Implemented initial version of DVL API (backport #1)

.clang-format

@@ -12,8 +12,11 @@ AlignAfterOpenBracket: AlwaysBreak
 ConstructorInitializerIndentWidth: 0
 ContinuationIndentWidth: 2
 DerivePointerAlignment: false
+AllowAllParametersOfDeclarationOnNextLine: false
 PointerAlignment: Middle
 PackConstructorInitializers: Never
+BinPackArguments: false
+BinPackParameters: false
 
 # Configure brace wrapping cases
 BreakBeforeBraces: Custom

.clang-tidy

@@ -13,8 +13,6 @@ Checks: >
   -google-readability-namespace-comments,
   -google-runtime-references,
   -misc-non-private-member-variables-in-classes,
-  -modernize-return-braced-init-list,
-  -modernize-use-trailing-return-type,
   -readability-braces-around-statements,
   -readability-identifier-length,
   -readability-magic-numbers,

.codespellrc

@@ -1,4 +1,4 @@
 [codespell]
 # Uncomment and populate the following so that codespell ignores the specified words/files
 # skip =
-# ignore-words-list =
+ignore-words-list = fom

.devcontainer/nouveau/Dockerfile

@@ -1,4 +1,12 @@
+<<<<<<< HEAD
+<<<<<<< HEAD
 FROM ghcr.io/robotic-decision-making-lab/ros2-template:iron-desktop
+=======
+FROM ghcr.io/robotic-decision-making-lab/libwaterlinked:rolling-desktop
+>>>>>>> cc84fbc (Finished initial implementation of driver and renamed to libwaterlinked)
+=======
+FROM ghcr.io/robotic-decision-making-lab/waterlinked_dvl:rolling-desktop
+>>>>>>> b4ac968 (Finished connection timeout implementation and renamed packages)
 
 # 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

@@ -2,9 +2,20 @@
   "name": "ROS 2 Dev Container",
   "dockerFile": "Dockerfile",
   "context": "../..",
+<<<<<<< HEAD
+<<<<<<< HEAD
   "workspaceMount": "source=${localWorkspaceFolder},target=/home/ros/ws_ros/src/ros2-template,type=bind",
   "workspaceFolder": "/home/ros/ws_ros/src/ros2-template",
   "remoteUser": "ros",
+=======
+  "workspaceMount": "source=${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",
+>>>>>>> b4ac968 (Finished connection timeout implementation and renamed packages)
+  "remoteUser": "ubuntu",
+>>>>>>> cc84fbc (Finished initial implementation of driver and renamed to libwaterlinked)
   "runArgs": [
     "--network=host",
     "--cap-add=SYS_PTRACE",

.devcontainer/nvidia/Dockerfile

@@ -1,4 +1,12 @@
+<<<<<<< HEAD
+<<<<<<< HEAD
 FROM ghcr.io/robotic-decision-making-lab/ros2-template:iron-desktop-nvidia
+=======
+FROM ghcr.io/robotic-decision-making-lab/libwaterlinked:rolling-desktop-nvidia
+>>>>>>> cc84fbc (Finished initial implementation of driver and renamed to libwaterlinked)
+=======
+FROM ghcr.io/robotic-decision-making-lab/waterlinked_dvl:rolling-desktop-nvidia
+>>>>>>> b4ac968 (Finished connection timeout implementation and renamed packages)
 
 # 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

@@ -2,9 +2,20 @@
   "name": "ROS 2 NVIDIA Dev Container",
   "dockerFile": "Dockerfile",
   "context": "../..",
+<<<<<<< HEAD
+<<<<<<< HEAD
   "workspaceMount": "source=${localWorkspaceFolder},target=/home/ros/ws_ros/src/ros2-template,type=bind",
   "workspaceFolder": "/home/ros/ws_ros/src/ros2-template",
   "remoteUser": "ros",
+=======
+  "workspaceMount": "source=${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",
+>>>>>>> b4ac968 (Finished connection timeout implementation and renamed packages)
+  "remoteUser": "ubuntu",
+>>>>>>> cc84fbc (Finished initial implementation of driver and renamed to libwaterlinked)
   "runArgs": [
     "--network=host",
     "--cap-add=SYS_PTRACE",

