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Initialize iron
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‎.clang-format

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---
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Language: Cpp
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BasedOnStyle: Google
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ColumnLimit: 120
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MaxEmptyLinesToKeep: 1
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IndentWidth: 2
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TabWidth: 2
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UseTab: Never
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AccessModifierOffset: -2
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AlignAfterOpenBracket: AlwaysBreak
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ConstructorInitializerIndentWidth: 0
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ContinuationIndentWidth: 2
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DerivePointerAlignment: false
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PointerAlignment: Middle
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PackConstructorInitializers: Never
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# Configure brace wrapping cases
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BreakBeforeBraces: Custom
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BraceWrapping:
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AfterClass: true
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AfterEnum: true
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AfterFunction: true
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AfterNamespace: true
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AfterStruct: true
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AfterUnion: true
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BeforeCatch: true

‎.clang-tidy

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---
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Checks: >
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-*,
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abseil-*,
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bugprone-*,
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google-*,
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misc-*,
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modernize-*,
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performance-*,
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portability-*,
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readability-*,
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-google-readability-braces-around-statements,
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-google-readability-namespace-comments,
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-google-runtime-references,
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-misc-non-private-member-variables-in-classes,
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-modernize-return-braced-init-list,
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-modernize-use-trailing-return-type,
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-readability-braces-around-statements,
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-readability-identifier-length,
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-readability-magic-numbers,
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-readability-named-parameter,
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-readability-redundant-declaration,
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-readability-function-cognitive-complexity,
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-bugprone-narrowing-conversions,
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-bugprone-easily-swappable-parameters,
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-bugprone-implicit-widening-of-multiplication-result,
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-clang-diagnostic-error,
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-bugprone-exception-escape,
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-misc-include-cleaner,
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-bugprone-reserved-identifier
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WarningsAsErrors: "*"
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CheckOptions:
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- key: readability-braces-around-statements.ShortStatementLines
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value: "2"
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- key: readability-identifier-naming.NamespaceCase
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value: lower_case
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# type names
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- key: readability-identifier-naming.ClassCase
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value: CamelCase
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- key: readability-identifier-naming.StructCase
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value: CamelCase
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- key: readability-identifier-naming.EnumCase
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value: CamelCase
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- key: readability-identifier-naming.UnionCase
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value: CamelCase
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# function names
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- key: readability-identifier-naming.FunctionCase
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value: lower_case
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# method names
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- key: readability-identifier-naming.MethodCase
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value: lower_case
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# variable names
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- key: readability-identifier-naming.VariableCase
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value: lower_case
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- key: readability-identifier-naming.PrivateMemberSuffix
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value: "_"
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- key: readability-identifier-naming.ProtectedMemberSuffix
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value: "_"
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# const, static, or global variables
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- key: readability-identifier-naming.EnumConstantCase
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value: UPPER_CASE
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- key: readability-identifier-naming.StaticConstantCase
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value: UPPER_CASE
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- key: readability-identifier-naming.GlobalConstantCase
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value: UPPER_CASE
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- key: readability-identifier-naming.ClassConstantCase
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value: UPPER_CASE

‎.codespellrc

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[codespell]
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# Uncomment and populate the following so that codespell ignores the specified words/files
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# skip =
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# ignore-words-list =

‎.devcontainer/nouveau/Dockerfile

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FROM ghcr.io/robotic-decision-making-lab/ros2-template:iron-desktop
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# Install ROS dependencies
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# This is done in a previous stage, but we include it again here in case anyone wants to
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# add new dependencies during development
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WORKDIR $USER_WORKSPACE
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COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
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RUN sudo apt-get -q update \
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&& sudo apt-get -q -y upgrade \
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&& rosdep update \
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&& rosdep install -y --from-paths . --ignore-src -r --rosdistro ${ROS_DISTRO} \
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&& sudo apt-get autoremove -y \
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&& sudo apt-get clean -y \
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&& sudo rm -rf /var/lib/apt/lists/*
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# Install debugging/linting Python packages
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RUN python3 -m pip install \
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pre-commit \
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mypy
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# Install debugging/linting C++ packages
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RUN sudo apt-get -q update \
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&& sudo apt-get -q -y upgrade \
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&& sudo apt-get install -y \
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clang-format-14 \
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clang-tidy \
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clang-tools \
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&& sudo apt-get autoremove -y \
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&& sudo apt-get clean -y \
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&& sudo rm -rf /var/lib/apt/lists/*
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# Disable the setuputils installation warning
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# This prevents us from needing to pin the setuputils version (which doesn't always work)
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ENV PYTHONWARNINGS="ignore"

