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Merge remote-tracking branch 'origin/main' into feature/bitbots_rl_walk
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‎.devcontainer/Dockerfile‎

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Original file line numberDiff line numberDiff line change
@@ -1,4 +1,8 @@
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FROM ros:iron
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FROM ubuntu:24.04
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ARG user=bitbots
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ARG uid=1000
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ARG gid=1000
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# Basic Utilities
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ENV DEBIAN_FRONTEND=noninteractive
@@ -46,49 +50,41 @@ ENV LANG en_US.UTF-8
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ENV LANGUAGE en_US:en
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ENV LC_ALL en_US.UTF-8
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49-
# Setup and prioritize packages.bit-bots.de repository
53+
# Update and upgrade all packages
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RUN apt update -y \
5155
&& apt upgrade -y --allow-downgrades
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53-
# Additional robotics related packages
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RUN apt-get install -y \
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python3-rosdep \
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python3-vcstool \
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ros-iron-camera-calibration \
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ros-iron-desktop \
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ros-iron-joint-state-publisher-gui \
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ros-iron-plotjuggler \
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ros-iron-plotjuggler-msgs \
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ros-iron-plotjuggler-ros \
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ros-iron-rmw-cyclonedds-cpp \
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ros-iron-rqt-robot-monitor \
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ros-iron-soccer-vision-3d-rviz-markers
66-
67-
# Update pip and install colcon-clean
68-
RUN pip3 install pip -U
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70-
# Install colcon extensions / patches
71-
RUN python3 -m pip install \
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git+https://github.com/ruffsl/colcon-clean \
73-
git+https://github.com/timonegk/colcon-core.git@colors \
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git+https://github.com/timonegk/colcon-notification.git@colors \
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git+https://github.com/timonegk/colcon-output.git@colors
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# Set zsh as default shell
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SHELL ["/bin/zsh", "-c"]
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80-
# Create home directory and colcon workspace
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RUN mkdir -p "/root/colcon_ws"
60+
# Remove the users group, because when it exists on the host system
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# the devcontainer will not dynamically update the containerUser GID,
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# when the host user is part of the users group.
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# Then create a bitbots user with home directory and add allow it to use sudo
64+
RUN groupdel users \
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&& userdel -r ubuntu \
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&& useradd -m -U -u "$uid" -G sudo -s /bin/zsh $user \
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&& groupmod -g "$gid" $user \
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&& echo "$user ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers
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USER $user
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# Install oh-my-zsh for pretty terminal
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RUN sh -c "$(wget -O- https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)" && \
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git clone https://github.com/zsh-users/zsh-autosuggestions ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-autosuggestions
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git clone https://github.com/zsh-users/zsh-autosuggestions "${ZSH_CUSTOM:-$HOME/.oh-my-zsh/custom}/plugins/zsh-autosuggestions"
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87-
# Add zshrc
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COPY zshrc "/root/.zshrc"
76+
# Add zshrc to bitbots home directory
77+
COPY --chown=$user:$user .devcontainer/zshrc /home/$user/.zshrc
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9079
# This is required for sharing Xauthority
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ENV QT_X11_NO_MITSHM=1
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82+
# Install pixi
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RUN curl -fsSL https://pixi.sh/install.sh | sh
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# Install basler SDK
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COPY scripts/make_basler.sh /tmp/make_basler.sh
87+
RUN /tmp/make_basler.sh --ci
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9389
# Switch to the workspace directory
94-
WORKDIR "/root/colcon_ws"
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WORKDIR /home/$user/bitbots_main

‎.devcontainer/devcontainer.json‎

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@@ -1,7 +1,7 @@
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{
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"name": "Bit-Bots Iron Dev",
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"name": "Bit-Bots Jazzy Dev",
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4-
"build": { "dockerfile": "Dockerfile" },
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"build": { "dockerfile": "Dockerfile", "context": ".." },
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"containerEnv": {
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"DISPLAY": "${localEnv:DISPLAY}",
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"vscode": {
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"settings": {
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"terminal.integrated.defaultProfile.linux": "zsh",
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"terminal.integrated.profiles.linux": { "zsh": { "path": "/bin/zsh" } }
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"terminal.integrated.profiles.linux": { "zsh": { "path": "/bin/zsh" } },
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"dev.containers.copyGitConfig": false,
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"dev.containers.gitCredentialHelperConfigLocation": "none"
1820
},
19-
"extensions": ["ms-iot.vscode-ros"]
21+
"extensions": [
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"charliermarsh.ruff", // Ruff linting and formatting support
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"DavidAnson.vscode-markdownlint", // Lints markdown files
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"DotJoshJohnson.xml", // XML support
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"lextudio.restructuredtext", // Rendering rst files in preview
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"Mastermori.dsd", // DSD support
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"mohsen1.prettify-json", // JSON formatting
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"MS-CEINTL.vscode-language-pack-de", // German language pack
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"Ranch-Hand-Robotics.rde-pack", // ROS2 development environment
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"ms-python.python", // Python support
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"ms-python.vscode-pylance", // Python support
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"ms-vscode.cpptools-extension-pack", // C++ support
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"ms-vscode.cpptools-themes", // C++ support
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"ms-vscode.cpptools", // C++ support
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"streetsidesoftware.code-spell-checker-german", // Spell checker
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"streetsidesoftware.code-spell-checker", // Spell checker
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"tamasfe.even-better-toml", // TOML support
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"trond-snekvik.simple-rst" // Syntax highlighting for rst files
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]
2040
}
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},
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23-
"workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/root/colcon_ws/src/bitbots_main",
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"workspaceFolder": "/root/colcon_ws/src/bitbots_main",
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"workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/home/bitbots/bitbots_main",
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"workspaceFolder": "/home/bitbots/bitbots_main",
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"mounts": [
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"type=bind,source=${localEnv:HOME},target=/srv/host_home,consistency=cached"
@@ -39,5 +59,5 @@
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"seccomp=unconfined"
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],
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42-
"postCreateCommand": "git config --global --add safe.directory '*'"
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"postCreateCommand": "git config --global --add safe.directory '*' && $HOME/.pixi/bin/pixi run build"
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}

