Build Stack with Colcon (#2401)

* migrate rj_constants to use colcon

* migrate rj_convert to use colcon

* migrate rj_protos to use colcon

* migrate rj_param_utils to colcon

* migrate rj_topic_utils to colcon

* migrate rj_geometry_msgs to colcon

* migrate rj_msgs to colcon

* migrate rj_drawing_msgs to colcon

* convert rj_utils to colcon

* migrate rj_geometry to colcon

* convert rj_common to colcon

* migrate rj_config_client and rj_config_server to colcon

* convert rj_vision_receiver to use colcon

* successfully build all packages with colcon build

* migrate rj_planning to colcon and create package for rj_rrt

* migration complete... Looking for reviews

* Fix Code Style On colcon-migration (#2402)

automated style fixes

Co-authored-by: N8BWert <N8BWert@users.noreply.github.com>

* update ci to use colcon test

* Fix Code Style On colcon-migration (#2403)

automated style fixes

Co-authored-by: N8BWert <N8BWert@users.noreply.github.com>

* update ci

* remove submodules from ci

* just build and test

* only build with 4 workers

* install dev tools

* download all dependencies before starting script

* only source install/setup.bash if it exists

---------

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: N8BWert <N8BWert@users.noreply.github.com>

Author: N8BWert

.github/workflows/ci.yml

@@ -7,54 +7,24 @@ jobs:
   build-and-test:
     runs-on: ubuntu-latest
     container:
-      image: robojackets/robocup-software:humble
+      image: osrf/ros:humble-desktop-full
     defaults:
       run:
         shell: bash
     steps:
-      - name: Config git
-        run: "git config --global --add safe.directory /__w/robocup-software/robocup-software"
-
       - name: Check out repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           fetch-depth: 0
 
       - name: Run util/ubuntu-setup as sudo
-        run: "sudo ./util/ubuntu-setup --yes"
-
-      - name: Install git pre-commit hooks & update submodules
-        run: "./util/git-setup --yes"
-
-      - name: Make ${{ github.base_ref }} branch exist
-        run: |
-          git checkout -b ${{ github.base_ref }} --track origin/${{ github.base_ref }}
-          git checkout -
+        run: "./util/ubuntu-setup -y"
 
       - name: Build
-        run: |
-          echo "::add-matcher::ci/clang.json"
-          source /opt/ros/humble/setup.bash
-          source install/setup.bash
-          make all
-          echo "::remove-matcher owner=clang::"
+        run: source /opt/ros/humble/setup.bash && colcon build --parallel-workers 4
 
       - name: Test
-        run: |
-          echo "::add-matcher::ci/gtest.json"
-          source /opt/ros/humble/setup.bash
-          source install/setup.bash
-          ./install/lib/rj_robocup/test-soccer
-          echo "::remove-matcher owner=gtest::"
-
-      - name: Run clang-tidy
-        run: |
-          echo "::add-matcher::ci/clang-tidy.json"
-          source /opt/ros/humble/setup.bash
-          source install/setup.bash
-          DIFFBASE=${{ github.base_ref }} make checktidy-lines
-          echo "::remove-matcher owner=clang-tidy::"
-        if: always()
+        run: source /opt/ros/humble/setup.bash && colcon test
 
   fix-style:
     # Check if the PR is not raised by this workflow

.gitignore

@@ -51,3 +51,8 @@ launch/debug-*
 # clangd
 .clangd/
 compile_commands.json
+
+# Colcon Build Things
+build/
+install/
+log/

.gitmodules

@@ -1,15 +1,3 @@
-[submodule "external/googletest"]
-	path = external/googletest
-	url = https://github.com/google/googletest
 [submodule "external/style-configs"]
 	path = external/style-configs
 	url = https://github.com/robojackets/style-configs
-[submodule "external/rrt"]
-	path = external/rrt
-	url = https://github.com/robojackets/rrt
-[submodule "external/robocup-fshare"]
-	path = external/robocup-fshare
-	url = https://github.com/robojackets/robocup-fshare
-[submodule "external/sdlcontrollerdb"]
-	path = external/sdlcontrollerdb
-	url = https://github.com/gabomdq/SDL_GameControllerDB

CMakeLists.txt

@@ -1,5 +1,5 @@
 # Use the official Ubuntu 22.04 image
-FROM ubuntu:22.04
+FROM osrf/ros:humble-desktop-full
 
 # Set environment variables for non-interactive installation
 ENV DEBIAN_FRONTEND=noninteractive
@@ -48,20 +48,10 @@ RUN mkdir -p /root/.vnc && \
     echo "#!/bin/bash\nxrdb $HOME/.Xresources\nstartxfce4 &" > /root/.vnc/xstartup && \
     chmod +x /root/.vnc/xstartup
 
-# Clone RoboJackets RoboCup software and install dependencies
-RUN git clone https://github.com/RoboJackets/robocup-software.git /root/robocup-software
-
 # Set timezone to avoid interactive prompt
 ENV TZ=America/New_York
 RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
 
-# Install dependencies
-RUN cd /root/robocup-software && \
-    ./util/ubuntu-setup -y || { echo 'ubuntu-setup script failed' ; exit 1; }
-
-RUN cd /root/robocup-software && \
-    ./util/git-setup || { echo 'git-setup script failed' ; exit 1; }
-
 # Clone and build ER-Force’s simulator
 RUN git clone https://github.com/robotics-erlangen/framework.git /root/framework && \
     cd /root/framework && \
@@ -77,12 +67,6 @@ RUN git clone https://github.com/robotics-erlangen/autoref.git /root/autoref &&
     cmake .. && \
     make
 
-# Use bash to source the ROS2 setup file and run make perf
-RUN bash -c "source /opt/ros/humble/setup.bash && \
-    cd /root/robocup-software && \
-    make perf && \
-    source install/setup.bash"
-
 # Install external ref (conditionally download the correct binary based on architecture)
 RUN cd /root && \
     if [ "$TARGETARCH" = "amd64" ]; then \
@@ -92,6 +76,13 @@ RUN cd /root && \
     fi && \
     chmod +x ssl-game-controller_v3.12.3_linux_*
 
+# Install Robocup Dependencies
+RUN mkdir -p /util
+COPY ./util/ubuntu-setup /ubuntu-setup
+COPY ./util/ubuntu-packages.txt /util/ubuntu-packages.txt
+COPY ./util/requirements3.txt /util/requirements3.txt
+RUN /ubuntu-setup -y || { echo 'ubuntu-setup script failed' ; exit 1; }
+
 # Expose the VNC, noVNC, and external ref ports
 EXPOSE 5901 6080 8081