Merge remote-tracking branch 'origin/main' into simulation-enhancement

Author: NoahMollerstuen

.devcontainer/linux/devcontainer.json

@@ -1,6 +1,6 @@
 {
     "name" : "ROV Linux",
-    "image": "ghcr.io/cwrubotix/rov-25:iron",
+    "image": "ghcr.io/cwrubotix/rov-25:jazzy",
     "containerEnv": {
         "DISPLAY": "${localEnv:DISPLAY}"
     },
@@ -12,13 +12,13 @@
         // gitconfig
         "type=bind,source=/home/${localEnv:USER}/.gitconfig,target=/home/rov/.gitconfig,readonly"
     ],
-    "workspaceFolder": "/home/rov/rov-25",
+    "workspaceFolder": "/home/root/rov-25",
     "customizations": {
         "vscode" : {
             "extensions": ["ms-azuretools.vscode-docker",
-                           "streetsidesoftware.code-spell-checker", "ms-python.isort",
+                           "streetsidesoftware.code-spell-checker", "charliermarsh.ruff",
                            "ms-python.mypy-type-checker"]
         }
     },
     "privileged": true
-}
+}

.devcontainer/linux_test_environment/devcontainer.json

@@ -11,13 +11,13 @@
         "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
         "type=bind,source=/home/${localEnv:USER}/.gitconfig,target=/home/rov/.gitconfig,readonly"
     ],
-    "workspaceFolder": "/home/rov/rov-25",
+    "workspaceFolder": "/home/root/rov-25",
     "customizations": {
         "vscode": {
             "extensions": [
                 "ms-azuretools.vscode-docker",
                 "streetsidesoftware.code-spell-checker",
-                "ms-python.python",
+                "charliermarsh.ruff",
                 "ms-python.mypy-type-checker"
             ]
         }

.devcontainer/macos/devcontainer.json

@@ -1,19 +1,19 @@
 {
     "name" : "ROV macOS",
-    "image": "ghcr.io/cwrubotix/rov-25:iron",
+    "image": "ghcr.io/cwrubotix/rov-25:jazzy",
     "containerEnv": {
         "DISPLAY": "unix:0"
     },
     "mounts": [
         "type=bind,source=/Users/${localEnv:USER}/.ssh,target=/home/rov/.ssh,readonly",
     ],
-    "workspaceFolder": "/home/rov/rov-25",
+    "workspaceFolder": "/home/root/rov-25",
     "customizations": {
         "vscode" : {
             "extensions": ["ms-azuretools.vscode-docker",
-                           "streetsidesoftware.code-spell-checker", "ms-python.isort",
+                           "streetsidesoftware.code-spell-checker", "charliermarsh.ruff",
                            "ms-python.mypy-type-checker"]
         }
     },
     "privileged": true
-}
+}

.devcontainer/windows/devcontainer.json

@@ -1,16 +1,16 @@
 {
     "name" : "ROV Windows",
-    "image": "ghcr.io/cwrubotix/rov-25:iron",
+    "image": "ghcr.io/cwrubotix/rov-25:jazzy",
     "containerEnv": {
         "DISPLAY": "${localEnv:DISPLAY}"
     },
-    "workspaceFolder": "/home/rov/rov-25",
+    "workspaceFolder": "/home/root/rov-25",
     "customizations": {
         "vscode" : {
             "extensions": ["ms-azuretools.vscode-docker",
-                           "streetsidesoftware.code-spell-checker", "ms-python.isort",
+                           "streetsidesoftware.code-spell-checker", "charliermarsh.ruff",
                            "ms-python.mypy-type-checker"]
         }
     },
     "privileged": true
-}
+}

.github/workflows/docker.yml

@@ -3,6 +3,7 @@ name: Create and publish a Docker image
 on:
   push:
     branches: ['main']
+  workflow_dispatch: # allow manually starting this workflow
 # Defines two custom environment variables for the workflow. These are used for the Container registry domain, and a name for the Docker image that this workflow builds.
 env:
   REGISTRY: ghcr.io
@@ -18,12 +19,6 @@ jobs:
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
-        with:
-          # Clone submodules as well
-          submodules: 'true'
-          # Follow this https://stackoverflow.com/questions/60222741/github-actions-and-git-clone-issue
-          # For help setting up in the future
-          ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
       # Uses the `docker/login-action` action to log in to the Container registry using the account and password that will publish the packages. Once published, the packages are scoped to the account defined here.
       - name: Log in to the Container registry
         uses: docker/login-action@v3
@@ -39,7 +34,7 @@ jobs:
           images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
           tags: |
             # set latest tag for main branch
-            type=raw,value=iron
+            type=raw,value=jazzy
       # This step uses the `docker/build-push-action` action to build the image, based on your repository's `Dockerfile`. If the build succeeds, it pushes the image to GitHub Packages.
       # It uses the `context` parameter to define the build's context as the set of files located in the specified path. For more information, see "[Usage](https://github.com/docker/build-push-action#usage)" in the README of the `docker/build-push-action` repository.
       # It uses the `tags` and `labels` parameters to tag and label the image with the output from the "meta" step.