.docker/Dockerfile

@@ -1,11 +1,28 @@
+<<<<<<< HEAD
 ARG ROS_DISTRO=iron
 FROM ros:$ROS_DISTRO-ros-base as ci
+=======
+ARG ROS_DISTRO=rolling
+<<<<<<< HEAD
+FROM ros:$ROS_DISTRO-ros-base AS ci
+>>>>>>> db1fbdb (Cleaned up dockerfile)
+=======
+FROM ros:$ROS_DISTRO-ros-base AS desktop
+>>>>>>> b4ac968 (Finished connection timeout implementation and renamed packages)
 
 ENV DEBIAN_FRONTEND=noninteractive
 WORKDIR /root/ws_ros
 
+<<<<<<< HEAD
 # Update to be your project's name
+<<<<<<< HEAD
 ENV PROJECT_NAME=ros2-template
+=======
+ENV PROJECT_NAME=libwaterlinked
+>>>>>>> cc84fbc (Finished initial implementation of driver and renamed to libwaterlinked)
+=======
+ENV PROJECT_NAME=waterlinked_dvl
+>>>>>>> b4ac968 (Finished connection timeout implementation and renamed packages)
 
 COPY . src/$PROJECT_NAME
 
@@ -27,6 +44,7 @@ RUN apt-get -q update \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
+<<<<<<< HEAD
 # Install all ROS dependencies needed for CI
 RUN apt-get -q update \
     && apt-get -q -y upgrade \
@@ -37,9 +55,12 @@ RUN apt-get -q update \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
-FROM ci as robot
+FROM ci AS desktop
 
 # Configure a new non-root user
+=======
+# Configure the ubuntu non-root user
+>>>>>>> b4ac968 (Finished connection timeout implementation and renamed packages)
 ARG USERNAME=ubuntu
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
@@ -61,30 +82,59 @@ WORKDIR $USER_WORKSPACE
 
 COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
 
+<<<<<<< HEAD
 # Uncomment to download and install external repos used by the project
-# RUN vcs import src < src/$PROJECT_NAME/ros2.repos
+RUN vcs import src < src/$PROJECT_NAME/ros2.repos
+=======
+# Create a new virtual environment for Python
+ENV VIRTUAL_ENV=$USER_WORKSPACE/.venv/$PROJECT_NAME
+RUN python3 -m venv --system-site-packages $VIRTUAL_ENV \
+    && echo "source ${VIRTUAL_ENV}/bin/activate" >> /home/$USERNAME/.bashrc \
+    && touch .venv/COLCON_IGNORE \
+    && echo "\n# Ensure colcon is run in the venv\nalias colcon='python3 -m colcon'" >> /home/$USERNAME/.bashrc
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+>>>>>>> 7ce605e (testing)
 
 # Install all ROS dependencies
+RUN vcs import src < src/$PROJECT_NAME/ros2.repos
 WORKDIR $USER_WORKSPACE
+<<<<<<< HEAD
+<<<<<<< HEAD
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && rosdep update \
     && rosdep install -y --from-paths src --ignore-src -r --rosdistro ${ROS_DISTRO} \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
+=======
+# Skip for now while i fix
+# RUN sudo apt-get -q update \
+#     && sudo apt-get -q -y upgrade \
+#     && rosdep update \
+#     && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
+#     && sudo apt-get autoremove -y \
+#     && sudo apt-get clean -y \
+#     && sudo rm -rf /var/lib/apt/lists/*
+>>>>>>> 7ce605e (testing)
+=======
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
+    && rosdep update \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys nlohmann_json \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
+>>>>>>> f765049 (Fixed install)
 
 RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
     && 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
 
-FROM robot as desktop
-
-ENV DEBIAN_FRONTEND=noninteractive
-ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
 WORKDIR $USER_WORKSPACE
 
+<<<<<<< HEAD
 # Install tools needed for Gazebo installation
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
@@ -113,6 +163,9 @@ RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrin
     && sudo rm -rf /var/lib/apt/lists/*
 
 FROM desktop as desktop-nvidia
+=======
+FROM desktop AS desktop-nvidia
+>>>>>>> db1fbdb (Cleaned up dockerfile)
 
 # Install NVIDIA software
 RUN sudo apt-get update \

.dockerignore

@@ -2,7 +2,6 @@
 *
 
 # Except the following
-!requirements-dev.txt
-
-# Allow your ROS 2 packages here, e.g.:
-!example_pkg
+!ros2.repos
+!waterlinked_dvl_driver
+!libwaterlinked

