Feat/docker

.devcontainer/devcontainer.json

@@ -0,0 +1,69 @@
+{
+    "name": "RPMPLv2-dev",
+    "remoteUser": "roboticsETF",
+    "containerEnv": {
+        "SHELL": "/bin/bash"
+    },
+    "build": {
+        "context": "..",
+        "dockerfile": "../.docker/Dockerfile",
+        "target": "rpmplv2-dev-container"
+    },
+    // Features to add to the dev container. More info: https://containers.dev/features.
+    "features": {
+        "ghcr.io/devcontainers-contrib/features/bash-command:1": {},
+        "ghcr.io/devcontainers/features/common-utils:2": {
+            "upgradePackages": false,
+            "username": "roboticsETF"
+        },
+        "ghcr.io/stuartleeks/dev-container-features/shell-history:0": {
+            "version": "latest"
+        }
+    },
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                // language support
+                "ms-python.python",
+                "ms-vscode.cpptools",
+                "josetr.cmake-language-support-vscode", // cmake syntax support
+                "ms-azuretools.vscode-docker", // dockerfile and linting support
+                "mrmlnc.vscode-json5",
+                // formatters
+                "llvm-vs-code-extensions.vscode-clangd", // linting and code-formatting
+                "foxundermoon.shell-format", // shell script formatting
+                "redhat.vscode-yaml", // yaml syntax highlighting and formatting
+                "charliermarsh.ruff", // fast python formatting
+                // productivity
+                "mhutchie.git-graph",
+                "matepek.vscode-catch2-test-adapter",
+                "ms-iot.vscode-ros",
+            ],
+            "settings": {}
+        }
+    },
+    "runArgs": [
+        "-e",
+        "CCACHE_DIR=${containerWorkspaceFolder}/.ccache",
+        "--net",
+        "host",
+        "--privileged",
+        "-e",
+        "DISPLAY=${env:DISPLAY}",
+        "-v",
+        "/tmp/.X11-unix:/tmp/.X11-unix:rw",
+        "-v",
+        "${env:HOME}/.ssh:/home/roboticsETF/.ssh:ro",
+        "-v",
+        "/var/run/dbus:/var/run/dbus:rw",
+        "-v",
+        "/run/dbus:/run/dbus:rw",
+        "-v",
+        "/dev:/dev",
+        // For HW accelerated graphics
+        "--device",
+        "/dev/dri:/dev/dri",
+        "--gpus",
+        "all"
+    ],
+}

.docker/Dockerfile

@@ -0,0 +1,52 @@
+FROM ubuntu:22.04 as rpmplv2-dev-container
+
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update \
+    && apt-get install -y --no-install-recommends \
+    apt-transport-https \
+    ca-certificates \
+    curl \
+    wget \
+    gnupg \
+    make \
+    cmake \
+    lsb-release \
+    software-properties-common \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update \
+    && apt-get install -y --no-install-recommends \
+    libeigen3-dev libkdl-parser-dev libgflags-dev libgoogle-glog-dev liborocos-kdl-dev \
+    libgtest-dev libyaml-cpp-dev liburdf-dev python3-pip libfcl-dev libnanoflann-dev \
+    && pip3 install trimesh urdfpy \
+    && rm -rf /var/lib/apt/lists/*
+
+ENV CLANG_VERSION=18
+RUN wget https://apt.llvm.org/llvm.sh && \
+    sed -i "s/add-apt-repository \"${REPO_NAME}\"/add-apt-repository \"${REPO_NAME}\" -y/g" llvm.sh && \
+    chmod +x llvm.sh && \
+    ./llvm.sh $CLANG_VERSION -y && \
+    apt-get install -y --no-install-recommends clang-$CLANG_VERSION clang-tidy-$CLANG_VERSION clang-format-$CLANG_VERSION \
+    llvm-$CLANG_VERSION-dev libc++-$CLANG_VERSION-dev libomp-$CLANG_VERSION-dev libc++abi-$CLANG_VERSION-dev libunwind-$CLANG_VERSION-dev && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN  update-alternatives --install /usr/bin/clang clang /usr/bin/clang-$CLANG_VERSION $CLANG_VERSION \
+    --slave /usr/bin/clang++ clang++ /usr/bin/clang++-$CLANG_VERSION \
+    --slave /usr/bin/clang-tidy clang-tidy /usr/bin/clang-tidy-$CLANG_VERSION \
+    --slave /usr/bin/clang-format clang-format /usr/bin/clang-format-$CLANG_VERSION
+
+RUN ln -s /usr/bin/clangd-${CLANG_VERSION} /usr/bin/clangd
+
+ARG USERNAME=roboticsETF
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --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
+
+USER $USERNAME

