Adds workspace content

.devcontainer/Dockerfile

@@ -0,0 +1,48 @@
+FROM osrf/ros:humble-desktop-full
+
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install -y git make graphviz python3-pip
+
+RUN cd /tmp \
+    && git clone --recursive https://github.com/ros2/ros2_documentation \
+    && pip install --requirement ros2_documentation/requirements.txt \
+    && rm -rf ros2_documentation
+
+RUN cd /tmp \ 
+    && git clone --recursive https://github.com/ros-infrastructure/rosdoc2 \
+    && pip install --upgrade ./rosdoc2 \
+    && rm -rf rosdoc2
+
+# Add vscode user with same UID and GID as your host system
+# (copied from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user)
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && apt-get update \
+    && apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+# Switch from root to user
+USER $USERNAME
+
+# Add user to video group to allow access to webcam
+RUN sudo usermod --append --groups video $USERNAME
+
+# Update all packages
+RUN sudo apt update && sudo apt upgrade -y
+
+# Install Git
+RUN sudo apt install -y git
+
+# Rosdep update
+RUN rosdep update
+
+# Source the ROS setup file
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
+
+# Remove apt lists
+RUN sudo apt-get autoremove -y && sudo apt-get clean -y && rm -rf /var/lib/lists/*

.devcontainer/devcontainer.json

@@ -0,0 +1,10 @@
+{
+  "name": "humble desktop-full",
+  "dockerFile": "Dockerfile",
+  "runArgs": [
+    "--privileged",
+    "--network=host"
+  ],
+  "workspaceMount": "source=${localWorkspaceFolder},target=/${localWorkspaceFolderBasename},type=bind",
+  "workspaceFolder": "/${localWorkspaceFolderBasename}"
+}

.gitignore

@@ -1,8 +1,11 @@
 devel/
 logs/
+install/
+log/
 build/
 bin/
 lib/
+docs_build
 msg_gen/
 srv_gen/
 msg/*Action.msg
@@ -48,4 +51,4 @@ qtcreator-*
 .#*
 
 # Catkin custom files
-CATKIN_IGNORE
+CATKIN_IGNORE

src/example_package/CMakeLists.txt

@@ -0,0 +1,59 @@
+cmake_minimum_required(VERSION 3.8)
+project(example_package)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_ros REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_library(example_package src/example_package.cpp)
+target_compile_features(example_package PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+target_include_directories(example_package PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(example_package PRIVATE "EXAMPLE_PACKAGE_BUILDING_LIBRARY")
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+install(
+  TARGETS example_package
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(
+  include
+)
+ament_export_libraries(
+  example_package
+)
+ament_export_targets(
+  export_${PROJECT_NAME}
+)
+
+ament_package()

src/example_package/include/example_package/example_package.hpp

@@ -0,0 +1,19 @@
+#ifndef EXAMPLE_PACKAGE__EXAMPLE_PACKAGE_HPP_
+#define EXAMPLE_PACKAGE__EXAMPLE_PACKAGE_HPP_
+
+#include "example_package/visibility_control.h"
+
+namespace example_package
+{
+
+class ExamplePackage
+{
+public:
+  ExamplePackage();
+
+  virtual ~ExamplePackage();
+};
+
+}  // namespace example_package
+
+#endif  // EXAMPLE_PACKAGE__EXAMPLE_PACKAGE_HPP_

src/example_package/include/example_package/visibility_control.h

@@ -0,0 +1,35 @@
+#ifndef EXAMPLE_PACKAGE__VISIBILITY_CONTROL_H_
+#define EXAMPLE_PACKAGE__VISIBILITY_CONTROL_H_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define EXAMPLE_PACKAGE_EXPORT __attribute__ ((dllexport))
+    #define EXAMPLE_PACKAGE_IMPORT __attribute__ ((dllimport))
+  #else
+    #define EXAMPLE_PACKAGE_EXPORT __declspec(dllexport)
+    #define EXAMPLE_PACKAGE_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef EXAMPLE_PACKAGE_BUILDING_LIBRARY
+    #define EXAMPLE_PACKAGE_PUBLIC EXAMPLE_PACKAGE_EXPORT
+  #else
+    #define EXAMPLE_PACKAGE_PUBLIC EXAMPLE_PACKAGE_IMPORT
+  #endif
+  #define EXAMPLE_PACKAGE_PUBLIC_TYPE EXAMPLE_PACKAGE_PUBLIC
+  #define EXAMPLE_PACKAGE_LOCAL
+#else
+  #define EXAMPLE_PACKAGE_EXPORT __attribute__ ((visibility("default")))
+  #define EXAMPLE_PACKAGE_IMPORT
+  #if __GNUC__ >= 4
+    #define EXAMPLE_PACKAGE_PUBLIC __attribute__ ((visibility("default")))
+    #define EXAMPLE_PACKAGE_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define EXAMPLE_PACKAGE_PUBLIC
+    #define EXAMPLE_PACKAGE_LOCAL
+  #endif
+  #define EXAMPLE_PACKAGE_PUBLIC_TYPE
+#endif
+
+#endif  // EXAMPLE_PACKAGE__VISIBILITY_CONTROL_H_

src/example_package/package.xml

@@ -0,0 +1,18 @@
+<?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>example_package</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">vscode</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/example_package/src/example_package.cpp

@@ -0,0 +1,14 @@
+#include "example_package/example_package.hpp"
+
+namespace example_package
+{
+
+ExamplePackage::ExamplePackage()
+{
+}
+
+ExamplePackage::~ExamplePackage()
+{
+}
+
+}  // namespace example_package