‎.devcontainer/zshrc‎

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# If you come from bash you might have to change your $PATH.
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export PATH=$HOME/bin:/usr/local/bin:$HOME/.local/bin:$PATH
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export PATH=$HOME/bin:/usr/local/bin:$HOME/.local/bin:$HOME/.pixi/bin:$PATH
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# Set the default shell to zsh when running zsh
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export SHELL="$(which zsh)"
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bindkey "^[[1;5C" forward-word
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bindkey "^[[1;5D" backward-word
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# Settings for the prompt to show that we are in a docker container
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export PROMPT="%K{black} 🐋 %K{blue}%F{black}%/ %f%k%F{blue}%f " # Prefix the prompt with DOCKER
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# >>> bit-bots initialize >>>
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57-
# Ignore some deprecation warnings
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export PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources
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60-
# Limit ROS 2 communication to localhost (can be overridden when needed)
61-
export ROS_DOMAIN_ID=24
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export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
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# Set the default colcon workspace
65-
export COLCON_WS="$HOME/colcon_ws"
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# Set the default log level for colcon
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export COLCON_LOG_LEVEL=30
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# Define a log layout
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export RCUTILS_COLORIZED_OUTPUT=1
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export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{name}]: {message}"
73-
74-
# Set the default Middleware
75-
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
76-
77-
# Load our ros plugin script containing useful functions and aliases for ROS 2 development
78-
if [[ -f $COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh ]]; then
79-
source $COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh
80-
fi
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# <<< bit-bots initialize <<<
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# Set default editor
85-
export VISUAL="vim"
52+
export PROMPT="%K{black} 🐋 %K{blue}%F{black} %~ %f%k%F{blue}%f " # Prefix the prompt with DOCKER
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# Some user instructions
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echo "Hello there! Welcome to the Bit-Bots ROS 2 development environment!"
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echo "If you just (re)build this container a few manual steps are nessessary:"
9057
echo "Create a ssh key with 'ssh-keygen -q -f $HOME/.ssh/id_rsa -N \"\" && cat $HOME/.ssh/id_rsa.pub'."
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echo "Copy the commands output and add it to your GitHub account ('https://github.com/settings/keys') (ctrl+click to open in browser)."
92-
echo "Now you can install the rest of the workspace and compile everything with 'make install && cba'."
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echo "To update an existing workspace you can use 'make update && cba'."
94-
echo "To compile all packages in the workspace use 'cba'. If you want to compile only a specific package use 'cbs <package_name>'."
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echo "Run 'xhost local:root' in a terminal on the host machine to enable GUI applications (e.g. rviz2) in the container. This needs to be done after every restart of the host machine."

‎.git-blame-ignore-revs‎

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3b9f322183bed2cb271bf6bd07d803a93c398c3e
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ae9fbef74c50ba1e462d1b76da16779c76aa0d5b
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476e75e3f3d17c35ac89b17f513d93078687d613
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cd3280273363807e1b5df2ade0138d48178cb06b
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5c6c1edc69b5d4e26bb7bdc3fef3399e2a61567b

‎.gitattributes‎

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.vscode/settings.json filter=removeFullHomePath
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# SCM syntax highlighting & preventing 3-way merges
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pixi.lock merge=binary linguist-language=YAML linguist-generated=true

‎.github/dependabot.yml‎

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# Set update schedule for GitHub Actions
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version: 2
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updates:
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- package-ecosystem: "github-actions"
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directory: "/"
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schedule:
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# Check for updates to GitHub Actions every week
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interval: "weekly"

