Merge branch 'main' into goalie_behaviour

.devcontainer/Dockerfile

@@ -0,0 +1,97 @@
+FROM ros:iron
+
+# Basic Utilities
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update -y \
+  && apt-get install -y apt-utils auto-apt-proxy \
+  && apt-get install -y \
+    build-essential \
+    curl \
+    ffmpeg \
+    gdb \
+    gnupg2 \
+    htop \
+    iproute2 \
+    iputils-ping \
+    ipython3 \
+    jq \
+    less \
+    libncurses5-dev \
+    locales \
+    python3-pip \
+    radeontop \
+    ranger \
+    rsync \
+    screen \
+    ssh \
+    sudo \
+    synaptic \
+    tig \
+    tmux \
+    tree \
+    uvcdynctrl \
+    vim \
+    vlc \
+    wget \
+    x11-apps \
+    zsh
+
+# Setup locale
+RUN echo 'en_US.UTF-8 UTF-8' > /etc/locale.gen \
+  && locale-gen \
+  && update-locale LANG=en_US.UTF-8 \
+  && ln -s /usr/bin/python3 /usr/bin/python
+
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+# Setup and prioritize packages.bit-bots.de repository
+RUN apt update -y \
+  && apt upgrade -y --allow-downgrades
+
+# Additional robotics related packages
+RUN apt-get install -y \
+  python3-rosdep \
+  python3-vcstool \
+  ros-iron-camera-calibration \
+  ros-iron-desktop \
+  ros-iron-joint-state-publisher-gui \
+  # ros-iron-plotjuggler-ros containing plotjuggler ros plugins
+  # build currently fails and is not available as a package so we
+  # have to manually install plotjuggler and plotjuggler-msgs
+  # https://github.com/PlotJuggler/plotjuggler-ros-plugins/issues/59
+  ros-iron-plotjuggler \
+  ros-iron-plotjuggler-msgs \
+  ros-iron-rmw-cyclonedds-cpp \
+  ros-iron-rqt-robot-monitor \
+  ros-iron-soccer-vision-3d-rviz-markers
+
+# Update pip and install colcon-clean
+RUN pip3 install pip -U
+
+# Install colcon extensions / patches
+RUN python3 -m pip install \
+  git+https://github.com/ruffsl/colcon-clean \
+  git+https://github.com/timonegk/colcon-core.git@colors \
+  git+https://github.com/timonegk/colcon-notification.git@colors \
+  git+https://github.com/timonegk/colcon-output.git@colors
+
+# Set zsh as default shell
+SHELL ["/bin/zsh", "-c"]
+
+# Create home directory and colcon workspace
+RUN mkdir -p "/root/colcon_ws"
+
+# Install oh-my-zsh for pretty terminal
+RUN sh -c "$(wget -O- https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)" && \
+  git clone https://github.com/zsh-users/zsh-autosuggestions ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-autosuggestions
+
+# Add zshrc
+COPY zshrc "/root/.zshrc"
+
+# This is required for sharing Xauthority
+ENV QT_X11_NO_MITSHM=1
+
+# Switch to the workspace directory
+WORKDIR "/root/colcon_ws"

.devcontainer/devcontainer.json

@@ -0,0 +1,43 @@
+{
+    "name": "Bit-Bots Iron Dev",
+
+    "build": { "dockerfile": "Dockerfile" },
+
+    "containerEnv": {
+      "DISPLAY": "${localEnv:DISPLAY}",
+      "LIBGL_ALWAYS_SOFTWARE": "1",
+      "QT_X11_NO_MITSHM": "1",
+      "DOCKER": "1"
+    },
+
+    "customizations": {
+        "vscode": {
+            "settings": {
+                "terminal.integrated.defaultProfile.linux": "zsh",
+                "terminal.integrated.profiles.linux": { "zsh": { "path": "/bin/zsh" } }
+            },
+            "extensions": [
+              "ms-iot.vscode-ros"
+            ]
+        }
+    },
+
+    "workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/root/colcon_ws/src/bitbots_main",
+    "workspaceFolder": "/root/colcon_ws/src/bitbots_main",
+
+    "mounts": [
+      "type=bind,source=${localEnv:HOME},target=/srv/host_home,consistency=cached",
+    ],
+
+    "runArgs": [
+      "--tmpfs", "/tmp:exec,mode=01777",
+      "--privileged",
+      "--net=host",
+      "--device=/dev/dri:/dev/dri",
+      "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+      "--cap-add=SYS_PTRACE",
+      "--security-opt", "seccomp=unconfined"
+    ],
+
+    "postCreateCommand": "git config --global --add safe.directory '*'"
+  }

