Just copy and paste

docker/.coderabbit.yaml

@@ -0,0 +1,18 @@
+---
+# yaml-language-server: $schema=https://coderabbit.ai/integrations/schema.v2.json
+language: en-US
+early_access: false
+reviews:
+  profile: chill
+  request_changes_workflow: false
+  high_level_summary: true
+  poem: false
+  review_status: true
+  collapse_walkthrough: false
+  auto_review:
+    enabled: true
+    drafts: false
+    base_branches:
+      - ros2-devel
+chat:
+  auto_reply: true

docker/.dockerignore

@@ -0,0 +1,8 @@
+.devcontainer/
+.github/
+.git/
+.vscode/
+.dockerignore
+.gitignore
+Dockerfile.*
+README.md

docker/.github/workflows/protect-default-branch.yaml

@@ -0,0 +1,24 @@
+---
+name: Validate PR head branch
+on:
+  pull_request:
+    branches:
+      - ros2
+
+jobs:
+  check-head-branch:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check allowed branches
+        run: |
+          pattern="^[0-9]+\.[0-9]+\.[0-9]+-[0-9]{8}$" # This regex matches the X.X.X-YYYYMMDD pattern
+          if [[ "${{ github.head_ref }}" == *"hotfix"* ]]; then
+            echo "PR from a branch containing 'hotfix' is allowed."
+            exit 0
+          elif [[ "${{ github.head_ref }}" =~ $pattern ]]; then
+            echo "PR from a branch matching X.X.X-YYYYMMDD pattern is allowed."
+            exit 0
+          else
+            echo "PRs must come from branches containing 'hotfix' phrase or matching X.X.X-YYYYMMDD pattern."
+            exit 1
+          fi

docker/.github/workflows/release-repository.yaml

@@ -0,0 +1,105 @@
+---
+name: Release repository
+
+on:
+  workflow_dispatch:
+    inputs:
+      release_candidate:
+        description: Branch name of the release candidate.
+        required: true
+      version:
+        description: New version (used for tag).
+        required: true
+      release_name:
+        description: Name of the release to be created. Version in the first place is recommended (e.g.
+          `2.0.0-alpha`).
+        required: true
+      automatic_mode:
+        type: boolean
+        default: false
+        description: Automatically merge PR and create release.
+      prerelease:
+        type: boolean
+        default: false
+        description: Mark the release as a prerelease.
+
+jobs:
+  release:
+    name: Release repository
+    runs-on: ubuntu-22.04
+    env:
+      GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      MAIN_BRANCH: ros2
+      DEVEL_BRANCH: ros2-devel
+    steps:
+      - name: Checkout to main branch
+        if: ${{ github.event.inputs.release_candidate != env.MAIN_BRANCH }}
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ env.MAIN_BRANCH }}
+          fetch-depth: 0
+
+      - name: Get git diff between main and release candidate
+        id: git_diff
+        run: |
+          git fetch origin ${{ github.event.inputs.release_candidate }}:${{ github.event.inputs.release_candidate }}
+          DIFF=$(git diff --name-only ${{ github.event.inputs.release_candidate }}) # Change to "master.." to diff against last common commit
+          if [ -z "$DIFF" ]; then
+            echo "DIFF=false" >> $GITHUB_ENV
+          else
+            echo "DIFF=true" >> $GITHUB_ENV
+          fi
+
+      - name: Create PR to main branch
+        if: ${{ github.event.inputs.release_candidate != env.MAIN_BRANCH && env.DIFF == 'true' }}
+        run: |
+          gh pr create \
+          --base ${{ env.MAIN_BRANCH }} \
+          --head ${{ github.event.inputs.release_candidate }} \
+          --title "Release ${{ github.event.inputs.version}} to ${{ env.MAIN_BRANCH }}" \
+          --body "This PR incorporates release updates."
+
+      - name: Merge PR to main branch
+        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && github.event.inputs.release_candidate
+          != env.MAIN_BRANCH && env.DIFF == 'true' }}
+        run: |
+          gh pr merge ${{ github.event.inputs.release_candidate }} \
+          --merge --delete-branch
+
+      - name: Delete branch
+        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && github.event.inputs.release_candidate
+          != env.MAIN_BRANCH && env.DIFF == 'false' }}
+        run: |
+          git push origin --delete ${{ github.event.inputs.release_candidate }}
+
+      - name: Create prerelease
+        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && fromJSON(github.event.inputs.prerelease)
+          == true}}
+        run: |
+          gh release create ${{ github.event.inputs.version }} \
+          --target ${{ env.MAIN_BRANCH }} \
+          --title ${{ github.event.inputs.release_name }} \
+          --generate-notes \
+          --prerelease
+
+      - name: Create release
+        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && fromJSON(github.event.inputs.prerelease)
+          == false}}
+        run: |
+          gh release create ${{ github.event.inputs.version }} \
+          --target ${{ env.MAIN_BRANCH }} \
+          --title ${{ github.event.inputs.release_name }} \
+          --generate-notes
+
+      - name: Checkout to devel branch
+        if: ${{ env.DEVEL_BRANCH != env.MAIN_BRANCH && fromJSON(inputs.automatic_mode) == true }}
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ env.DEVEL_BRANCH }}
+          fetch-depth: 0
+
+      - name: Update devel branch
+        if: ${{ env.DEVEL_BRANCH != env.MAIN_BRANCH && fromJSON(inputs.automatic_mode) == true }}
+        run: |
+          git pull origin ${{ env.MAIN_BRANCH }}
+          git push origin ${{ env.DEVEL_BRANCH }}

