Merge pull request #325 from vortexntnu/feature/containerization

Feature/containerization

.clang-format

@@ -0,0 +1,137 @@
+---
+Language:        Cpp
+# BasedOnStyle:  LLVM
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignConsecutiveMacros: false
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Right
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: Never
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortLambdasOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: MultiLine
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterCaseLabel:  false
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     80
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DeriveLineEnding: true
+DerivePointerAlignment: false
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Preserve
+IncludeCategories:
+  - Regex:           '^"(llvm|llvm-c|clang|clang-c)/'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '^(<|"(gtest|gmock|isl|json)/)'
+    Priority:        3
+    SortPriority:    0
+  - Regex:           '.*'
+    Priority:        1
+    SortPriority:    0
+IncludeIsMainRegex: '(Test)?$'
+IncludeIsMainSourceRegex: ''
+IndentCaseLabels: false
+IndentGotoLabels: true
+IndentPPDirectives: None
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Auto
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 60
+PointerAlignment: Right
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyBlock: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles:  false
+SpacesInConditionalStatement: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+SpaceBeforeSquareBrackets: false
+Standard:        Latest
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        8
+UseCRLF:         false
+UseTab:          Never
+...
+

.github/workflows/black-format-check.yml

@@ -0,0 +1,19 @@
+name: black-format check
+on: [push]
+jobs:
+  linter_name:
+    name: runner / black formatter
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Setup Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+
+      - name: Install deps
+        run: pip install black 
+
+      - name: Run Python black formatting check
+        run: python3 -m black . --check --diff

.github/workflows/clang-format-check.yml

@@ -0,0 +1,16 @@
+name: clang-format check
+
+on: [ push ]
+
+jobs:
+  formatting-check:
+    name: C/C++ LLVM formatting check
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - name: Run clang-format style check for C/C++ packages
+      uses: jidicula/clang-format-action@v4.5.0
+      with:
+        clang-format-version: '12'
+        check-path: '.'
+        fallback-style: 'llvm' # for when the .clang-format file does not exist

.github/workflows/docker-publish.yml

@@ -0,0 +1,41 @@
+name: Publish Docker image to ghcr
+
+on:
+  push:
+    branches: [ development ]
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository }}
+
+jobs:
+  build-and-push-image:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v2
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@f054a8b539a109f9f41c372932f1ae047eff08c9
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@ad44023a93711e3deb337508980b4b5e9bcdc5dc
+        with:
+          context: .
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}

.github/workflows/ros-build-check.yml

@@ -0,0 +1,24 @@
+name: ROS build check
+
+on:
+  push:
+    branches: [ development ]
+  pull_request:
+    branches: [ development ]
+
+defaults:
+  run:
+    shell: bash
+
+jobs:    
+  build-and-test-run:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v1
+
+      - name: Build the Docker image
+        run: docker build . --file Dockerfile --tag auv:ci-build
+      # Note that the Dockerfile contains a RUN that builds the catkin workspace. Running will however not work due to a cross-dep with another repo
+      # For this reason, the image is also not uploaded to the registry

Dockerfile

@@ -0,0 +1,60 @@
+FROM ros:noetic
+
+ARG distro=noetic
+ENV DEBIAN_FRONTEND=noninteractive
+SHELL ["/bin/bash", "-c"] 
+
+# ROS package dependencies
+RUN apt update && \
+    apt install -y --no-install-recommends \
+    apt-utils \
+    net-tools \     
+    tcpdump \ 
+    nano \
+    git \ 
+    ros-$distro-roslint \
+    ros-$distro-move-base-msgs \
+    ros-$distro-tf \
+    ros-$distro-tf2 \
+    ros-$distro-eigen-conversions \
+    ros-$distro-joy \
+    ros-$distro-tf2-geometry-msgs \
+    ros-$distro-pcl-ros \
+    ros-$distro-rviz \
+    ros-$distro-rosbridge-server \
+    ros-$distro-message-to-tf \
+    ros-$distro-geographic-msgs \
+    ros-$distro-move-base \
+    ros-$distro-smach-ros \
+    ros-$distro-tf-conversions \
+    python3-osrf-pycommon \
+    python3-openpyxl \
+    python3-yaml \
+    python3-pip \
+    python3-wheel \
+    python3-catkin-tools \
+    python3-vcstool \
+    python3-pandas \
+    python3-scipy \
+    libgeographic-dev \
+    libeigen3-dev \
+    libglfw3-dev \
+    libglew-dev \
+    libjsoncpp-dev \
+    libtclap-dev \
+    protobuf-compiler
+
+RUN pip install \
+    rospkg \
+    pyquaternion \
+    quadprog \
+    sklearn \
+    enum34
+
+COPY . /vortex_ws/src/Vortex-AUV
+RUN cd /vortex_ws/src && git clone https://github.com/vortexntnu/robot_localization
+RUN source /opt/ros/$distro/setup.bash && cd /vortex_ws && catkin build
+
+COPY ./entrypoint.sh /
+
+ENTRYPOINT ["/entrypoint.sh"]