.devcontainer/zshrc

@@ -0,0 +1,120 @@
+# If you come from bash you might have to change your $PATH.
+export PATH=$HOME/bin:/usr/local/bin:$HOME/.local/bin:$PATH
+
+# Path to your oh-my-zsh installation.
+export ZSH=$HOME/.oh-my-zsh
+
+# Set name of the theme to load.
+ZSH_THEME="agnoster"
+
+# Set list of
+plugins=(
+  git
+  zsh-autosuggestions
+)
+
+# Setups for oh-my-zsh
+source $ZSH/oh-my-zsh.sh
+
+# User configuration
+
+# You may need to manually set your language environment
+export LANG=en_US.UTF-8
+export LANGUAGE=en_US:en
+
+# Set personal aliases, overriding those provided by oh-my-zsh libs,
+# plugins, and themes. Aliases can be placed here, though oh-my-zsh
+# users are encouraged to define aliases within the ZSH_CUSTOM folder.
+# For a full list of active aliases, run `alias`.
+#
+# Example aliases
+# alias zshconfig="mate ~/.zshrc"
+# alias ohmyzsh="mate ~/.oh-my-zsh"
+function mkcd(){
+    mkdir -p $1
+    cd $1
+}
+
+function mksh(){
+    vim $1.sh
+    chmod 744 $1.sh
+}
+
+
+# Settings for the terminal
+bindkey "^H" backward-kill-word
+bindkey "^[[1;5C" forward-word
+bindkey "^[[1;5D" backward-word
+
+
+# Settings for the prompt to show that we are in a docker container
+export PROMPT="%K{black} 🐋 %K{blue}%F{black}%/ %f%k%F{blue}%f "  # Prefix the prompt with DOCKER
+
+# Do ros2 specific things
+source /opt/ros/iron/setup.zsh &> /dev/null
+
+# Ignore some deprecation warnings
+export PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources
+
+# Limit ROS 2 communication to localhost (can be overridden when needed)
+export ROS_DOMAIN_ID=24
+export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
+
+# Set the default colcon workspace
+export COLCON_WS="$HOME/colcon_ws"
+
+# Set the default log level for colcon
+export COLCON_LOG_LEVEL=30
+
+# Define a log layout
+export RCUTILS_COLORIZED_OUTPUT=1
+export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{name}]: {message}"
+
+# Set the default Middleware
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+# Create a function to update the argcomplete so tab completion works
+# This needs to be called every time we source something ROS 2 related
+function update_ros2_argcomplete() {
+  eval "$(register-python-argcomplete3 colcon)"
+  eval "$(register-python-argcomplete3 ros2)"
+}
+
+# Update the tab completion
+update_ros2_argcomplete
+
+alias rr='ros2 run'
+alias rl='ros2 launch'
+
+alias rte='ros2 topic echo'
+alias rtl='ros2 topic list'
+alias rth='ros2 topic hz'
+alias rtp='ros2 topic pub'
+
+alias rpl='ros2 param list'
+alias rpg='ros2 param get'
+
+alias cdc='cd $COLCON_WS'
+
+alias cba='cdc && colcon build --symlink-install --continue-on-error'
+alias cb='cdc && colcon build --symlink-install --continue-on-error --packages-up-to'
+alias cbs='cdc && colcon build --symlink-install --packages-select'
+alias cc='cdc && colcon clean packages --packages-select'
+alias cca='cdc && colcon clean packages'
+
+alias sr='source /opt/ros/iron/setup.zsh && update_ros2_argcomplete'
+alias sc='source $COLCON_WS/install/setup.zsh && update_ros2_argcomplete'
+alias sa='sr && sc'
+
+# Set default editor
+export VISUAL="vim"
+
+# Some user instructions
+echo "Hello there! Welcome to the Bit-Bots ROS 2 development environment!"
+echo "If you just (re)build this container a few manual steps are nessessary:"
+echo "Create a ssh key with 'ssh-keygen -q -f $HOME/.ssh/id_rsa -N \"\" &&  cat $HOME/.ssh/id_rsa.pub'."
+echo "Copy the commands output and add it to your GitHub account ('https://github.com/settings/keys') (ctrl+click to open in browser)."
+echo "Now you can install the rest of the workspace and compile everything with 'make install && cba'."
+echo "To update an existing workspace you can use 'make update && cba'."
+echo "To compile all packages in the workspace use 'cba'. If you want to compile only a specific package use 'cbs <package_name>'."
+echo "Run 'xhost local:root' in a terminal on the host machine to enable GUI applications (e.g. rviz2) in the container. This needs to be done after every restart of the host machine."

