Update devcontainer config to support Foxglove Studio on Codespace

.devcontainer/Caddyfile

@@ -0,0 +1,34 @@
+(globals) {
+	encode gzip
+
+	@http_scheme {
+		expression {http.request.scheme}=="https" || {header.X-Forwarded-Scheme}=="https" || {header.X-Forwarded-Proto}=="https"
+	}
+	vars @http_scheme WsScheme "wss"
+	vars WsScheme "ws"
+
+	@host_forwarded {
+		header X-Forwarded-Host *
+	}
+	vars @host_forwarded ReqHost {header.X-Forwarded-Host}
+	vars ReqHost {http.request.hostport}
+
+	@websockets {
+		header_regexp Connection (?i)(Upgrade)
+		header Upgrade websocket
+	}
+}
+
+:8080 {
+	# serve foxglove studio
+	import globals
+	root * /srv/foxglove
+	file_server
+
+	# serve foxglove studio
+    reverse_proxy @websockets "localhost:9090"
+
+    log {
+    	output file /tmp/caddy.log
+    }
+}

.devcontainer/build.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+cd /home/vscode/catkin_ws/src;
+./mushr/mushr_utils/install/mushr_install.bash --trivial-only;
+mushr_noetic run 'cd catkin_ws && catkin build'

.devcontainer/devcontainer.json

@@ -0,0 +1,20 @@
+{
+	"image": "osrf/ros:noetic-desktop-full",
+	"features": {
+		"ghcr.io/devcontainers/features/common-utils:2": {
+			"username": "vscode",
+			"userUid": "1000",
+			"userGid": "1000"
+		},
+		"ghcr.io/devcontainers/features/docker-in-docker:2": {},
+		"ghcr.io/devcontainers-contrib/features/caddy:1": {},
+		"ghcr.io/devcontainers/features/desktop-lite:1": {
+			"webPort": 6080
+		}
+	},
+	"forwardPorts": [6080],  // for noVNC clients
+	"remoteUser": "vscode",
+	"workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/catkin_ws/src/mushr,type=bind",
+	"workspaceFolder": "/home/vscode/catkin_ws",
+	"postCreateCommand": "./src/mushr/.devcontainer/install.sh && sudo chown -R vscode:vscode . && ln -s ${containerWorkspaceFolder}/src/mushr/.vscode ${containerWorkspaceFolder} && ./src/mushr/.devcontainer/build.sh"
+}

.devcontainer/install.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+set -e
+
+# Install foxglove studio
+cleanup() {
+    EXIT_CODE=$?
+    set +e
+    if [[ -n "${CONTAINER_ID}" ]]; then
+        echo "Executing cleanup of the container"
+        docker rm -f "$CONTAINER_ID"
+    fi
+    exit $EXIT_CODE
+}
+trap cleanup EXIT
+
+CONTAINER_ID=$(docker run -d ghcr.io/foxglove/studio)
+sudo docker cp "$CONTAINER_ID:/src" /srv/foxglove
+docker stop "$CONTAINER_ID"
+docker rm "$CONTAINER_ID"

.devcontainer/smoke_test.sh

@@ -0,0 +1,23 @@
+#!/bin/bash
+set -e
+
+mushr_noetic run 'source ~/.bashrc && roslaunch mushr_sim teleop.launch' > /tmp/output_roslaunch &
+sleep 5
+if tail -n 1 /tmp/output_roslaunch | grep -q "Rosbridge WebSocket server started at ws://0.0.0.0:9090"; then
+    echo "✅ roslaunch-teleop-test passed"
+else
+    cat /tmp/output_roslaunch  # print output for debugging purposes
+    echo "❌ roslaunch-teleop-test failed"
+    exit 1;
+fi
+
+docker run --rm -p "8080:8080" ghcr.io/foxglove/studio:latest &
+sleep 10;
+if curl -sSf http://localhost:8080 >/dev/null; then
+    echo "✅ start-foxglove-studio passed"
+else
+    echo "❌ start-foxglove-studio failed"
+    exit 1;
+fi
+
+exit 0;

.github/workflows/devcontainer-test.sh

@@ -0,0 +1,21 @@
+#!/bin/bash
+set -e
+
+SRC_DIR="$(pwd)"
+
+echo "Running Smoke Test"
+
+# Build
+export DOCKER_BUILDKIT=1
+echo "(*) Installing @devcontainer/cli"
+npm install -g @devcontainers/cli
+
+echo "Building Dev Container"
+ID_LABEL="test-container=mushr"
+devcontainer up --id-label ${ID_LABEL} --workspace-folder "${SRC_DIR}"
+
+# Test
+devcontainer exec --workspace-folder "${SRC_DIR}" --id-label ${ID_LABEL} /bin/sh -c './src/mushr/.devcontainer/smoke_test.sh'
+
+# Clean up
+docker rm -f $(docker container ls -f "label=${ID_LABEL}" -q)