‎.devcontainer/nouveau/devcontainer.json

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{
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"name": "ROS 2 Dev Container",
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"dockerFile": "Dockerfile",
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"context": "../..",
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"workspaceMount": "source=${localWorkspaceFolder},target=/home/ros/ws_ros/src/ros2-template,type=bind",
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"workspaceFolder": "/home/ros/ws_ros/src/ros2-template",
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"remoteUser": "ros",
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"runArgs": [
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"--network=host",
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"--cap-add=SYS_PTRACE",
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"--security-opt=seccomp:unconfined",
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"--security-opt=apparmor:unconfined",
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"--volume=/dev:/dev",
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"--privileged",
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"--volume=/run/user/1000:/run/user/1000"
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],
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"containerEnv": {
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"DISPLAY": "${localEnv:DISPLAY}",
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"WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
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"XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
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"PULSE_SERVER": "${localEnv:PULSE_SERVER}"
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},
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"customizations": {
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"vscode": {
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"extensions": [
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"ms-azuretools.vscode-docker",
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"ms-python.python",
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"njpwerner.autodocstring",
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"ms-vscode.cpptools",
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"redhat.vscode-xml",
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"redhat.vscode-yaml",
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"smilerobotics.urdf",
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"DavidAnson.vscode-markdownlint",
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"esbenp.prettier-vscode",
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"xaver.clang-format",
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"charliermarsh.ruff",
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"ms-vscode.cmake-tools"
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]
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}
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}
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}

‎.devcontainer/nvidia/Dockerfile

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FROM ghcr.io/robotic-decision-making-lab/ros2-template:iron-desktop-nvidia
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# Install ROS dependencies
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# This is done in a previous stage, but we include it again here in case anyone wants to
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# add new dependencies during development
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WORKDIR $USER_WORKSPACE
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COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
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RUN sudo apt-get -q update \
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&& sudo apt-get -q -y upgrade \
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&& rosdep update \
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&& rosdep install -y --from-paths . --ignore-src -r --rosdistro ${ROS_DISTRO} \
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&& sudo apt-get autoremove -y \
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&& sudo apt-get clean -y \
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&& sudo rm -rf /var/lib/apt/lists/*
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# Install debugging/linting Python packages
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RUN python3 -m pip install \
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pre-commit \
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mypy
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# Install debugging/linting C++ packages
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RUN sudo apt-get -q update \
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&& sudo apt-get -q -y upgrade \
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&& sudo apt-get install -y \
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clang-format-14 \
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clang-tidy \
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clang-tools \
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&& sudo apt-get autoremove -y \
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&& sudo apt-get clean -y \
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&& sudo rm -rf /var/lib/apt/lists/*
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# Disable the setuputils installation warning
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# This prevents us from needing to pin the setuputils version (which doesn't always work)
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ENV PYTHONWARNINGS="ignore"

‎.devcontainer/nvidia/devcontainer.json

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{
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"name": "ROS 2 NVIDIA Dev Container",
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"dockerFile": "Dockerfile",
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"context": "../..",
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"workspaceMount": "source=${localWorkspaceFolder},target=/home/ros/ws_ros/src/ros2-template,type=bind",
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"workspaceFolder": "/home/ros/ws_ros/src/ros2-template",
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"remoteUser": "ros",
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"runArgs": [
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"--network=host",
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"--cap-add=SYS_PTRACE",
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"--security-opt=seccomp:unconfined",
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"--security-opt=apparmor:unconfined",
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"--volume=/dev:/dev",
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"--privileged",
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"--volume=/tmp/.X11-unix:/tmp/.X11-unix",
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"--volume=/mnt/wslg:/mnt/wslg",
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"--gpus=all"
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],
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"containerEnv": {
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"DISPLAY": "${localEnv:DISPLAY}",
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"WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
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"XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
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"PULSE_SERVER": "${localEnv:PULSE_SERVER}",
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"LIBGL_ALWAYS_SOFTWARE": "1",
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"QT_X11_NO_MITSHM": "1"
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},
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"customizations": {
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"vscode": {
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"extensions": [
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"ms-azuretools.vscode-docker",
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"ms-python.python",
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"njpwerner.autodocstring",
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"ms-vscode.cpptools",
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"redhat.vscode-xml",
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"redhat.vscode-yaml",
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"smilerobotics.urdf",
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"DavidAnson.vscode-markdownlint",
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"esbenp.prettier-vscode",
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"xaver.clang-format",
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"charliermarsh.ruff",
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"ms-vscode.cmake-tools"
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]
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}
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}
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}