.github/pull_request_template.md

@@ -13,7 +13,7 @@
 
 - [ ] Run `colcon build`
 - [ ] Write documentation
-- [ ] Create issues for future work
 - [ ] Test on your machine
 - [ ] Test on the robot
-- [ ] This PR is on our `Software` project board
+- [ ] Create issues for future work
+- [ ] Triage this PR and label it

.github/workflows/build.yml → .github/workflows/ci.yml

@@ -1,4 +1,4 @@
-name: Test if all packages build
+name: Build & Test
 on:
   schedule:
     - cron: '0 0 * * *'
@@ -20,8 +20,13 @@ jobs:
       - name: Configure git to trust repository
         run: git config --global --add safe.directory /__w/bitbots_main/bitbots_main
 
+      - name: Add '$HOME/.local/bin' to PATH
+        run: |
+          mkdir -p $HOME/.local/bin
+          echo "PATH=$PATH:/github/home/.local/bin" >> "$GITHUB_ENV"
+
       - name: Pull source code for libraries and install dependencies
-        run: make install HTTPS=true ARGS="-ci"
+        run: make install HTTPS=true ARGS="--ci"
 
       - name: Set up colcon workspace
         run: |
@@ -33,7 +38,7 @@ jobs:
           . /opt/ros/iron/setup.sh
           colcon build --symlink-install
         working-directory: /colcon_ws
-        
+
       - name: Test packages
         run: |
           # Source workspace

.gitignore

@@ -221,5 +221,7 @@ doku/*
 /lib/
 
 # Path to the protocol buffer definitions, which are a diffrerent repository and managed by vcstool
-/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/RobocupProtocol
+/bitbots_team_communication/bitbots_team_communication/RobocupProtocol
+# Protobuf generated file
+/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py
 

.pre-commit-config.yaml

@@ -6,10 +6,7 @@ repos:
         args:
           - "--fix"
           - "--exit-non-zero-on-fix"
-  - repo: https://github.com/psf/black
-    rev: 23.10.0  # keep this version for Ubuntu support
-    hooks:
-      - id: black
+      - id: ruff-format
   - repo: https://github.com/pocc/pre-commit-hooks
     rev: v1.3.5
     hooks:
@@ -28,3 +25,11 @@ repos:
     hooks:
       - id: cmake-format
       - id: cmake-lint
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-merge-conflict
+      - id: check-toml
+      - id: check-xml
+      - id: check-yaml
+      - id: detect-private-key

.vscode/c_cpp_properties.json

@@ -11,6 +11,9 @@
                 "${env:COLCON_WS}/install/*/include/**",
                 "${env:COLCON_WS}/build/**/include/**",
                 "${env:COLCON_WS}/build/**/rosidl_generator_cpp/**",
+                "/root/colcon_ws/install/*/include/**",
+                "/root/colcon_ws/build/**/include/**",
+                "/root/colcon_ws/build/**/rosidl_generator_cpp/**",
                 "${workspaceFolder}/**/include/**",
                 "/opt/ros/${env:ROS_DISTRO}/include/**",
                 "/usr/include/**"

.vscode/settings.json

@@ -1,5 +1,6 @@
 {
-    "autoDocstring.docstringFormat": "sphinx",
+    "autoDocstring.docstringFormat": "sphinx-notypes",
+    "autoDocstring.startOnNewLine": true,
     "cSpell.language": "en,de-de,lorem",
     "cSpell.words": [
         "ansible",
@@ -72,6 +73,7 @@
         "rclpy",
         "rhoban",
         "robocup",
+        "rory",
         "rosbag",
         "rosbags",
         "rosdep",
@@ -199,7 +201,5 @@
     "python.analysis.extraPaths": [
         "/opt/ros/iron/lib/python3.10/site-packages"
     ],
-
-
-
+    "cmake.configureOnOpen": false,
 }

Makefile

@@ -13,7 +13,7 @@ install-no-root: pull-init update-no-root
 
 pip:
 	# Install and upgrade pip dependencies
-	pip install --upgrade -r requirements/dev.txt
+	pip install --upgrade -r requirements/dev.txt --user
 
 pre-commit:
 	# Install pre-commit hooks for all submodules that have a .pre-commit-config.yaml file
@@ -24,7 +24,7 @@ install-git-filters:
 	# The vscode settings file gets updated by the ros extension and contains the full path to the current user's home directory.
 	# We don't want to commit this path, so we use a git filter to remove it when git adds the file to the staging area.
 	# This does not affect the file on disk, so vscode will still work as expected.
-	git config filter.removeFullHomePath.clean "sed '/\/home.*\(install\|build\)/d'"
+	git config filter.removeFullHomePath.clean "sed '/\/\(home\|root\).*\(install\|build\)/d'"
 
 format:
 	# Format all files in the repository