.github/workflows/test-pr.yaml

@@ -0,0 +1,16 @@
+name: "CI"
+on:
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout main
+        id: checkout_release
+        uses: actions/checkout@v3
+      - name: Devcontainer container smoke test
+        id: test_devcontainer
+        shell: bash
+        run: ./.github/workflows/devcontainer-test.sh

.gitignore

@@ -59,3 +59,4 @@ yaml-cpp/
 mushr_hardware/realsense-ros/
 mushr_hardware/realsense2_camera/
 mushr_hardware/realsense2_description/
+.install_run.txt

.vscode/tasks.json

@@ -0,0 +1,16 @@
+{
+    "tasks": [
+        {
+            "label": "Roslaunch teleop.launch",
+            "type": "shell",
+            "command": "mushr_noetic run 'source ~/.bashrc && ROSBRIDGE_WEBSOCKET_EXTERNAL_PORT=80 roslaunch mushr_sim teleop.launch'",
+            "problemMatcher": []
+        },
+        {
+            "label": "Start Foxglove Studio server",
+            "type": "shell",
+            "command": "caddy run --config ~/catkin_ws/src/mushr/.devcontainer/Caddyfile",
+            "problemMatcher": []
+        }
+    ]
+}

base-repos.yaml

@@ -0,0 +1,37 @@
+repositories:
+  mushr_sim:
+    type: git
+    url: https://github.com/prl-mushr/mushr_sim.git
+    version: noetic 
+  mushr/mushr_base/mushr_base:
+    type: git
+    url: https://github.com/prl-mushr/mushr_base.git
+    version: noetic 
+  mushr/mushr_base/vesc:
+    type: git
+    url: https://github.com/prl-mushr/vesc.git
+    version: noetic 
+  mushr/mushr_base/ackermann_cmd_mux:
+    type: git
+    url: https://github.com/prl-mushr/ackermann_cmd_mux.git
+    version: noetic 
+  mushr/mushr_hardware/realsense:
+    type: git
+    url: https://github.com/IntelRealSense/realsense-ros.git
+    version: f400d682beee6c216052a419f419e95b797255ad
+  range_libc:
+    type: git
+    url: https://github.com/prl-mushr/range_libc.git 
+    version: noetic 
+  mushr/mushr_hardware/push_button_utils:
+    type: git
+    url: https://github.com/prl-mushr/push_button_utils.git 
+    version: master 
+  mushr/mushr_hardware/ydlidar:
+    type: git
+    url: https://github.com/prl-mushr/ydlidar.git 
+    version: master 
+  serial:
+    type: git
+    url: https://github.com/wjwwood/serial.git
+    version: main

mushr_description/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(mushr_description)
 
 find_package(catkin REQUIRED)
@@ -20,7 +20,7 @@ function(build_xacro infile outfile xacro_args)
   # Process xacro into final output
   add_custom_command(OUTPUT "${outfile}"
     COMMENT "Generating ${outfile}"
-    COMMAND ${CATKIN_ENV} rosrun xacro xacro --inorder
+    COMMAND ${CATKIN_ENV} rosrun xacro xacro
     -o "${outfile}" "${infile}" ${_xacro_deps_result} ${xacro_args}
     DEPENDS "${infile}" ${_xacro_deps_result}
     VERBATIM)
@@ -54,9 +54,11 @@ set(MUSHR_TX2_GREEN_BLACK_URDF "${ROBOTS_OUTPUT_DIR}/mushr_tx2_green_black.urdf"
 set(MUSHR_TX2_GREEN_BLACK_LINK "${ROBOTS_OUTPUT_DIR}/racecar-uw-tx2-green-black.urdf")
 set(MUSHR_TX2_GREEN_BLACK_ARGS "platform_color:=green" "inset_color:=black")
 
-set(MUSHR_NANO_URDF_XACRO "${ROBOTS_SRC_DIR}/mushr_nano.urdf.xacro")
-set(MUSHR_NANO_URDF "${ROBOTS_OUTPUT_DIR}/mushr_nano.urdf")
-set(MUSHR_NANO_LINK "${ROBOTS_OUTPUT_DIR}/racecar-uw-nano.urdf")
+set(MUSHR_NANO_BASE "mushr_nano.urdf")
+set(MUSHR_NANO_LINK "racecar-uw-nano.urdf")
+set(MUSHR_NANO_URDF_XACRO "${ROBOTS_SRC_DIR}/${MUSHR_NANO_BASE}.xacro")
+set(MUSHR_NANO_URDF "${ROBOTS_OUTPUT_DIR}/${MUSHR_NANO_BASE}")
+set(MUSHR_NANO_LINK_DEVEL "${ROBOTS_OUTPUT_DIR}/${MUSHR_NANO_LINK}")
 
