Finished connection timeout implementation and renamed packages

Author: evan-palmer

.devcontainer/nouveau/Dockerfile

@@ -1,4 +1,4 @@
-FROM ghcr.io/robotic-decision-making-lab/libwaterlinked:rolling-desktop
+FROM ghcr.io/robotic-decision-making-lab/waterlinked_dvl:rolling-desktop
 
 # Install ROS dependencies
 # This is done in a previous stage, but we include it again here in case anyone wants to

.devcontainer/nouveau/devcontainer.json

@@ -2,8 +2,8 @@
   "name": "ROS 2 Dev Container",
   "dockerFile": "Dockerfile",
   "context": "../..",
-  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_ros/src/libwaterlinked,type=bind",
-  "workspaceFolder": "/home/ubuntu/ws_ros/src/libwaterlinked",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_ros/src/waterlinked_dvl,type=bind",
+  "workspaceFolder": "/home/ubuntu/ws_ros/src/waterlinked_dvl",
   "remoteUser": "ubuntu",
   "runArgs": [
     "--network=host",

.devcontainer/nvidia/Dockerfile

@@ -1,4 +1,4 @@
-FROM ghcr.io/robotic-decision-making-lab/libwaterlinked:rolling-desktop-nvidia
+FROM ghcr.io/robotic-decision-making-lab/waterlinked_dvl:rolling-desktop-nvidia
 
 # Install ROS dependencies
 # This is done in a previous stage, but we include it again here in case anyone wants to

.devcontainer/nvidia/devcontainer.json

@@ -2,8 +2,8 @@
   "name": "ROS 2 NVIDIA Dev Container",
   "dockerFile": "Dockerfile",
   "context": "../..",
-  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_ros/src/libwaterlinked,type=bind",
-  "workspaceFolder": "/home/ubuntu/ws_ros/src/libwaterlinked",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_ros/src/waterlinked_dvl,type=bind",
+  "workspaceFolder": "/home/ubuntu/ws_ros/src/waterlinked_dvl",
   "remoteUser": "ubuntu",
   "runArgs": [
     "--network=host",

.docker/Dockerfile

@@ -1,11 +1,10 @@
 ARG ROS_DISTRO=rolling
-FROM ros:$ROS_DISTRO-ros-base AS ci
+FROM ros:$ROS_DISTRO-ros-base AS desktop
 
 ENV DEBIAN_FRONTEND=noninteractive
 WORKDIR /root/ws_ros
 
-# Update to be your project's name
-ENV PROJECT_NAME=libwaterlinked
+ENV PROJECT_NAME=waterlinked_dvl
 
 COPY . src/$PROJECT_NAME
 
@@ -25,20 +24,6 @@ RUN apt-get -q update \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
-# Install all ROS dependencies needed for CI
-RUN apt-get -q update \
-    && apt-get -q -y upgrade \
-    && rosdep update \
-    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
-    && rm -rf src \
-    && apt-get autoremove -y \
-    && apt-get clean -y \
-    && rm -rf /var/lib/apt/lists/*
-
-FROM ci AS desktop
-
-ENV DEBIAN_FRONTEND=noninteractive
-
 # Configure the ubuntu non-root user
 ARG USERNAME=ubuntu
 ARG USER_UID=1000
@@ -80,8 +65,8 @@ RUN sudo apt-get -q update \
     && sudo rm -rf /var/lib/apt/lists/*
 
 RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
-    # && colcon build \
-    # && echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
+    && colcon build \
+    && echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
     && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
 
 WORKDIR $USER_WORKSPACE

.dockerignore

@@ -4,5 +4,5 @@
 # Except the following
 !requirements-dev.txt
 !ros2.repos
-!waterlinked_driver
+!waterlinked_dvl_driver
 !libwaterlinked

.github/workflows/ci.yml

@@ -1,44 +1,31 @@
-name: Continuous Integration
+name: Continuous Integration (CI)
 
 on:
+  pull_request:
   push:
     branches:
-      - main
-  pull_request:
+      - ros2
   workflow_dispatch:
 