.github/workflows/rpmplv2.yaml

@@ -0,0 +1,35 @@
+name: Build with CMake (Linux)
+
+on:
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v1
+
+      - name: Install dependencies
+        run: |
+          sudo apt update && sudo apt upgrade && sudo apt install -y libunwind-dev apt-transport-https \
+          ca-certificates curl wget gnupg make cmake lsb-release software-properties-common \
+          libeigen3-dev libkdl-parser-dev libgflags-dev libgoogle-glog-dev liborocos-kdl-dev \
+          libgtest-dev libyaml-cpp-dev liburdf-dev python3-pip libfcl-dev libnanoflann-dev \
+          && pip3 install trimesh urdfpy
+        shell: bash
+
+      - name: Configure with CMake
+        run: cmake -B build -DCMAKE_BUILD_TYPE=Release
+
+      - name: Build
+        run: |
+          mkdir -p build
+          cmake --build build --config Release
+
+      - name: Test (optional)
+        run: |
+          if [ -d build/tests ]; then
+            ctest --test-dir build/tests -C Release --output-on-failure
+          fi

.gitignore

@@ -2,5 +2,4 @@ build
 install
 log
 .vscode
-data/xarm6/scenario_real_time/DRGBMTstar
-data/xarm6/scenario_real_time/DRGBTConnect
+*.log

.gitmodules

@@ -1,12 +1,3 @@
-[submodule "external/glog"]
-	path = external/glog
-	url = https://github.com/google/glog.git
-[submodule "external/nanoflann"]
-	path = external/nanoflann
-	url = https://github.com/jlblancoc/nanoflann.git
-[submodule "external/googletest"]
-	path = external/googletest
-	url = https://github.com/google/googletest
 [submodule "external/QuadProgpp"]
-	path = external/QuadProgpp
-	url = https://github.com/liuq/QuadProgpp.git
+path = external/QuadProgpp
+url = https://github.com/liuq/QuadProgpp.git

CMakeLists.txt

@@ -9,7 +9,6 @@ project(
 
 # Only do these if this is the main project, and not if it is included through add_subdirectory
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
-
   # Optionally set things like CMAKE_CXX_STANDARD, CMAKE_POSITION_INDEPENDENT_CODE here
 
   # Let's ensure -std=c++xx instead of -std=g++xx
@@ -20,7 +19,6 @@ if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
 
   set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
-
   # Testing only available if this is the main app
   # Note this needs to be done in the main CMakeLists
   # since it calls enable_testing, which must be in the
@@ -29,6 +27,7 @@ if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
 
   # Docs only available if this is the main app
   find_package(Doxygen)
+
   if(Doxygen_FOUND)
     add_subdirectory(docs)
   else()
@@ -45,21 +44,21 @@ include_directories(${OROCOS_KDL_INCLUDE_DIR})
 
 find_package(yaml-cpp REQUIRED)
 find_package(fcl 0.7 REQUIRED)
+find_package(nanoflann REQUIRED)
 
-add_subdirectory(external/glog)
-add_subdirectory(external/nanoflann)
-add_subdirectory(external/googletest)
 # add_subdirectory(external/QuadProgpp)
+set(PROJECT_LIBRARIES gtest glog gflags nanoflann::nanoflann kdl_parser orocos-kdl fcl ccd yaml-cpp
 
-set(PROJECT_LIBRARIES gtest glog::glog nanoflann kdl_parser orocos-kdl fcl ccd yaml-cpp 
   # quadprog
 )
 
+set(MAIN_PROJECT_BUILD_DIR ${CMAKE_CURRENT_SOURCE_DIR}/build)
+
 file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/data/
-     DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/data)
+  DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/apps/data)
 
 file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/visualizer/
-     DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/visualizer)
+  DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/apps/visualizer)
 
 # The compiled library code is here
 add_subdirectory(src)
@@ -69,7 +68,6 @@ add_subdirectory(apps)
 
 # Testing only available if this is the main app
 # Emergency override MODERN_CMAKE_BUILD_TESTING provided as well
-
 if((CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME OR MODERN_CMAKE_BUILD_TESTING) AND BUILD_TESTING)
   add_subdirectory(tests)
 endif()

Makefile

@@ -1,11 +1,11 @@
-.PHONY: clean build dependencies source-dirs sim
-
-dependencies:
-	rosdep install --from-paths src --ignore-src -r -y
+.PHONY: clean build run_tests
 
 clean:
-	rm -r ./build/ ./install/ ./log/
+	rm -r ./build
 
 build:
-	colcon build --symlink-install --cmake-args " -DCMAKE_BUILD_TYPE=RelWithDebInfo"
+	mkdir -p build
+	cd build && cmake .. && make
+
+run_tests:
 

README.md

@@ -11,6 +11,10 @@ Available planners are:
 The development and test environment are tested on Ubuntu 22.04 + ROS2 Humble.
 
 # 2. How to use
+## 2.0 Use docker and devcontainer
+
+If VS Code (or any other IDE with a support for VS Code's devcontainers), then just open and use "Rebuild and open in container" option. Then proceed with 2.5. Otherwise, continue with 2.1.
+
 ## 2.1 Obtain source code of "RPMPLv2" repository
 Choose the location for a target workspace, e.g.:
 ```

apps/CMakeLists.txt

@@ -64,4 +64,4 @@ install(TARGETS
   test_rgbtconnect
   test_drgbt
   test_rgbmtstar
-  DESTINATION apps)
+  DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/bin)