Merge branch 'main' of https://github.com/Robotic-Decision-Making-Lab/blue into main

amarburg · amarburg · commit 064c42644ac4 · 2024-08-19T16:12:11.000-07:00
diff --git a/.devcontainer/nouveau/devcontainer.json b/.devcontainer/nouveau/devcontainer.json
@@ -22,6 +22,11 @@
   },
   "customizations": {
     "vscode": {
+      "settings": {
+        "python.defaultInterpreterPath": "/home/ubuntu/.venv/blue/bin/python",
+        "python.autoComplete.extraPaths": ["${workspaceFolder}/install/"],
+        "python.analysis.extraPaths": ["${workspaceFolder}/install/"]
+      },
       "extensions": [
         "ms-azuretools.vscode-docker",
         "ms-python.python",
diff --git a/.devcontainer/nvidia/devcontainer.json b/.devcontainer/nvidia/devcontainer.json
@@ -26,6 +26,11 @@
   },
   "customizations": {
     "vscode": {
+      "settings": {
+        "python.defaultInterpreterPath": "/home/ubuntu/.venv/blue/bin/python",
+        "python.autoComplete.extraPaths": ["${workspaceFolder}/install/"],
+        "python.analysis.extraPaths": ["${workspaceFolder}/install/"]
+      },
       "extensions": [
         "ms-azuretools.vscode-docker",
         "ms-python.python",
diff --git a/.devcontainer/robot/devcontainer.json b/.devcontainer/robot/devcontainer.json
@@ -23,6 +23,11 @@
   "containerEnv": {},
   "customizations": {
     "vscode": {
+      "settings": {
+        "python.defaultInterpreterPath": "/home/ubuntu/.venv/blue/bin/python",
+        "python.autoComplete.extraPaths": ["${workspaceFolder}/install/"],
+        "python.analysis.extraPaths": ["${workspaceFolder}/install/"]
+      },
       "extensions": [
         "ms-azuretools.vscode-docker",
         "ms-python.python",
diff --git a/.docker/Dockerfile b/.docker/Dockerfile
@@ -230,7 +230,27 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
     && colcon build
 
 # Setup the simulation environment variables
-RUN echo "source ${USER_WORKSPACE}/src/blue/.docker/entrypoints/sim.sh" >> /home/$USERNAME/.bashrc
+RUN  <<EOT cat >> /home/$USERNAME/.bashrc
+
+# Add results of ArduSub build
+export PATH=\$HOME/ardupilot/build/sitl/bin:\$PATH
+
+# Optional: add autotest to the PATH, helpful for running sim_vehicle.py
+export PATH=\$HOME/ardupilot/Tools/autotest:\$PATH
+
+# Add ardupilot_gazebo plugin
+export GZ_SIM_SYSTEM_PLUGIN_PATH=\$HOME/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH
+
+# Add ardupilot_gazebo models and worlds
+export GZ_SIM_RESOURCE_PATH=\$HOME/ardupilot_gazebo/models:\$HOME/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH
+
+# Add blue models and worlds
+BLUE_DESCRIPTION=\$USER_WORKSPACE/src/blue/blue_description
+export GZ_SIM_RESOURCE_PATH=\$BLUE_DESCRIPTION/gazebo/models:\$BLUE_DESCRIPTION/gazebo/worlds:\$GZ_SIM_RESOURCE_PATH
+
+# Add blue meshes
+export GZ_SIM_RESOURCE_PATH=\$BLUE_DESCRIPTION/meshes:\$GZ_SIM_RESOURCE_PATH
+EOT
 
 FROM desktop AS desktop-nvidia
 
@@ -249,6 +269,6 @@ RUN sudo apt-get update \
     && sudo rm -rf /var/lib/apt/lists/*
 
 # Env vars for the nvidia-container-runtime.
-ENV NVIDIA_VISIBLE_DEVICES all
-ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
-ENV QT_X11_NO_MITSHM 1
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV QT_X11_NO_MITSHM=1
diff --git a/.docker/entrypoints/sim.sh b/.docker/entrypoints/sim.sh
diff --git a/.github/ISSUE_TEMPLATE/documentation.yaml b/.github/ISSUE_TEMPLATE/documentation.yaml
@@ -1,5 +1,5 @@
 name: Documentation Improvement
-description: Report an issue related to the BlueROV2 driver documentation.
+description: Report an issue related to the Blue documentation.
 title: "[DOC]: <Please write a descriptive title after the '[DOC]: ' prefix>"
 labels: [documentation, needs triage]
 
@@ -16,9 +16,9 @@ body:
       label: Documentation Change Type
       description: Please indicate what type of documentation issue you are reporting.
       options:
-        - Adding new documentation to the BlueROV2 driver documentation
-        - Changing existing BlueROV2 driver documentation
-        - Removing existing BlueROV2 driver documentation
+        - Adding new documentation to the Blue documentation
+        - Changing existing documentation
+        - Removing existing documentation
     validations:
       required: true
 
diff --git a/.github/mergify.yml b/.github/mergify.yml
@@ -1,5 +1,5 @@
 pull_request_rules:
-  - name: backport to iron at reviewers discretion
+  - name: backport to iron at reviewers' discretion
     conditions:
       - base=main
       - "label=backport-iron"
@@ -8,7 +8,7 @@ pull_request_rules:
         branches:
           - iron
 
-  - name: backport to humble at reviewers discretion
+  - name: backport to humble at reviewers' discretion
     conditions:
       - base=main
       - "label=backport-humble"
@@ -17,6 +17,15 @@ pull_request_rules:
         branches:
           - humble
 
