Switch from VCS to submodules (#12)

* remove currently-unused mujoco dependency

* switch to submodules

* remove vcs docker step

* checkout submodules too

* fix clang tidy when PR doesn't change cpp files

.github/workflows/ci.yaml

@@ -23,6 +23,8 @@ jobs:
     steps:
       - name: Checkout source
         uses: actions/checkout@v4
+        with:
+          submodules: 'true'
 
       - name: Setup Docker Buildx
         uses: docker/setup-buildx-action@v2
@@ -90,7 +92,8 @@ jobs:
           files: |
             **.cpp
             **.hpp
-      - run: run-clang-tidy -j $(nproc --all) -p build/ -export-fixes clang-tidy-fixes.yaml -config-file src/fuse/.clang-tidy ${{ steps.changed-cpp-files.outputs.all_changed_files }}
+      - if: ${{ steps.changed-cpp-files.outputs.all_changed_files != '' }}
+        run: run-clang-tidy -j $(nproc --all) -p build/ -export-fixes clang-tidy-fixes.yaml -config-file src/fuse/.clang-tidy ${{ steps.changed-cpp-files.outputs.all_changed_files }}
         working-directory: /colcon_ws
       - uses: asarium/[email protected]
         with:

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "dependencies/tf2_2d"]
+	path = dependencies/tf2_2d
+	url = https://github.com/locusrobotics/tf2_2d.git
+[submodule "dependencies/covariance_geometry_ros"]
+	path = dependencies/covariance_geometry_ros
+	url = https://github.com/giafranchini/covariance_geometry_ros.git

Dockerfile

@@ -23,8 +23,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     --mount=type=cache,target=/var/lib/apt,sharing=locked \
     apt-get update && apt-get upgrade -y && \
     . /opt/ros/rolling/setup.sh && \
-    vcs import src --input src/fuse/fuse.repos && \
-    rosdep install --from-paths src -y --ignore-src --skip-keys=mujoco && \
+    rosdep install --from-paths src -y --ignore-src && \
     colcon build --mixin compile-commands coverage-gcc coverage-pytest
 
 # Set up final environment and entrypoint.

fuse_models/CMakeLists.txt

@@ -31,7 +31,7 @@ find_package(tf2 REQUIRED)
 find_package(tf2_2d REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
-find_package(mujoco REQUIRED)
+# find_package(mujoco REQUIRED)
 
 find_package(Ceres REQUIRED)
 find_package(Eigen3 REQUIRED)
@@ -47,7 +47,7 @@ add_library(
   src/graph_ignition.cpp
   src/imu_2d.cpp
   src/imu_3d.cpp
-  src/mujoco_model.cpp
+  # src/mujoco_model.cpp
   src/odometry_2d.cpp
   src/odometry_2d_publisher.cpp
   src/odometry_3d.cpp
@@ -77,7 +77,7 @@ target_link_libraries(
   fuse_publishers::fuse_publishers
   fuse_variables::fuse_variables
   ${geometry_msgs_TARGETS}
-  mujoco::mujoco
+  # mujoco::mujoco
   ${nav_msgs_TARGETS}
   pluginlib::pluginlib
   rclcpp_components::component
@@ -136,7 +136,7 @@ ament_export_dependencies(
   tf2_ros
   Ceres
   Eigen3
-  Boost
-  mujoco)
+  Boost)
+# mujoco)
 
 ament_package()

fuse_models/package.xml

@@ -16,7 +16,7 @@
   <depend>boost</depend>
   <depend>libceres-dev</depend>
   <depend>eigen</depend>
-  <depend>mujoco</depend>
+  <!-- <depend>mujoco</depend> -->
 
   <build_depend>covariance_geometry_ros</build_depend>
   <build_depend>fuse_constraints</build_depend>