Merge branch 'feature/docker' of https://github.com/robbiefish/ROS-MSCL…

… into develop

.devcontainer/.gitignore

@@ -0,0 +1,2 @@
+
+/.artifacts

.devcontainer/.vscode-docker/c_cpp_properties.json

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+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "/opt/ros/**",
+                "/usr/share/c++-mscl/source/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "gnu17",
+            "cppStandard": "gnu++14",
+            "intelliSenseMode": "linux-gcc-x64"
+        }
+    ],
+    "version": 4
+}

.devcontainer/.vscode-docker/launch.json

@@ -0,0 +1,15 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "microstrain launch",
+            "request": "launch",
+            "target": "/home/microstrain/src/ros_mscl/launch/microstrain.launch",
+            "type": "ros",
+            "preLaunchTask": "build"
+        }
+    ]
+}

.devcontainer/.vscode-docker/settings.json

@@ -0,0 +1,10 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/ros-mscl/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/ros-mscl/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ]
+}

.devcontainer/.vscode-docker/tasks.json

@@ -0,0 +1,20 @@
+{
+    // See https://go.microsoft.com/fwlink/?LinkId=733558
+    // for the documentation about the tasks.json format
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "build",
+            "type": "shell",
+            "command": "/ros_entrypoint.sh",
+            "args": [
+                "catkin_make",
+                "-DCMAKE_BUILD_TYPE=DEBUG"
+            ],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            }
+        }
+    ]
+}

.devcontainer/Dockerfile.deploy

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+ARG DEV_IMAGE
+ARG ARCH="amd64"
+ARG ROS_VERSION="noetic"
+ARG ROS_MSCL_DIR="/usr/share/ros-mscl"
+FROM ${DEV_IMAGE} as builder
+
+# We will do everything from now on as root since we will be building and copying to global directories
+USER root
+
+# Build the driver and it's messages
+ARG ROS_MSCL_DIR
+COPY ros_mscl "${ROS_MSCL_DIR}/src/ros_mscl"
+COPY mscl_msgs "${ROS_MSCL_DIR}/src/mscl_msgs"
+RUN set -ex \
+    && cd "${ROS_MSCL_DIR}" \
+    && /ros_entrypoint.sh catkin_make install -DCMAKE_BUILD_TYPE="RELEASE"
+
+# Build a lighter runtime image from the core ros image which is smaller
+FROM ${ARCH}/ros:${ROS_VERSION}-ros-core
+
+# Copy the built binaries from the dev image as well as any dependencies
+ARG ROS_MSCL_DIR
+ENV ROS_MSCL_DIR "${ROS_MSCL_DIR}"
+COPY --from=builder ${ROS_MSCL_DIR}/install ${ROS_MSCL_DIR}/install
+COPY --from=builder /usr/share/c++-mscl/libmscl.so /usr/share/c++-mscl/libmscl.so
+
+# Make sure that MSCL is loadable
+ENV LD_LIBRARY_PATH "${LD_LIBRARY_PATH}:/usr/share/c++-mscl"
+
+# Default command will be to run ros launch file
+CMD ["/bin/bash", "-c", ". ${ROS_MSCL_DIR}/install/setup.bash && roslaunch ros_mscl microstrain.launch"]

.devcontainer/Dockerfile.dev

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+ARG ARCH="amd64"
+ARG ROS_VERSION="noetic"
+FROM ${ARCH}/ros:${ROS_VERSION}-ros-base
+
+# Install MSCL (github deb install is kind of a pain)
+ENV DEBIAN_FRONTEND="noninteractive"
+RUN set -ex \
+    && apt-get update && apt-get install -y \
+        jq \
+        gdb \
+        git \
+        curl \
+        sudo \
+    && install_github_deb () { \
+        org="${1}"; \
+        repo="${2}"; \
+        tag="${3}"; \
+        artifact="${4}"; \
+        list_asset_url="https://api.github.com/repos/${org}/${repo}/releases/tags/${tag}"; \
+        asset_url=$(curl -fsSl "${list_asset_url}" | jq ".assets[] | select(.name==\"${artifact}\") | .url" | sed 's/\"//g'); \
+        curl -fsSLJ -H 'Accept: application/octet-stream' "${asset_url}" -o "/tmp/${artifact}"; \
+        dpkg -i "/tmp/${artifact}" || apt-get install -f; \
+        rm -f "/tmp/${artifact}"; \
+    } \
+    && install_github_deb "LORD-MicroStrain"  "MSCL" "v62.0.0" "c++-mscl_62.0.0_amd64.deb"
+
+# Use rosdep to install the dependencies of the packages
+COPY ros_mscl /tmp/src/ros_mscl
+COPY mscl_msgs /tmp/src/mscl_msgs
+RUN set -ex \
+    && rosdep install --from-paths /tmp/src --ignore-src -r -y \
+    && rm -rf /tmp/src
+
+# Add a user that will be used when shelling into this container and allow them to use devices
+ARG USER_ID=1000
+ARG GROUP_ID=1000
+RUN set -ex \
+    && groupadd -g ${USER_ID} microstrain \
+    && useradd -N -m -u ${USER_ID} -g ${GROUP_ID} -G "dialout" microstrain
+
+# Make the directory where we will mount all the files into and build a single time
+USER microstrain
+RUN mkdir "${HOME}/src"
+COPY ros_mscl "/home/microstrain/src/ros_mscl"
+COPY mscl_msgs "/home/microstrain/src/mscl_msgs"
+RUN set -ex \
+    && cd "${HOME}" \
+    && /ros_entrypoint.sh catkin_make -DCMAKE_BUILD_TYPE="DEBUG"