‎.docker/Dockerfile

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ARG ROS_DISTRO=iron
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FROM ros:$ROS_DISTRO-ros-base as ci
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ENV DEBIAN_FRONTEND=noninteractive
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WORKDIR /root/ws_ros
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# Update to be your project's name
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ENV PROJECT_NAME=ros2-template
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COPY . src/$PROJECT_NAME
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# Install apt packages
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RUN apt-get -q update \
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&& apt-get -q -y upgrade \
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&& apt-get -q install --no-install-recommends -y \
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git \
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sudo \
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clang \
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clang-format-14 \
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clang-tidy \
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clang-tools \
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python3-pip \
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python3-dev \
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apt-utils \
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software-properties-common \
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&& apt-get autoremove -y \
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&& apt-get clean -y \
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&& rm -rf /var/lib/apt/lists/*
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# Install all ROS dependencies needed for CI
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RUN apt-get -q update \
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&& apt-get -q -y upgrade \
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&& rosdep update \
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&& rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
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&& rm -rf src \
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&& apt-get autoremove -y \
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&& apt-get clean -y \
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&& rm -rf /var/lib/apt/lists/*
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FROM ci as robot
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# Configure a new non-root user
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ARG USERNAME=ubuntu
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ARG USER_UID=1000
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ARG USER_GID=$USER_UID
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RUN groupadd --gid $USER_GID $USERNAME \
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&& useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
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&& echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
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&& chmod 0440 /etc/sudoers.d/$USERNAME \
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&& usermod -a -G dialout $USERNAME \
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&& echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
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# Switch to the non-root user
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USER $USERNAME
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ENV USER=$USERNAME
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ENV DEBIAN_FRONTEND=noninteractive
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ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
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WORKDIR $USER_WORKSPACE
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COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
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# Uncomment to download and install external repos used by the project
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# RUN vcs import src < src/$PROJECT_NAME/ros2.repos
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# Install all ROS dependencies
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WORKDIR $USER_WORKSPACE
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RUN sudo apt-get -q update \
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&& sudo apt-get -q -y upgrade \
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&& rosdep update \
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&& rosdep install -y --from-paths src --ignore-src -r --rosdistro ${ROS_DISTRO} \
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&& sudo apt-get autoremove -y \
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&& sudo apt-get clean -y \
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&& sudo rm -rf /var/lib/apt/lists/*
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RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
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&& colcon build \
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&& echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
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&& echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
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FROM robot as desktop
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ENV DEBIAN_FRONTEND=noninteractive
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ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
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WORKDIR $USER_WORKSPACE
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# Install tools needed for Gazebo installation
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RUN sudo apt-get -q update \
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&& sudo apt-get -q -y upgrade \
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&& sudo apt-get install -y \
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lsb-release \
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wget \
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gnupg \
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&& sudo apt-get autoremove -y \
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&& sudo apt-get clean -y \
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&& sudo rm -rf /var/lib/apt/lists/*
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# Set to the desired version of Gazebo
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# Refer to the official documentation for the recommended pairings:
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# https://gazebosim.org/docs/harmonic/ros_installation
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ENV GAZEBO_VERSION=harmonic
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RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
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&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
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&& sudo apt-get -q update \
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&& sudo apt-get -q -y upgrade \
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&& sudo apt-get install -y \
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gz-$GAZEBO_VERSION \
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ros-$ROS_DISTRO-ros-gz$GAZEBO_VERSION \
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&& sudo apt-get autoremove -y \
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&& sudo apt-get clean -y \
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&& sudo rm -rf /var/lib/apt/lists/*
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FROM desktop as desktop-nvidia
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# Install NVIDIA software
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RUN sudo apt-get update \
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&& sudo apt-get -q -y upgrade \
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&& sudo apt-get install -y -qq --no-install-recommends \
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libglvnd0 \
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libgl1 \
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libglx0 \
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libegl1 \
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libxext6 \
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libx11-6 \
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&& sudo apt-get autoremove -y \
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&& sudo apt-get clean -y \
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&& sudo rm -rf /var/lib/apt/lists/*
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# Env vars for the nvidia-container-runtime.
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ENV NVIDIA_VISIBLE_DEVICES=all
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ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
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ENV QT_X11_NO_MITSHM=1

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