.github/workflows/ci.yml

@@ -1,24 +1,30 @@
-name: Continuous Integration
+name: Continuous Integration (CI)
 
 on:
+  pull_request:
   push:
     branches:
+<<<<<<< HEAD
+<<<<<<< HEAD
       - iron
   pull_request:
+=======
+      - ros2
+>>>>>>> b4ac968 (Finished connection timeout implementation and renamed packages)
+=======
+      - main
+>>>>>>> 1c5df60 (Fixed ci workflow and bumped minimum cmake version)
   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:
+<<<<<<< HEAD
           - IMAGE: iron-ci
             ROS_DISTRO: iron
     steps:
@@ -33,12 +39,35 @@ jobs:
           registry: ghcr.io
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
+=======
+          - ROS_DISTRO: rolling
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+>>>>>>> b4ac968 (Finished connection timeout implementation and renamed packages)
 
       - name: Run ROS Industrial CI
         uses: ros-industrial/industrial_ci@master
         env:
+<<<<<<< HEAD
+<<<<<<< HEAD
           DOCKER_IMAGE: ghcr.io/robotic-decision-making-lab/ros2-template:${{ matrix.env.IMAGE }}
+=======
+          DOCKER_IMAGE: ghcr.io/robotic-decision-making-lab/libwaterlinked:${{ matrix.env.IMAGE }}
+>>>>>>> cc84fbc (Finished initial implementation of driver and renamed to libwaterlinked)
           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
+<<<<<<< HEAD
+>>>>>>> b4ac968 (Finished connection timeout implementation and renamed packages)
+=======
+          ROSDEP_SKIP_KEYS: nlohmann_json
+>>>>>>> 8cedc34 (Fix for ci rosdeps)

.github/workflows/docker.yml

@@ -3,15 +3,35 @@ name: Docker
 on:
   push:
     branches:
+<<<<<<< HEAD
       - iron
+=======
+      - main
+<<<<<<< HEAD
+<<<<<<< HEAD
+<<<<<<< HEAD
+      - develop
+>>>>>>> db1fbdb (Cleaned up dockerfile)
+=======
+>>>>>>> 4411139 (Removed develop from docker cd triggers)
+=======
+      - develop
+>>>>>>> a70ec26 (Push image)
+=======
+>>>>>>> d71daa4 (Resolved bug in json parsing)
   pull_request:
     paths:
       - .docker/**
       - .github/workflows/docker.yaml
   workflow_dispatch:
 
 env:
+<<<<<<< HEAD
+<<<<<<< HEAD
   PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'robotic-decision-making-lab/ros2-template') }}
+=======
+  PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'robotic-decision-making-lab/libwaterlinked') }}
+>>>>>>> cc84fbc (Finished initial implementation of driver and renamed to libwaterlinked)
 
 jobs:
   ci:
@@ -55,6 +75,7 @@ jobs:
           labels: ${{ steps.meta.outputs.labels }}
           push: ${{ env.PUSH }}
 
+<<<<<<< HEAD
   robot:
     strategy:
       fail-fast: false
@@ -103,6 +124,13 @@ jobs:
           push: ${{ env.PUSH }}
           platforms: linux/amd64,linux/arm64
 
+=======
+>>>>>>> db1fbdb (Cleaned up dockerfile)
+=======
+  PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'robotic-decision-making-lab/waterlinked_dvl') }}
+
+jobs:
+>>>>>>> b4ac968 (Finished connection timeout implementation and renamed packages)
   desktop:
     strategy:
       fail-fast: false

.gitignore

@@ -1,4 +1,19 @@
 # ROS 2
+<<<<<<< HEAD
 build
 install
 log
+=======
+build/
+install/
+log/
+
+# virtualenv
+.venv
+<<<<<<< HEAD
+>>>>>>> 1f14078 (why tf does colcon not support fetchcontent)
+=======
+
+# Ruff
+.ruff_cache
+>>>>>>> acebd1e (Fixed driver build and started adding connection timeout)

.pre-commit-config.yaml

@@ -31,9 +31,6 @@ repos:
       - id: check-yaml
       - id: check-xml
       - id: check-merge-conflict
-      - id: check-symlinks
-      - id: debug-statements
-      - id: destroyed-symlinks
       - id: detect-private-key
       - id: end-of-file-fixer
       - id: mixed-line-ending