-env:
-  CLANG_TIDY: true
-
 jobs:
-  test:
-    name: Test Implementation
-    runs-on: ubuntu-latest
-
+  pre-commit:
+    name: CI
+    runs-on: ubuntu-24.04
     strategy:
       fail-fast: false
       matrix:
         env:
-          - IMAGE: rolling-ci
-            ROS_DISTRO: rolling
+          - ROS_DISTRO: rolling
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
-        with:
-          submodules: recursive
-
-      - name: Log into registry
-        uses: docker/login-action@v3.3.0
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Run ROS Industrial CI
         uses: ros-industrial/industrial_ci@master
         env:
-          DOCKER_IMAGE: ghcr.io/robotic-decision-making-lab/libwaterlinked:${{ matrix.env.IMAGE }}
-          CXXFLAGS: >-
-            -Wall -Wextra -Wpedantic -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
-          CC: ${{ env.CLANG_TIDY && 'clang' }}
-          CXX: ${{ env.CLANG_TIDY && 'clang++' }}
+          ROS_DISTRO: ${{ matrix.env.ROS_DISTRO }}
+          CXXFLAGS: -Wall -Wextra -Wpedantic
+          CLANG_TIDY: true
+          UPSTREAM_WORKSPACE: ros2.repos
+          AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
+          AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src

.github/workflows/docker.yml

@@ -12,50 +12,9 @@ on:
   workflow_dispatch:
 
 env:
-  PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'robotic-decision-making-lab/libwaterlinked') }}
+  PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'robotic-decision-making-lab/waterlinked_dvl') }}
 
 jobs:
-  ci:
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [rolling]
-    runs-on: ubuntu-latest
-    permissions:
-      packages: write
-      contents: read
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v4
-
-      - name: Log into registry
-        if: env.PUSH == 'true'
-        uses: docker/login-action@v3.3.0
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Extract Docker metadata
-        if: env.PUSH == 'true'
-        id: meta
-        uses: docker/metadata-action@v5.5.1
-        with:
-          images: ghcr.io/${{ github.repository }}
-          tags: |
-            type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }}
-
-      - name: Build and push Docker image
-        uses: docker/build-push-action@v6.7.0
-        with:
-          context: .
-          file: .docker/Dockerfile
-          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
-          target: ${{ github.job }}
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-          push: ${{ env.PUSH }}
-
   desktop:
     strategy:
       fail-fast: false

.vscode/settings.json

@@ -7,24 +7,26 @@
     "*.rviz": "yaml",
     "*.config": "xml",
     "*.sdf": "xml",
-    "chrono": "cpp",
-    "cstdint": "cpp",
     "any": "cpp",
     "array": "cpp",
     "atomic": "cpp",
     "bit": "cpp",
     "*.tcc": "cpp",
+    "bitset": "cpp",
     "cctype": "cpp",
     "charconv": "cpp",
+    "chrono": "cpp",
     "clocale": "cpp",
     "cmath": "cpp",
     "codecvt": "cpp",
     "compare": "cpp",
     "complex": "cpp",
     "concepts": "cpp",
     "condition_variable": "cpp",
+    "csignal": "cpp",
     "cstdarg": "cpp",
     "cstddef": "cpp",
+    "cstdint": "cpp",
     "cstdio": "cpp",
     "cstdlib": "cpp",
     "cstring": "cpp",
@@ -33,6 +35,7 @@
     "cwctype": "cpp",
     "deque": "cpp",
     "forward_list": "cpp",
+    "list": "cpp",
     "map": "cpp",
     "set": "cpp",
     "string": "cpp",
@@ -49,12 +52,15 @@
     "optional": "cpp",
     "random": "cpp",
     "ratio": "cpp",
+    "regex": "cpp",
     "string_view": "cpp",
     "system_error": "cpp",
     "tuple": "cpp",
     "type_traits": "cpp",
     "utility": "cpp",
+    "hash_map": "cpp",
     "format": "cpp",
+    "fstream": "cpp",
     "future": "cpp",
     "initializer_list": "cpp",
     "iomanip": "cpp",
@@ -68,6 +74,7 @@
     "ostream": "cpp",
     "ranges": "cpp",
     "semaphore": "cpp",
+    "shared_mutex": "cpp",
     "span": "cpp",
     "sstream": "cpp",
     "stdexcept": "cpp",
@@ -104,7 +111,7 @@
     "/opt/ros/rolling/local/lib/python3.12/dist-packages/",
     "${workspaceFolder}/install/"
   ],
-  "python.defaultInterpreterPath": "${workspaceFolder}/.venv/libwaterlinked/bin/python",
+  "python.defaultInterpreterPath": "${workspaceFolder}/.venv/waterlinked_dvl/bin/python",
   "C_Cpp.default.intelliSenseMode": "linux-gcc-x86",
   "C_Cpp.clang_format_fallbackStyle": "Google",
   "C_Cpp.codeAnalysis.clangTidy.enabled": true,
@@ -144,6 +151,9 @@
     "editor.rulers": [80],
     "editor.defaultFormatter": "DavidAnson.vscode-markdownlint"
   },
+  "[yaml]": {
+    "editor.rulers": [80]
+  },
   "search.exclude": {
     "**/build": true,
     "**/install": true,