.devcontainer/Makefile

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+.PHONY: all build build-shell clean
+
+# These variables should be overridden in CI builds to configure this build
+version ?= latest
+docker ?= docker
+arch ?= amd64
+ros_version ?= noetic
+
+# Just set some directory values to support out of tree builds
+makefile_path := $(abspath $(lastword $(MAKEFILE_LIST)))
+docker_dir := $(dir $(makefile_path))
+project_dir := $(abspath $(docker_dir)/..)
+project_name := $(shell echo $(notdir $(project_dir)) | tr A-Z a-z)
+artifacts_dir := $(docker_dir)/.artifacts/$(arch)-$(ros_version)
+build_dir := $(artifacts_dir)/build
+devel_dir := $(artifacts_dir)/devel
+docker_catkin_root := /home/microstrain
+docker_catkin_src_dir := $(docker_catkin_root)/src
+docker_catkin_build_dir := $(docker_catkin_root)/build
+docker_catkin_devel_dir := $(docker_catkin_root)/devel
+
+# All of these directories have to exist before we can run most tasks
+dir_deps := $(artifacts_dir) $(build_dir) $(devel_dir)
+
+# Grab the user and group ID so that the files we create can be deleted and managed from the base system
+user_id := $(shell id -u)
+group_id := $(shell id -g)
+
+# Set up some variables for the docker build
+dev_dockerfile := $(docker_dir)/Dockerfile.dev
+deploy_dockerfile := $(docker_dir)/Dockerfile.deploy
+build_args := --build-arg http_proxy --build-arg https_proxy --build-arg no_proxy --build-arg USER_ID=$(user_id) --build-arg GROUP_ID=$(group_id)
+run_args := -e http_proxy -e https_proxy -e no_proxy
+run_mounts := -v "$(project_dir)/ros_mscl:$(docker_catkin_src_dir)/ros_mscl" -v "$(project_dir)/mscl_msgs:$(docker_catkin_src_dir)/mscl_msgs" -v "$(build_dir):$(docker_catkin_build_dir)" -v "$(devel_dir):$(docker_catkin_devel_dir)"
+dev_image_name := $(arch)/$(project_name)-dev:$(ros_version)
+deploy_image_name := $(arch)/$(project_name):$(ros_version)
+dev_image_artifact := $(artifacts_dir)/.image
+
+all: image
+
+image: $(dev_image_artifact) $(deploy_dockerfile)
+	@$(docker) build \
+		--build-arg DEV_IMAGE="$(dev_image_name)" \
+		-t $(deploy_image_name) \
+		-f $(deploy_dockerfile) \
+		$(build_args) \
+		$(project_dir)
+
+$(dev_image_artifact): $(dev_dockerfile) | $(dir_deps)
+	@$(docker) build \
+		-t $(dev_image_name) \
+		-f $(dev_dockerfile) \
+		$(build_args) \
+		$(project_dir)
+	@echo $(dev_image_name) > $@
+
+build-shell: $(dev_image_artifact)
+	@$(docker) run \
+		-it \
+		--rm \
+		-v /dev:/dev \
+		--user "microstrain" \
+		-w $(docker_catkin_root) \
+		--privileged \
+		$(run_args) \
+		$(run_mounts) \
+		$$(cat $<)
+
+$(artifacts_dir):
+	@mkdir -p $@
+
+$(build_dir):
+	@mkdir -p $@
+
+$(devel_dir):
+	@mkdir -p $@
+
+clean:
+	@rm -rf "$(build_dir)" "$(devel_dir)"
+	@rm -f "$(dev_image_artifact)"
+	@docker ps -a | grep "$(project_name)" | grep "$(arch)" | grep "$(ros_version)" | tr -s " " | cut -d' ' -f1 | xargs docker rm -f || echo "No containers to remove"
+	@docker images | grep "$(project_name)" | grep "$(arch)" | grep "$(ros_version)" | tr -s " " | cut -d' ' -f1 | xargs docker rmi -f || echo "No images to remove"