‎.github/pull_request_template.md‎

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## Related issues
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<!--- Mention (link) related issues. -->
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<!--- If you suggest a new feature, please discuss it in an issue first. -->
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<!--- If fixing a bug, there should be an issue describing it with steps to reproduce -->
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<!--- If fixing a bug, there should be an issue describing it with steps to reproduce. -->
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## Checklist
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- [ ] Run `colcon build`
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- [ ] Run `pixi run build`
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- [ ] Write documentation
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- [ ] Test on your machine
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- [ ] Test on the robot

‎.github/workflows/ci.yml‎

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name: Build & Test
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on:
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schedule:
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- cron: '0 0 * * *'
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- cron: '12 3 * * *'
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push:
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jobs:
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build:
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runs-on: ubuntu-latest
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container:
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image: ubuntu:jammy
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env:
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PSModulePath: "" # Otherwise colcon might think that PowerShell is being used
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1313
steps:
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- name: Cancel outdated jobs
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uses: fkirc/skip-duplicate-actions@v5
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uses: fkirc/skip-duplicate-actions@v5.3.1
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with:
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cancel_others: 'true'
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- name: Set up ROS ecosystem
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uses: ros-tooling/setup-ros@v0.7
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# Remove comments to spawn an interactive debugging ssh shell in the ci
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#- name: Setup tmate session
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# uses: mxschmitt/action-tmate@v3
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# with:
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# detached: true
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- name: Check out repository
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uses: actions/checkout@v4
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uses: actions/checkout@v6.0.2
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- name: Configure git to trust repository
2529
run: git config --global --add safe.directory /__w/bitbots_main/bitbots_main
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- name: Add '$HOME/.local/bin' to PATH
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run: |
29-
mkdir -p $HOME/.local/bin
30-
echo "PATH=$PATH:/github/home/.local/bin" >> "$GITHUB_ENV"
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- name: Pull source code for libraries and install dependencies
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run: make install HTTPS=true ARGS="--ci"
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- name: Set up colcon workspace
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run: |
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mkdir -p /colcon_ws/src
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ln -s $(realpath .) /colcon_ws/src/bitbots_main
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- name: Build packages
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run: |
42-
. /opt/ros/iron/setup.sh
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colcon build --symlink-install
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working-directory: /colcon_ws
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- name: Test packages
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run: |
48-
# Source workspace
49-
. /opt/ros/iron/setup.sh
50-
. install/setup.sh
51-
# Run tests for all packages
52-
colcon test --event-handlers console_direct+ --return-code-on-test-failure --parallel-workers 1
53-
working-directory: /colcon_ws
31+
- name: Install host dependencies
32+
run: scripts/make_basler.sh --ci
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34+
- name: Set up workspace
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uses: prefix-dev/setup-pixi@v0.9.4
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with:
37+
pixi-version: v0.63.1
38+
cache: true
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40+
- name: Build
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run: pixi run build
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- name: Test
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run: pixi run test --parallel-workers 1

‎.github/workflows/pre-commit.yml‎

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name: Code style checks
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on:
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pull_request:
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push:
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branches: [main]
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jobs:
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pre-commit:
10-
runs-on: ubuntu-22.04
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runs-on: ubuntu-slim
119
steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v4
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- name: Install cppcheck
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run: sudo apt install cppcheck -y
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- uses: pre-commit/action@v3.0.0
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- name: Check out repository
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uses: actions/checkout@v6
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- name: Set up workspace
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uses: prefix-dev/setup-pixi@v0.9.4
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with:
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pixi-version: v0.59.0
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cache: true
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environments: format
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- name: Run pre-commit
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run: pixi run -e format format

‎.gitignore‎

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# Emacs
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.#*
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100-
# Catkin custom files
101-
CATKIN_IGNORE
102100
### Python template
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# Byte-compiled / optimized / DLL files
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__pycache__/
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203201
**/__pycache__
204202
**/cmake-build-*
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204+
# VS Code ROS extension
205+
.vscode/browse.vc.*
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# Neural Network Model Path
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/bitbots_vision/models/
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/bitbots_motion/bitbots_rl_motion/rl_walk_models/
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/src/bitbots_vision/models/
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/src/bitbots_motion/bitbots_rl_motion/rl_walk_models/
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**/.*.
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.idea/*
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doc_internal/*
218219
doku/*
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# library subdirectories
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/lib/
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223-
# Path to the protocol buffer definitions, which are a diffrerent repository and managed by vcstool
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/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol
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# Protobuf generated file
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/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py
222+
/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py
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/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.pyi
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# Workspace git status file from the deploy tool
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**/workspace_status.json
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# Do not include colcon build files
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/install/
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/build/
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/log/
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# Ignore mypy cache
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.mypy_cache/
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# Pytest cache
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.pytest_cache/
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# pixi environments
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.pixi/
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!.pixi/config.toml
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CMakeFiles/
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CMakeCache.txt
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