcontainer/nouveau/devcontainer.json b/.devcontainer/nouveau/devcontainer.json
@@ -1,5 +1,5 @@
 {
-  "name": "Blue Nouveau Dev Container",
+  "name": "Nouveau Dev Container",
   "dockerFile": "Dockerfile",
   "context": "../..",
   "workspaceMount": "source=${localWorkspaceFolder},target=/home/blue/ws_blue/src/blue,type=bind",
@@ -22,94 +22,17 @@
   },
   "customizations": {
     "vscode": {
-      "settings": {
-        "files.associations": {
-          "*.repos": "yaml",
-          "*.world": "xml",
-          "*.xacro": "xml",
-          "*.srdf": "xml",
-          "*.rviz": "yaml",
-          "*.config": "xml",
-          "*.sdf": "xml"
-        },
-        "terminal.integrated.defaultProfile.linux": "bash",
-        "files.insertFinalNewline": true,
-        "files.trimTrailingWhitespace": true,
-        "editor.formatOnSave": true,
-        "editor.tabSize": 2,
-        "xml.format.maxLineWidth": 100,
-        "json.format.enable": true,
-        "autoDocstring.startOnNewLine": false,
-        "autoDocstring.docstringFormat": "google-notypes",
-        "isort.args": ["--profile", "black"],
-        "isort.check": true,
-        "python.autoComplete.extraPaths": [
-          "/opt/ros/rolling/lib/python3.10/site-packages/",
-          "/opt/ros/rolling/local/lib/python3.10/dist-packages/",
-          "${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
-          },
-          "editor.defaultFormatter": "ms-python.black-formatter"
-        },
-        "[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"
+        "charliermarsh.ruff",
+        "josetr.cmake-language-support-vscode",
+        "unifiedjs.vscode-mdx"
       ]
     }
   }

diff --git a/.devcontainer/nvidia/Dockerfile b/.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)

diff --git a/.devcontainer/nvidia/devcontainer.json b/.devcontainer/nvidia/devcontainer.json
@@ -1,5 +1,5 @@
 {
-  "name": "Blue NVIDIA Dev Container",
+  "name": "NVIDIA Dev Container",
   "dockerFile": "Dockerfile",
   "context": "../..",
   "workspaceMount": "source=${localWorkspaceFolder},target=/home/blue/ws_blue/src/blue,type=bind",
@@ -26,94 +26,17 @@
   },
   "customizations": {
     "vscode": {
-      "settings": {
-        "files.associations": {
-          "*.repos": "yaml",
-          "*.world": "xml",
-          "*.xacro": "xml",
-          "*.srdf": "xml",
-          "*.rviz": "yaml",
-          "*.config": "xml",
-          "*.sdf": "xml"
-        },
-        "terminal.integrated.defaultProfile.linux": "bash",
-        "files.insertFinalNewline": true,
-        "files.trimTrailingWhitespace": true,
-        "editor.formatOnSave": true,
-        "editor.tabSize": 2,
-        "xml.format.maxLineWidth": 100,
-        "json.format.enable": true,
-        "autoDocstring.startOnNewLine": false,
-        "autoDocstring.docstringFormat": "google-notypes",
-        "isort.args": ["--profile", "black"],
-        "isort.check": true,
-        "python.autoComplete.extraPaths": [
-          "/opt/ros/rolling/lib/python3.10/site-packages/",
-          "/opt/ros/rolling/local/lib/python3.10/dist-packages/",
-          "${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
-          },
-          "editor.defaultFormatter": "ms-python.black-formatter"
-        },
-        "[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"
+        "charliermarsh.ruff",
+        "josetr.cmake-language-support-vscode",
+        "unifiedjs.vscode-mdx"
       ]
     }
   }