+  - name: backport to jazzy at reviewers' discretion
+    conditions:
+      - base=main
+      - "label=backport-jazzy"
+    actions:
+      backport:
+        branches:
+          - jazzy
+
   - name: ask to resolve conflict
     conditions:
       - conflict
diff --git a/.github/workflows/ci-docs.yaml b/.github/workflows/ci-docs.yaml
@@ -4,7 +4,6 @@ on:
   push:
     branches:
       - main
-      - 33-feature-ros2-control
   pull_request:
     paths:
       - docs/**
diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
@@ -49,7 +49,7 @@ jobs:
             type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }}
 
       - name: Build and push Docker image
-        uses: docker/build-push-action@v6.6.1
+        uses: docker/build-push-action@v6.7.0
         with:
           context: .
           file: .docker/Dockerfile
@@ -96,7 +96,7 @@ jobs:
             type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }}
 
       - name: Build and push Docker image
-        uses: docker/build-push-action@v6.6.1
+        uses: docker/build-push-action@v6.7.0
         with:
           context: .
           file: .docker/Dockerfile
@@ -139,7 +139,7 @@ jobs:
             type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }}
 
       - name: Build and push Docker image
-        uses: docker/build-push-action@v6.6.1
+        uses: docker/build-push-action@v6.7.0
         with:
           context: .
           file: .docker/Dockerfile
@@ -180,7 +180,7 @@ jobs:
             type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }}
 
       - name: Build and push Docker image
-        uses: docker/build-push-action@v6.6.1
+        uses: docker/build-push-action@v6.7.0
         with:
           context: .
           file: .docker/Dockerfile
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
@@ -2,12 +2,7 @@
   "configurations": [
     {
       "name": "Linux",
-      "includePath": [
-        "${workspaceFolder}/**",
-        "/opt/ros/iron/include/**",
-        "/usr/include/eigen3/**",
-        "/home/ros/ws_ros/**"
-      ],
+      "includePath": ["${workspaceFolder}/**", "/opt/ros/rolling/include/**"],
       "defines": [],
       "compilerPath": "/usr/bin/gcc",
       "cStandard": "c99",
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -23,14 +23,12 @@
   "autoDocstring.startOnNewLine": false,
   "autoDocstring.docstringFormat": "google-notypes",
   "python.autoComplete.extraPaths": [
-    "/opt/ros/iron/lib/python3.10/site-packages/",
-    "/opt/ros/iron/local/lib/python3.10/dist-packages/",
-    "${workspaceFolder}/install/"
+    "/opt/ros/rolling/lib/python3.12/site-packages/",
+    "/opt/ros/rolling/local/lib/python3.12/dist-packages/"
   ],
   "python.analysis.extraPaths": [
-    "/opt/ros/iron/lib/python3.10/site-packages/",
-    "/opt/ros/iron/local/lib/python3.10/dist-packages/",
-    "${workspaceFolder}/install/"
+    "/opt/ros/rolling/lib/python3.12/site-packages/",
+    "/opt/ros/rolling/local/lib/python3.12/dist-packages/"
   ],
   "[python]": {
     "editor.tabSize": 4,
@@ -42,7 +40,6 @@
     },
     "editor.defaultFormatter": "charliermarsh.ruff"
   },
-  "python.defaultInterpreterPath": "${workspaceFolder}/.venv/blue/bin/python",
   "[dockerfile]": {
     "editor.quickSuggestions": {
       "strings": true
diff --git a/docs/docs/tutorials/control.mdx b/docs/docs/tutorials/control.mdx
@@ -16,7 +16,7 @@ tutorial.
 
 The following ROS 2 dependencies are required for this tutorial:
 
-* Gazebo Garden or newer
+* Gazebo Harmonic or newer
 * [ardusub_driver](https://github.com/Robotic-Decision-Making-Lab/ardusub_driver)
   (for use with the BlueROV2 vehicle models)
 * [auv_controllers](https://github.com/Robotic-Decision-Making-Lab/auv_controllers)
diff --git a/docs/docs/tutorials/simulation.mdx b/docs/docs/tutorials/simulation.mdx
@@ -18,7 +18,7 @@ project's needs.
 
 This tutorial has the following dependencies:
 
-* Gazebo Garden or newer
+* Gazebo Harmonic or newer
 * [ardusub_driver](https://github.com/Robotic-Decision-Making-Lab/ardusub_driver)
   (for use with the BlueROV2 vehicle models)
 
diff --git a/docs/docs/tutorials/teleop.mdx b/docs/docs/tutorials/teleop.mdx
@@ -17,7 +17,7 @@ keyboard.
 
 The following ROS 2 dependencies are required for this tutorial:
 
-* Gazebo Garden or newer
+* Gazebo Harmonic or newer
 * [ardusub_driver](https://github.com/Robotic-Decision-Making-Lab/ardusub_driver)
 * [auv_controllers](https://github.com/Robotic-Decision-Making-Lab/auv_controllers)
 * [teleop_twist_keyboard](https://github.com/ros2/teleop_twist_keyboard)
@@ -68,7 +68,7 @@ This tutorial describes how to teleoperate a simulated BlueROV2 using a gamepad.
 
 The following ROS 2 dependencies are needed for this tutorial:
 
-* Gazebo Garden or newer
+* Gazebo Harmonic or newer
 * [ardusub_driver](https://github.com/Robotic-Decision-Making-Lab/ardusub_driver)
 * [auv_controllers](https://github.com/Robotic-Decision-Making-Lab/auv_controllers)
 * [mobile_to_maritime](https://github.com/Robotic-Decision-Making-Lab/mobile_to_maritime)
