Develop

.devcontainer/humble/Dockerfile

@@ -0,0 +1,30 @@
+FROM ros:humble
+
+# Add vscode user with same UID and GID as your host system
+# (modified from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user)
+# ubuntu now has a 1000 user ubuntu
+ARG USERNAME=ubuntu
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME
+
+RUN apt-get update && apt-get upgrade -y \
+    && apt-get install -y \
+    sudo \
+    git \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+
+# Switch from root to user
+USER $USERNAME
+
+# Rosdep update
+RUN rosdep update
+
+# Source the ROS setup file
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
+
+# make sure folders exist
+RUN mkdir -p ~/colcon_ws/src

.devcontainer/devcontainer.json → .devcontainer/humble/devcontainer.json

@@ -1,5 +1,5 @@
 {
-  "name": "jazzy base",
+  "name": "humble base",
   "dockerFile": "Dockerfile",
   "remoteUser": "ubuntu",
   "containerEnv": {

.devcontainer/jazzy/devcontainer.json

@@ -0,0 +1,17 @@
+{
+  "name": "jazzy base",
+  "dockerFile": "Dockerfile",
+  "remoteUser": "ubuntu",
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}"
+  },
+  "runArgs": [
+    "--privileged",
+    "--network=host"
+  ],
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/colcon_ws/${localWorkspaceFolderBasename},type=bind",
+  "workspaceFolder": "/home/ubuntu/colcon_ws",
+  "mounts": [
+    "source=${localEnv:HOME}${localEnv:USERPROFILE}/.bash_history,target=/home/ubuntu/.bash_history,type=bind"
+  ]
+}

.github/workflows/amd64_jazzy.yml

@@ -0,0 +1,70 @@
+name: ROS Jazzy Capabilities2
+
+on:
+  workflow_dispatch:
+
+  push:
+    branches: 
+      - capabilities2-server-fabric
+    paths-ignore:
+      - README.md
+
+  pull_request:
+    branches: 
+      - capabilities2-server-fabric
+    paths-ignore:
+      - README.md
+
+env:
+  REGISTRY: ghcr.io
+  OWNER: collaborativeroboticslab
+  IMAGE_NAME: capabilities2
+
+
+# https://docs.github.com/en/actions/using-jobs/using-concurrency
+concurrency:
+  # only cancel in-progress jobs or runs for the current workflow - matches against branch & tags
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+
+  build-and-push-image:
+    runs-on: ubuntu-latest
+
+    permissions:
+      contents: write
+      packages: write
+
+    steps:
+      - name: Remove unnecessary files
+        run: |
+          sudo rm -rf /usr/share/dotnet
+          sudo rm -rf "$AGENT_TOOLSDIRECTORY"
+
+      - name: Check out the repository
+        uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to the Container registry
+        run: |
+          docker login --username ${{ env.OWNER }} --password ${{ secrets.GH_PAT }} ghcr.io 
+
+      - name: Build and Push
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: docker/Dockerfile
+          platforms: linux/amd64
+          push: true
+          tags: |
+            ${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:latest
+            ${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:jazzy
+          build-args: |
+            GITHUB_USERNAME=${{ github.actor }}
+            GITHUB_PAT=${{ secrets.GH_PAT }}

AUTHORS

@@ -1,4 +1,4 @@
 Michael Pritchard
 Thomas Muller-dardelin
-Kalana Rathnayake
+Kalana Ratnayake
 Buddhi Gamage

TODO.md

@@ -4,14 +4,16 @@
 
 - [x] names need to be in package/name format everywhere
 - [x] better docs
-- [ ] BUG: escape db function variables
+- [x] BUG: handle "'" in db queries
+- [x] BUG: escape db function variables
 - [ ] close or change communication to launch proxy so that it can't be accessed from ros network
-- [ ] BUG: handle "'" in db queries
+- [ ] BUG: fix issue with connecting to services and actions started using launch proxy
+
 
 ## Features
 
+- [x] try using ros package to find exports automatically
+- [x] improve the event system
 - [ ] implement provider definition handling in runner
-- [ ] try using ros package to find exports automatically
-- [ ] improve the event system
 - [ ] move to established db handler lib
 - [ ] better bt runner impl

capabilities2/package.xml

@@ -8,6 +8,7 @@
 
   <maintainer email="[email protected]">Michael Pritchard</maintainer>
   <maintainer email="[email protected]">mik-p</maintainer>
+  <maintainer email="[email protected]">Kalana Ratnayake</maintainer>
 
   <author email="[email protected]">Michael Pritchard</author>