Initialize jazzy

Author: jungee-hong

.devcontainer/Dockerfile

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+FROM althack/ros2:jazzy-dev
+
+# ** [Optional] Uncomment this section to install additional packages. **
+#
+# ENV DEBIAN_FRONTEND=noninteractive
+# RUN apt-get update \
+#    && apt-get -y install --no-install-recommends <your-package-list-here> \
+#    #
+#    # Clean up
+#    && apt-get autoremove -y \
+#    && apt-get clean -y \
+#    && rm -rf /var/lib/apt/lists/*
+# ENV DEBIAN_FRONTEND=dialog
+
+# Set up auto-source of workspace for ros user
+ARG WORKSPACE
+RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/ros/.bashrc

.devcontainer/devcontainer.json

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+// See https://aka.ms/vscode-remote/devcontainer.json for format details.
+{
+	"dockerFile": "Dockerfile",
+	"build": {
+		"args": {
+			"WORKSPACE": "${containerWorkspaceFolder}"
+		}
+	},
+	"remoteUser": "ros",
+	"runArgs": [
+		"--network=host",
+		"--cap-add=SYS_PTRACE",
+		"--security-opt=seccomp:unconfined",
+		"--security-opt=apparmor:unconfined",
+		"--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+		"--volume=/mnt/wslg:/mnt/wslg",
+		"--ipc=host"
+		// uncomment to use intel iGPU
+		// "--device=/dev/dri"
+	],
+	"containerEnv": {
+		"DISPLAY": "${localEnv:DISPLAY}", // Needed for GUI try ":0" for windows
+		"WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
+		"XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
+		"PULSE_SERVER": "${localEnv:PULSE_SERVER}",
+		"LIBGL_ALWAYS_SOFTWARE": "1" // Needed for software rendering of opengl
+	},
+	// Set *default* container specific settings.json values on container create.
+	"customizations": {
+		"vscode": {
+			"extensions": [
+				"althack.ament-task-provider",
+				"betwo.b2-catkin-tools",
+				"DotJoshJohnson.xml",
+				"ms-azuretools.vscode-docker",
+				"ms-iot.vscode-ros",
+				"ms-python.python",
+				"ms-vscode.cpptools",
+				"redhat.vscode-yaml",
+				"smilerobotics.urdf",
+				"streetsidesoftware.code-spell-checker",
+				"twxs.cmake",
+				"yzhang.markdown-all-in-one",
+				"zachflower.uncrustify"
+			]
+		}
+	}
+}

.devcontainer/repos_to_submodules.py

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+import glob
+import os
+import subprocess
+import yaml
+
+prefix="src"
+
+def add_git_submodule(repo_name, repo_url, repo_version):
+    subprocess.call(['git', 'submodule', 'add', '-b', repo_version, repo_url, repo_name])
+
+def is_submodule(repo_name):
+    try:
+        subprocess.check_output(['git', 'submodule', 'status', repo_name], stderr=subprocess.DEVNULL)
+        return True
+    except subprocess.CalledProcessError:
+        return False 
+
+def parse_repos_file(file_path):
+    with open(file_path, 'r') as file:
+        repos_data = yaml.safe_load(file)
+        repositories = repos_data['repositories']
+        
+        for repo_name, repo_info in repositories.items():
+            if 'type' in repo_info and repo_info['type'] == 'git':
+                repo_url = repo_info['url']
+                repo_version = repo_info['version']
+                submodule_name = os.path.join(prefix, repo_name)
+
+                if not is_submodule(submodule_name):
+                    add_git_submodule(submodule_name, repo_url, repo_version)
+                    print(f"Added {repo_name} as a submodule.")
+
+# Find .repos files within the src directory
+repos_files = glob.glob('src/**/*.repos', recursive=True)
+
+# Process each .repos file
+for repos_file in repos_files:
+    parse_repos_file(repos_file)

.env

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+PYTHONPATH=src:install/lib/python3.12/site-packages

.github/actions/lint/action.yml

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+name: 'Lint'
+description: 'Lint using devcontainer'
+runs:
+  using: 'docker'
+  image: '../../../.devcontainer/Dockerfile'
+  entrypoint: ".github/actions/lint/run.sh"

.github/actions/lint/run.sh

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+#!/bin/bash
+set -e
+
+./setup.sh
+
+case "$LINTER" in
+  "uncrustify"|"cppcheck"|"cpplint")
+    if [ -z "$(find src/ -name '*.cpp' -o -name '*.hpp' -o -name '*.c' -o -name '*.h')" ]; then
+      echo "No C/C++ files found. Skipping $LINTER."
+      exit 0
+    fi
+    ;;
+  "flake8"|"pep257")
+    if [ -z "$(find src/ -name '*.py')" ]; then
+      echo "No Python files found. Skipping $LINTER."
+      exit 0
+    fi
+    ;;
+esac
+
+ament_${LINTER} src/

.github/actions/test/action.yml

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+name: 'Test'
+description: 'Test using devcontainer'
+runs:
+  using: 'docker'
+  image: '../../../.devcontainer/Dockerfile'
+  entrypoint: ".github/actions/test/run.sh"

.github/actions/test/run.sh

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+#!/bin/bash
+set -e
+
+./setup.sh
+./build.sh
+./test.sh

.github/dependabot.yml

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+version: 2
+updates:
+- package-ecosystem: github-actions
+  directory: "/"
+  schedule:
+    interval: daily
+  open-pull-requests-limit: 10

.github/workflows/docs.yaml

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+name: docs
+
+on:
+  release:
+  push:
+    tags:
+      - 'v*'
+  workflow_dispatch:
+
+jobs:
+  publish:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Build and push docs
+        uses: athackst/mkdocs-simple-plugin@v3.2.0