.devcontainer/devcontainer.json

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+{
+    "name": "amd64/ros-mscl-dev:noetic",
+    "context": "..",
+    "dockerFile": "Dockerfile.dev",
+    "extensions": [
+        "ms-iot.vscode-ros",
+        "ms-vscode.cpptools",
+        "ms-python.python",
+        "ms-vscode.cmake-tools"
+    ],
+    "containerUser": "root",
+    "remoteUser": "microstrain",
+    "runArgs": [
+        "--privileged",
+        "--security-opt", "seccomp=unconfined"
+    ],
+    "settings": {},
+    "postAttachCommand": "/ros_entrypoint.sh roscore",
+    "mounts": [
+        "source=/dev,target=/dev,type=bind,consistency=cached",
+        "source=${localWorkspaceFolder}/ros_mscl,target=/home/microstrain/src/ros_mscl,type=bind,consistency=cached",
+        "source=${localWorkspaceFolder}/mscl_msgs,target=/home/microstrain/src/mscl_msgs,type=bind,consistency=cached",
+        "source=${localWorkspaceFolder}/.devcontainer/.vscode-docker,target=/home/microstrain/.vscode,type=bind,consistency=cached"
+    ],
+    "workspaceMount": "",
+    "workspaceFolder": "/home/microstrain",
+}

.gitignore

@@ -1,6 +1,7 @@
 *~
 *.*~
 *.*#
+.*.sw*
 
 # Doxygen
 doc/html

README.md

@@ -58,6 +58,36 @@ This will launch two nodes that publish data to different namespaces:
 An example subscriber node can be found here: [ROS-MSCL Examples](https://github.com/LORD-MicroStrain/ROS-MSCL/tree/master/Examples)  
 
 
+## Docker Integration
+
+### VSCode
+
+The easiest way to use docker while still using an IDE is to use VSCode as an IDE. Follow the steps below to develop on this repo in a docker container
+
+1. Install the following dependencies:
+    1. [VSCode](https://code.visualstudio.com/)
+    1. [Docker](https://docs.docker.com/get-docker/)
+1. Open VSCode and install the following [plugins](https://code.visualstudio.com/docs/editor/extension-marketplace):
+    1. [VSCode Docker plugin](https://marketplace.visualstudio.com/items?itemName=ms-azuretools.vscode-docker)
+    1. [VSCode Remote Containers plugin](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers)
+1. Open this directory in a container by following [this guide](https://code.visualstudio.com/docs/remote/containers#_quick-start-open-an-existing-folder-in-a-container)
+1. Once the folder is open in VSCode, you can build the project by running `Ctrl+Shift+B` to trigger a build, or `Ctrl+p` to open quick open, then type `task build` and hit enter
+1. Once the project is built, you can run the project by following [this guide](https://code.visualstudio.com/docs/editor/debugging)
+
+### Make
+
+If you are comfortable working from the command line, or want to produce runtime images, the [Makefile](./devcontainer/Makefile) in the [.devcontainer](./devcontainer) directory
+can be used to build docker images, run a shell inside the docker images and produce a runtime image. Follow the steps below to setup your environment to use the `Makefile`
+
+1. Install the following dependencies:
+    1. [Make](https://www.gnu.org/software/make/)
+    1. [Docker](https://docs.docker.com/get-docker/)
+
+The `Makefile` exposes the following tasks. They can all be run from the `.devcontainer` directory:
+* `make build-shell` - Builds the docker image and starts a shell session in the image allowing the user to develop and build the ROS project using common commands such as `catkin_make`
+* `make image` - Builds the runtim image that contains only the required dependencies and the ROS node. The resulting image is names `ros-mscl`
+* `make clean` - Cleans up after the above two tasks
+
 ## License
 ROS-MSCL is released under the MIT License - see the `LICENSE` file in the source distribution.