docker/.github/workflows/ros-docker-image.yaml

@@ -0,0 +1,77 @@
+---
+name: Build/Publish ROS Docker Image
+
+on:
+  workflow_dispatch:
+    inputs:
+      panther_codebase_version:
+        description: Version of the panther_ros to be used in the docker image (branch/tag/commit).
+        required: true
+        type: string
+        default: ros2-devel
+      build_type:
+        description: Is it a "development" or a "stable" release?
+        required: true
+        default: development
+        type: choice
+        options:
+          - development
+          - stable
+      target_distro:
+        description: In case of "stable" release specify the ROS distro of the existing docker image (eg.
+          humble)
+        type: string
+        default: humble
+      target_release:
+        description: In case of "stable" release specify the version of the existing docker image (eg.
+          1.0.12)
+        type: string
+        default: 0.0.0
+      target_date:
+        description: In case of "stable" release specify the date of the existing docker image in format
+          YYYYMMDD (eg. 20220124)
+        type: string
+        default: '20131206'
+      feature_branch_tag_suffix:
+        description: In case of "development" release from a feature branch specify the custom tag suffix
+          for the docker image
+        type: string
+        default: ''
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - dockerfile: Dockerfile.hardware
+            platforms: linux/arm64
+            ros_distro: humble
+          - dockerfile: Dockerfile.simulation
+            repo_name: panther-gazebo
+            platforms: linux/amd64
+            ros_distro: humble
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Build Docker Image
+        uses: husarion-ci/[email protected]
+        with:
+          dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
+          dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
+          main_branch_name: ros2
+          dockerfile: ${{ matrix.dockerfile }}
+          repo_name: ${{ matrix.repo_name }}
+          branch_name: ${{ inputs.panther_codebase_version }}
+          build_type: ${{ inputs.build_type }}
+          ros_distro: ${{ matrix.ros_distro }}
+          platforms: ${{ matrix.platforms }}
+          # variables important only for stable release
+          target_distro: ${{ inputs.target_distro }}
+          target_release: ${{ inputs.target_release }}
+          target_date: ${{ inputs.target_date }}
+          # variables important only for development release
+          feature_branch_tag_suffix: ${{ inputs.feature_branch_tag_suffix }}

