Merge branch 'ros-navigation:master' into master

Author: tonynajjar

.devcontainer/devcontainer.json

@@ -6,8 +6,6 @@
     },
     "workspaceMount": "source=${localWorkspaceFolder},target=/docs,type=bind",
     "workspaceFolder": "/docs",
-    "onCreateCommand": ".devcontainer/on-create-command.sh",
-    "updateContentCommand": ".devcontainer/update-content-command.sh",
     "customizations": {
         "vscode": {
             "settings": {},

.devcontainer/on-create-command.sh

@@ -1,16 +1,49 @@
-FROM ubuntu:focal
+# This dockerfile is for building the Navigation2 documentation.
+#
+# To build the image (from the root of the repository):
+#   $ docker build -f Dockerfile --build-arg user=$(id -un) --build-arg uid=$(id -u) -t nav2_docs .
+#
+# To use the image to build the docs:
+#   $ docker run --rm -v $(pwd):/docs nav2_docs make html
+#
+# To run autobuild (watches for changes and rebuilds automatically):
+#   $ docker run --init --rm -it -v $(pwd):/docs -p 8000:8000 nav2_docs make autobuild
+#   Then browse to http://127.0.0.1:8000
+#   Use Ctrl+C to stop (--init flag enables proper signal handling)
+#
+# The built documentation will be in _build/html/
 
-ARG DEBIAN_FRONTEND=noninteractive
-RUN apt update && \
-    apt install -y \
+FROM ubuntu:noble
+
+ARG user=nav2doc
+ARG uid=1000
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV SHELL=/bin/bash
+
+# Delete user if it exists in container (e.g Ubuntu Noble: ubuntu)
+RUN if id -u $uid ; then userdel `id -un $uid` ; fi
+
+RUN apt-get update && \
+    apt-get install --no-install-recommends -y \
         doxygen \
         git \
         graphviz \
         make \
         openjdk-8-jre \
         openssh-server \
         python3-pip \
-        ttf-dejavu
+        fonts-dejavu && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN useradd -u $uid -m $user
+
+ENV HOME=/home/$user
+ENV PATH="$HOME/.local/bin:$PATH"
+
+USER $user
 
 COPY requirements.txt ./
-RUN pip3 install -r requirements.txt
+RUN pip3 install --no-warn-script-location --user --break-system-packages -r requirements.txt
+
+WORKDIR /docs

.devcontainer/update-content-command.sh

@@ -38,7 +38,7 @@ html:
 # Autobuild the docs on changes
 
 autobuild:
-	sphinx-autobuild -t $(DOC_TAG) -b html -d $(BUILDDIR)/doctrees $(SOURCEDIR) $(BUILDDIR)/html $(SPHINXOPTS)
+	sphinx-autobuild --host 0.0.0.0 --port 8000 -t $(DOC_TAG) -b html -d $(BUILDDIR)/doctrees $(SOURCEDIR) $(BUILDDIR)/html $(SPHINXOPTS)
 
 # Remove generated content (Sphinx and doxygen)
 

Dockerfile

@@ -30,7 +30,43 @@ source venv/bin/activate
 pip3 install -r requirements.txt
 ```
 
+### Using Docker
+
+Build the Docker image (from this directory):
+
+```bash
+docker build -f Dockerfile --build-arg user=$(id -un) --build-arg uid=$(id -u) -t nav2_docs .
+```
+
+To build the documentation:
+
+```bash
+docker run --rm -v $(pwd):/docs nav2_docs make html
+```
+
+To run autobuild (watches for changes and rebuilds automatically):
+
+```bash
+docker run --init --rm -it -v $(pwd):/docs -p 8000:8000 nav2_docs make autobuild
+```
+
+Then browse to http://127.0.0.1:8000. Use Ctrl+C to stop (the `--init` flag enables proper signal handling).
+
+### Using VS Code Dev Container
+
+If you're using Visual Studio Code, you can use the dev container for an easy setup:
+
+1. Install the [Dev Containers extension](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers)
+2. Open this folder in VS Code
+3. When prompted, click "Reopen in Container" (or use Command Palette: "Dev Containers: Reopen in Container")
+4. Once the container is built and running, use the integrated terminal to build the docs
+
+The dev container automatically sets up all dependencies. You can then use the build tasks or run commands directly:
+- Build once: `make html` or use the "Build" task (Ctrl+Shift+B)
+- Auto-rebuild: `make autobuild` or use the "Autobuild" task
+
 ### Build the Docs
+
 Build the docs locally with `make html` and you'll find the built docs entry point in `_build/html/index.html`.
 
 To automate the build process, you can use a [sphinx-autobuild](https://github.com/sphinx-doc/sphinx-autobuild) package. \

Makefile

@@ -21,4 +21,14 @@
 <script type="text/javascript" src="{{ pathto('_static/tcs_theme.js', 1) }}"></script>
 <script async defer src="https://buttons.github.io/buttons.js"></script>
 
+<script>
+(function() {
+  var banner = document.createElement('div');
+  banner.innerHTML = '<span style="margin-right: 20px;"><strong>Partner with Nav2:</strong> sponsorship opportunities &amp; professional services available.</span><a href="https://opennav.org" target="_blank" rel="noopener" style="background: #343131; color: white; padding: 6px 17px; border-radius: 4px; text-decoration: none; font-weight: bold; font-size: 14px;">Learn More</a>';
+  banner.style.cssText = 'background: #5DCCEE; color: #333; padding: 13px 26px; text-align: center; position: fixed; top: 0; left: 0; right: 0; z-index: 9999; font-size: 14px; box-shadow: 0 2px 4px rgba(0,0,0,0.1);';
+  document.body.insertBefore(banner, document.body.firstChild);
+  document.body.style.paddingTop = '60px';
+})();
+</script>
+
 {% endblock %}