 set(MUSHR_NANO_RED_WHITE_URDF_XACRO "${ROBOTS_SRC_DIR}/mushr_nano.urdf.xacro")
 set(MUSHR_NANO_RED_WHITE_URDF "${ROBOTS_OUTPUT_DIR}/mushr_nano_red_white.urdf")
@@ -118,7 +120,7 @@ add_custom_target(link_mushr_tx2 ALL
 add_custom_target(link_mushr_tx2_green_black ALL
                   COMMAND ${CMAKE_COMMAND} -E create_symlink ${MUSHR_TX2_GREEN_BLACK_URDF} ${MUSHR_TX2_GREEN_BLACK_LINK})
 add_custom_target(link_mushr_nano ALL
-                  COMMAND ${CMAKE_COMMAND} -E create_symlink ${MUSHR_NANO_URDF} ${MUSHR_NANO_LINK})
+                  COMMAND ${CMAKE_COMMAND} -E create_symlink ${MUSHR_NANO_URDF} ${MUSHR_NANO_LINK_DEVEL})
 add_custom_target(link_mushr_nano_red_white ALL
                   COMMAND ${CMAKE_COMMAND} -E create_symlink ${MUSHR_NANO_RED_WHITE_URDF} ${MUSHR_NANO_RED_WHITE_LINK})
 add_custom_target(link_mushr_nano_teal_purple ALL
@@ -128,11 +130,19 @@ add_custom_target(link_mushr_nano_purple_gold ALL
 add_custom_target(link_mushr_nano_green_black ALL
                   COMMAND ${CMAKE_COMMAND} -E create_symlink ${MUSHR_NANO_GREEN_BLACK_URDF} ${MUSHR_NANO_GREEN_BLACK_LINK})
 
-install(DIRECTORY DESTINATION "${CATKIN_PACKAGE_SHARE_DESTINATION}/robots")
+install(DIRECTORY robots DESTINATION "${CATKIN_PACKAGE_SHARE_DESTINATION}")
+
 install(FILES
-  ${DESCRIPTION_FILES}
+  ${CORE_DESCRIPTION_FILES}
   DESTINATION "${CATKIN_PACKAGE_SHARE_DESTINATION}/robots")
 
+install(CODE "execute_process( \
+    COMMAND ${CMAKE_COMMAND} -E create_symlink \
+    ${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/robots/${MUSHR_NANO_BASE}   \
+    ${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/robots/${MUSHR_NANO_LINK} \
+    )"
+)
+
 install(DIRECTORY meshes
   DESTINATION "${CATKIN_PACKAGE_SHARE_DESTINATION}")
 

mushr_hardware/mushr_hardware/launch/racecar-uw-nano/sensors.launch

@@ -8,10 +8,11 @@
   <arg name="sensors_config" default="$(find mushr_hardware)/config/$(arg racecar_version)/sensors.yaml" />
   <rosparam file="$(arg sensors_config)" command="load" />
 
-  <node pkg="timed_roslaunch" type="timed_roslaunch.sh"
-      args="10 realsense2_camera rs_camera.launch camera:=/$(arg car_name)/camera tf_prefix:=/$(arg car_name)/camera"
-      name="rs_camera_timed_roslaunch" output="screen" />
-
+  <include file="$(find realsense2_camera)/launch/rs_camera.launch" >
+    <arg name="camera" value="$(arg car_name)/camera" />
+    <arg name="tf_prefix" default="$(arg tf_prefix)/camera"/>
+  </include>
+
   <include file="$(find ydlidar)/launch/lidar.launch" >
     <arg name="car_name" value="$(arg car_name)" />
     <arg name="tf_prefix" default="$(arg tf_prefix)"/>

mushr_hardware/mushr_hardware/package.xml

@@ -14,49 +14,9 @@
   <!-- Commonly used license strings: -->
   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
   <license>TODO</license>
-
-
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/mushr_hardware</url> -->
-
-
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="[email protected]">Jane Doe</author> -->
-
-
-  <!-- The *depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
-  <!--   <depend>roscpp</depend> -->
-  <!--   Note that this is equivalent to the following: -->
-  <!--   <build_depend>roscpp</build_depend> -->
-  <!--   <exec_depend>roscpp</exec_depend> -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use build_export_depend for packages you need in order to build against this package: -->
-  <!--   <build_export_depend>message_generation</build_export_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use exec_depend for packages you need at runtime: -->
-  <!--   <exec_depend>message_runtime</exec_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <!-- Use doc_depend for packages you need only for building documentation: -->
-  <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
   <exec_depend>realsense2_camera</exec_depend>
   <exec_depend>ydlidar</exec_depend>
   <exec_depend>push_button_utils</exec_depend>
 
-
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-
-  </export>
 </package>