Initial commit (with only bringup).

.github/workflows/ci.yml

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+name: ci
+
+on:
+  push:
+    branches:
+      - 'main'
+
+jobs:
+  docker:
+    runs-on: ubuntu-latest
+    steps:
+      -
+        name: Checkout
+        uses: actions/checkout@v4
+      -
+        name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      -
+        name: Login to DockerHub
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      -
+        name: Build and push
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          platforms: linux/amd64,linux/arm64
+          push: true
+          tags: ghcr.io/${{ github.repository_owner }}/${{ github.event.repository.name }}:iron

Dockerfile

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+ARG ROS_DISTRO=iron
+
+FROM ros:${ROS_DISTRO}-ros-core
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    build-essential \
+    python3-colcon-common-extensions \
+    ros-${ROS_DISTRO}-tf2-msgs \
+    ros-${ROS_DISTRO}-rosapi-msgs \
+    ros-${ROS_DISTRO}-geometry-msgs \
+    ros-${ROS_DISTRO}-sensor-msgs \
+    ros-${ROS_DISTRO}-rosbridge-msgs \
+    ros-${ROS_DISTRO}-ros2-control \
+    ros-${ROS_DISTRO}-demo-nodes-cpp \
+    ros-${ROS_DISTRO}-demo-nodes-py \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY ros_entrypoint.sh .
+
+WORKDIR /colcon_ws
+COPY helix_bringup src/helix_bringup
+
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh && colcon build --symlink-install --event-handlers console_direct+
+
+RUN echo 'alias build="colcon build --symlink-install  --event-handlers console_direct+"' >> ~/.bashrc
+RUN echo 'source /opt/ros/iron/setup.bash; source /colcon_ws/install/setup.bash; ros2 launch helix_bringup helix_bringup.launch.py' >> /run.sh && chmod +x /run.sh
+RUN echo 'alias run="su - ros /run.sh"' >> /etc/bash.bashrc

build.sh

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+#!/bin/bash
+
+REPOSITORY_NAME="$(basename "$(dirname -- "$( readlink -f -- "$0"; )")")"
+
+docker build --progress=plain -t ghcr.io/helix-robotics-ag/${REPOSITORY_NAME}:iron .

helix_bringup/.gitignore

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+__pycache__
+.pyc

helix_bringup/launch/helix_bringup.launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+
+    ld = LaunchDescription()
+
+    talker_node = Node(
+        package="demo_nodes_cpp",
+        executable="talker",
+    )
+
+    listener_node = Node(
+        package="demo_nodes_py",
+        executable="listener"
+    )
+
+    ld.add_action(talker_node)
+    ld.add_action(listener_node)
+
+    return ld

helix_bringup/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>helix_bringup</name>
+  <version>0.0.1</version>
+  <description>The helix_brinup package</description>
+  <maintainer email="[email protected]">max</maintainer>
+  <license>proprietary</license>
+
+  <exec_depend>ros2launch</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

helix_bringup/setup.cfg

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+[develop]
+script_dir=$base/lib/helix_bringup
+[install]
+install_scripts=$base/lib/helix_bringup

helix_bringup/setup.py

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+import os
+from glob import glob
+from setuptools import setup
+
+package_name = 'helix_bringup'
+
+setup(
+    name=package_name,
+    version='0.0.1',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='max',
+    maintainer_email='[email protected]',
+    description='Helix Soft Robot Manipulator',
+    license='Helix Robotics AG',
+)

ros_entrypoint.sh

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+#!/bin/bash
+set -e
+
+id -u ros &>/dev/null || adduser --quiet --disabled-password --gecos '' --uid ${UID:=1000} --uid ${GID:=1000} ros
+
+source /opt/ros/${ROS_DISTRO}/setup.bash
+source /colcon_ws/install/setup.bash
+
+exec "$@"

run.sh

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+#!/bin/bash
+
+REPOSITORY_NAME="$(basename "$(dirname -- "$( readlink -f -- "$0"; )")")"
+
+docker run -it --rm \
+--network=host \
+--ipc=host \
+--pid=host \
+--env UID=$(id -u) \
+--env GID=$(id -g) \
+--privileged \
+--volume ./helix_bringup:/colcon_ws/src/helix_bringup \
+ghcr.io/helix-robotics-ag/${REPOSITORY_NAME}:iron