docker/.github/workflows/update-tags-in-compose.yaml

@@ -0,0 +1,38 @@
+---
+name: Update tags in compose files
+
+on:
+    workflow_dispatch:
+        inputs:
+            branch_name:
+                description: Target branch for the update.
+                required: true
+            image_tag:
+                description: Docker image tag to be replaced with.
+                required: true
+
+jobs:
+    release:
+        name: Release repository
+        runs-on: ubuntu-22.04
+        env:
+            GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        steps:
+            - name: Checkout
+              uses: actions/checkout@v4
+              with:
+                  ref: ${{ github.event.inputs.branch_name }}
+
+            - name: Update docker image tag
+              uses: mikefarah/[email protected]
+              with:
+                  cmd: |
+                      yq -i '.services.panther_ros.image = "husarion/panther:${{ github.event.inputs.image_tag }}" | (... | select(tag == "!!merge")) tag = ""' demo/compose.minimal-setup.yaml
+                      yq -i '.services.panther_gazebo.image = "husarion/panther-gazebo:${{ github.event.inputs.image_tag }}" | (... | select(tag == "!!merge")) tag = ""' demo/compose.simulation.yaml
+
+            - name: Commit changes to target branch
+              uses: EndBug/add-and-commit@v9
+              with:
+                  message: Update docker image tag
+                  author_name: action-bot
+                  author_email: [email protected]

docker/.gitignore

@@ -0,0 +1,28 @@
+# Docker project generated files to ignore
+#  if you want to ignore files created by your editor/tools,
+#  please consider a global .gitignore https://help.github.com/articles/ignoring-files
+.vagrant*
+bin
+docker/docker
+.*.swp
+a.out
+*.orig
+build_src
+.flymake*
+.idea
+.DS_Store
+docs/_build
+docs/_static
+docs/_templates
+.gopath/
+.dotcloud
+*.test
+bundles/
+.hg/
+.git/
+vendor/pkg/
+pyenv
+Vagrantfile
+
+.vscode
+__pycache__/

docker/.pre-commit-config.yaml

@@ -0,0 +1,37 @@
+---
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-merge-conflict
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-yaml
+      - id: check-xml
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-json
+      - id: name-tests-test
+        files: ^.*\/test\/.*$
+        args: [--pytest-test-first]
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+      - id: codespell
+        entry: codespell
+
+  - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+    rev: 0.2.3
+    hooks:
+      - id: yamlfmt
+        files: ^(?!.*compose).*$
+        args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
+
+    # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.1
+    hooks:
+      - id: doc8
+        args: [--max-line-length=100, --ignore=D001]
+        exclude: ^.*\/CHANGELOG\.rst/.*$

docker/Dockerfile.hardware

@@ -0,0 +1,44 @@
+ARG ROS_DISTRO=humble
+
+FROM husarnet/ros:${ROS_DISTRO}-ros-core
+
+ARG BRANCH_NAME=ros2-devel
+ARG BUILD_TEST=OFF
+
+ENV HUSARION_ROS_BUILD_TYPE=hardware
+
+STOPSIGNAL SIGINT
+
+WORKDIR /ros2_ws
+
+RUN apt-get update  && \
+    apt-get install -y \
+        ros-dev-tools && \
+    # Setup workspace
+    git clone -b ${BRANCH_NAME} https://github.com/husarion/panther_ros.git src/panther_ros && \
+    vcs import src < src/panther_ros/husarion_ugv/${HUSARION_ROS_BUILD_TYPE}_deps.repos && \
+    cp -r src/ros2_controllers/diff_drive_controller src && \
+    cp -r src/ros2_controllers/imu_sensor_broadcaster src && \
+    rm -rf src/ros2_controllers && \
+    # Install dependencies
+    rosdep init && \
+    rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install --from-paths src -y -i && \
+    # Build
+    source /opt/ros/$ROS_DISTRO/setup.bash && \
+    colcon build --symlink-install --packages-up-to husarion_ugv --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=$BUILD_TEST && \
+    # Get version
+    echo $(cat /ros2_ws/src/panther_ros/husarion_ugv/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
+    # Size optimalization
+    export SUDO_FORCE_REMOVE=yes && \
+    apt-get remove -y \
+        ros-dev-tools && \
+    apt-get autoremove -y && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+COPY update_config_directory.sh /usr/local/sbin/update_config_directory
+COPY setup_environment.sh /usr/local/sbin/setup_environment
+
+# Setup envs from eeprom
+RUN sed -i "/# <additional-user-commands>/i set -e -a && source setup_environment" /*_entrypoint.sh