.github/workflows/industrial_ci_action.yml

@@ -17,7 +17,7 @@ jobs:
     strategy:
       fail-fast: false # uncomment if failing jobs should not cancel the others immediately
       matrix: # matrix is the product of entries
-        ROS_DISTRO: [iron, jazzy]
+        ROS_DISTRO: [jazzy]
         ROS_REPO: [main]
         # exclude: # specific configuration can be excludes
         #   - {ROS_DISTRO: melodic, ROS_REPO: testing}
@@ -36,30 +36,10 @@ jobs:
           key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}
           restore-keys: |
             ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-
-      - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci
-        # Only pulls docker for iron since jazzy one is not built yet
-        if: matrix.ROS_DISTRO == 'iron'
-        env: # either pass all entries explicitly
-          DOCKER_IMAGE: ghcr.io/cwrubotix/rov-25:${{matrix.ROS_DISTRO}}
-          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
-          # Done to avoid permssion errors in the ros-industrial ci.
-          DOCKER_RUN_OPTS: -u root
-          ROS_REPO: ${{ matrix.ROS_REPO }}
-          # Crazy one liner for install python dependencies
-
-          # Need since mypy < 0.981 does not work with type stubs.
-          # Ubuntu 24 has 1.9 so should be fine when we upgrade
-          AFTER_INSTALL_TARGET_DEPENDENCIES_EMBED: 'pip install --upgrade pip && pip install /root/target_ws/src/rov-25 --user && pip install "mypy>=1.7" --user && rm -r /root/target_ws/src/rov-25/build'
       # Once a :jazzy exists we can remove this section
       - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci
-        if: matrix.ROS_DISTRO != 'iron'
         env: # either pass all entries explicitly
-          # DOCKER_IMAGE: ghcr.io/cwrubotix/rov-25:${{matrix.ROS_DISTRO}}
+          DOCKER_IMAGE: ghcr.io/cwrubotix/rov-25:${{matrix.ROS_DISTRO}}
           ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
-          # Done to avoid permssion errors in the ros-industrial ci.
-          # DOCKER_RUN_OPTS: -u root
           ROS_REPO: ${{ matrix.ROS_REPO }}
-          # Add to python3-pyqt6.multimedia rosdep
-          ADDITIONAL_DEBS: 'python3-pyqt6.qtmultimedia'
-          # Crazy one liner for install python dependencies
-          AFTER_INSTALL_TARGET_DEPENDENCIES_EMBED: 'pip install /root/target_ws/src/rov-25 --user --break-system-packages && rm -r /root/target_ws/src/rov-25/build'
+          BEFORE_INSTALL_TARGET_DEPENDENCIES_EMBED: './.vscode/install_dependencies.sh'

.pre-commit-config.yaml

@@ -2,7 +2,7 @@
 repos:
   - repo: https://github.com/astral-sh/ruff-pre-commit
     # Ruff version.
-    rev: v0.5.4
+    rev: v0.6.4
     hooks:
       # Run the linter.
       - id: ruff
@@ -21,6 +21,6 @@ repos:
     hooks:
       - id: trailing-whitespace
   - repo: https://github.com/google/yamlfmt
-    rev: v0.10.0
+    rev: v0.13.0
     hooks:
       - id: yamlfmt

.vscode/install_dependencies.sh

@@ -1,17 +1,11 @@
 #!/bin/bash
 
 # Update ROS dependencies
-. /opt/ros/iron/setup.sh && rosdep update
+. /opt/ros/jazzy/setup.sh && rosdep update
 sudo apt-get update -y
 
 # Installs ROS dependencies
-. /opt/ros/iron/setup.sh && rosdep install --from-paths src --ignore-src -r -y
+. /opt/ros/jazzy/setup.sh && export PIP_BREAK_SYSTEM_PACKAGES=1 && rosdep install --from-paths src --ignore-src -r -y
 
 # Deletes ROS build directories
 rm -rf build install log
-
-# Install python dependencies
-pip install .
-
-# Install some random package that PyQt requires
-sudo apt-get install libxcb-cursor0 -y

.vscode/pi_setup.sh

@@ -25,11 +25,11 @@ sudo apt-get install ros-dev-tools -y
 sudo apt-get install python3-pip -y
 
 # Install ROS2
-sudo apt-get install ros-iron-ros-base -y
+sudo apt-get install ros-jazzy-ros-base -y
 sudo apt-get upgrade -y
 
 # Add setup.bash to .bashrc only if it isn't already there
-ROS_LINE='source /opt/ros/iron/setup.bash'
+ROS_LINE='source /opt/ros/jazzy/setup.bash'
 if ! grep -qF "$ROS_LINE" ~/.bashrc ;
     then echo "$ROS_LINE" >> ~/.bashrc ;
 fi
@@ -50,12 +50,7 @@ source ~/.bashrc
 
 # Install only Pi dependencies
 # Installs ROS dependencies
-source /opt/ros/iron/setup.sh && rosdep install --from-paths src/pi --ignore-src -r -y
-
-# Crazy one liner for install python dependencies
-for d in src/pi/*/; do sudo pip install -e "$d"; done
-# Delete generated files
-sudo rm -rf $(find . | grep .egg-info)
+source /opt/ros/jazzy/setup.sh && export PIP_BREAK_SYSTEM_PACKAGES=1 && rosdep install --from-paths src/pi --ignore-src -r -y
 
 # Add setup.bash to .bashrc
-source "$(pwd)/.vscode/rov_setup.sh"
+source "$(pwd)/.vscode/rov_setup.sh"

.vscode/ros2_install.sh

@@ -27,11 +27,11 @@ sudo apt-get update
 sudo apt-get upgrade -y
 
 # Install ROS2
-sudo apt-get install ros-iron-desktop -y
+sudo apt-get install ros-jazzy-desktop -y
 sudo apt-get upgrade -y
 
 # Add setup.bash to .bashrc only if it isn't already there
-ROS_LINE='source /opt/ros/iron/setup.bash'
+ROS_LINE='source /opt/ros/jazzy/setup.bash'
 if ! grep -qF "$ROS_LINE" ~/.bashrc ;
     then echo "$ROS_LINE" >> ~/.bashrc ;
 fi
@@ -48,4 +48,4 @@ source ~/.bashrc
 # Start rosdep
 sudo rosdep init
 rosdep update
-source ~/.bashrc
+source ~/.bashrc