README.md

@@ -1,42 +1,51 @@
-# libwaterlinked
+# Water Linked DVL API
 
-libwaterlinked is a C++ library and ROS 2 driver designed to interface with
+waterlinked_dvl is a C++ library and ROS 2 driver designed to interface with
 [Water Linked DVL devices](https://waterlinked.com/dvl), including the DVL-A50
-and DVL-A125. Get started with libwaterlinked by installing the project or by
-exploring the implemented [examples](https://github.com/Robotic-Decision-Making-Lab/libwaterlinked/tree/main/examples).
+and DVL-A125. Get started with waterlinked_dvl by installing the project,
+exploring the implemented library [examples](https://github.com/Robotic-Decision-Making-Lab/waterlinked_dvl/tree/main/examples),
+or by launching the ROS 2 driver.
 
 > :warning: This project is not affiliated with or maintained by Water Linked.
 > Please refer to the Water Linked [GitHub Organization](https://github.com/waterlinked/)
 > for all official software.
 
 ## Installation
 
-To install libwaterlinked, first clone the repository to the `src/` directory
+To install waterlinked_dvl, first clone the repository to the `src/` directory
 of your ROS 2 workspace
 
 ```bash
-git clone git@github.com:Robotic-Decision-Making-Lab/libwaterlinked.git
+git clone git@github.com:Robotic-Decision-Making-Lab/waterlinked_dvl.git
 ```
 
 Then install the project dependencies using vcstool and rosdep
 
 ```bash
-vcs import src < src/libwaterlinked/ros2.repos && \
+vcs import src < src/waterlinked_dvl/ros2.repos && \
 rosdep install --from paths src -y --ignore-src
 ```
 
 Finally, build the workspace using colcon
 
 ```bash
-colcon build
+colcon build && source install/setup.bash
+```
+
+## Usage
+
+Run the following command to launch the DVL ROS 2 driver:
+
+```bash
+ros2 launch dvl_driver dvl.launch.py
 ```
 
 ## Getting help
 
-If you have questions regarding usage of libreach or regarding contributing to
-this project, please ask a question on our [Discussions](https://github.com/Robotic-Decision-Making-Lab/libwaterlinked/discussions)
+If you have questions regarding usage of waterlinked_dvl or regarding contributing
+to this project, please ask a question on our [Discussions](https://github.com/Robotic-Decision-Making-Lab/waterlinked_dvl/discussions)
 board.
 
 ## License
 
-libwaterlinked is released under the MIT license.
+waterlinked_dvl is released under the MIT license.

libwaterlinked/examples/send_command.cpp

@@ -28,7 +28,7 @@
 /// This example demonstrates how to send commands and receive responses from a Water Linked DVL.
 auto main() -> int
 {
-  // Create a new client using the default IP address (192.168.194.95) and port (16171) with a 5 second session
+  // Create a new client using the default IP address (192.168.194.95) and port (16171) with a 5 second connection
   // timeout.
   waterlinked::WaterLinkedClient client("192.168.194.95", 16171, std::chrono::seconds(5));
 

libwaterlinked/examples/subscribe_to_reports.cpp

@@ -26,7 +26,8 @@
 /// This example demonstrates how to subscribe to velocity and dead reckoning reports from a WaterLinked DVL.
 auto main() -> int
 {
-  // Create a new client using the default IP address (192.168.194.95) and port (16171) with a 5 second session timeout.
+  // Create a new client using the default IP address (192.168.194.95) and port (16171) with a 5 second connection
+  // timeout.
   waterlinked::WaterLinkedClient client("192.168.194.95", 16171, std::chrono::seconds(5));
 
   // Register a callback to receive velocity reports

libwaterlinked/include/libwaterlinked/client.hpp

@@ -44,11 +44,11 @@ class WaterLinkedClient
   /// Create new new interface for the WaterLinked DVL-A50 using:
   /// - The IP address of the DVL (defaults to 192.168.194.95)
   /// - The port of the DVL (defaults to 16171)
-  /// - a session timeout (s, defaults to 5s)
+  /// - a connection timeout (s, defaults to 5s)
   explicit WaterLinkedClient(
     const std::string & addr = "192.168.194.95",
     std::uint16_t port = 16171,
-    std::chrono::seconds session_timeout = std::chrono::seconds(5));
+    std::chrono::seconds connection_timeout = std::chrono::seconds(5));
 
   ~WaterLinkedClient();