Merge remote-tracking branch 'upstream/main' into nobleo-main

.github/workflows/cpp_formatter.yml

@@ -0,0 +1,16 @@
+name: C++ Formatting Check
+
+on: [push, pull_request]
+
+jobs:
+  cpp_formatter:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Clang Formatter
+        uses: DoozyX/[email protected]
+        with:
+          clangFormatVersion: 14
+          source: "."

.github/workflows/doxygen-doc.yml

@@ -0,0 +1,30 @@
+name: Doxygen Deployment
+
+on:
+  push:
+    branches: [main]
+  workflow_dispatch:
+
+jobs:
+  doxygen_generation:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Generate Doxygen for C++
+        uses: mattnotmitt/doxygen-action@edge
+        with:
+          doxyfile-path: ".github/Doxyfile-cpp"
+
+      - name: Generate Doxygen for Python
+        uses: mattnotmitt/doxygen-action@edge
+        with:
+          doxyfile-path: ".github/Doxyfile-python"
+
+      - name: Deploy Doxygen page
+        uses: peaceiris/actions-gh-pages@v4
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_branch: gh-pages
+          publish_dir: docs

.github/workflows/foxy-docker-build.yml

@@ -0,0 +1,26 @@
+name: Foxy Docker Builds
+
+on: [push, pull_request]
+
+jobs:
+  foxy_docker_build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Build and push
+        uses: docker/build-push-action@v6
+        with:
+          build-args: ROS_DISTRO=foxy
+          push: true
+          tags: mgons/yasmin:foxy

.github/workflows/galactic-docker-build.yml

@@ -0,0 +1,26 @@
+name: Galactic Docker Builds
+
+on: [push, pull_request]
+
+jobs:
+  galactic_docker_build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Build and push
+        uses: docker/build-push-action@v6
+        with:
+          build-args: ROS_DISTRO=galactic
+          push: true
+          tags: mgons/yasmin:galactic

.github/workflows/humble-docker-build.yml

@@ -0,0 +1,26 @@
+name: Humble Docker Builds
+
+on: [push, pull_request]
+
+jobs:
+  humble_docker_build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Build and push
+        uses: docker/build-push-action@v6
+        with:
+          build-args: ROS_DISTRO=humble
+          push: true
+          tags: mgons/yasmin:humble

.github/workflows/iron-docker-build.yml

@@ -0,0 +1,26 @@
+name: Iron Docker Builds
+
+on: [push, pull_request]
+
+jobs:
+  iron_docker_build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Build and push
+        uses: docker/build-push-action@v6
+        with:
+          build-args: ROS_DISTRO=iron
+          push: true
+          tags: mgons/yasmin:iron

.github/workflows/jazzy-docker-build.yml

@@ -0,0 +1,26 @@
+name: Jazzy Docker Builds
+
+on: [push, pull_request]
+
+jobs:
+  jazzy_docker_build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Build and push
+        uses: docker/build-push-action@v6
+        with:
+          build-args: ROS_DISTRO=jazzy
+          push: true
+          tags: mgons/yasmin:jazzy

.github/workflows/python_formatter.yml

@@ -0,0 +1,15 @@
+name: Python Formatting Check
+
+on: [push, pull_request]
+
+jobs:
+  python_formatter:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Black Formatter
+        uses: lgeiger/black-action@master
+        with:
+          args: ". --check --diff --line-length 90"

.github/workflows/rolling-docker-build.yml

@@ -0,0 +1,23 @@
+name: Rolling Docker Builds
+
+on: [push, pull_request]
+
+jobs:
+  rolling_docker_build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Build and push
+        uses: docker/build-push-action@v6
+        with:
+          build-args: ROS_DISTRO=rolling
+          push: true
+          tags: mgons/yasmin:rolling

Dockerfile

@@ -1,13 +1,13 @@
-# Use the official ROS 2 humble base image
+# use the official ROS 2 humble base image
 ARG ROS_DISTRO=humble
 FROM ros:${ROS_DISTRO} AS deps
 
-# Set the working directory and copy files
+# set the working directory and copy files
 WORKDIR /root/ros2_ws
 SHELL ["/bin/bash", "-c"]
 COPY . /root/ros2_ws/src
 
-# Install dependencies
+# install dependencies
 RUN source /opt/ros/${ROS_DISTRO}/setup.bash
 RUN apt-get update \
     && apt-get -y --quiet --no-install-recommends install \
@@ -16,15 +16,22 @@ RUN apt-get update \
     python3 \
     python3-pip
 RUN rosdep install --from-paths src --ignore-src -r -y
-RUN pip3 install -r src/requirements.txt
+RUN if [ "$ROS_DISTRO" = "jazzy" ] || [ "$ROS_DISTRO" = "rolling" ]; then \
+    pip3 install -r src/requirements.txt --break-system-packages; \
+    else \
+    pip3 install -r src/requirements.txt; \
+    fi
+RUN if [ "$ROS_DISTRO" = "rolling" ]; then \
+    apt install -y ros-rolling-action-tutorials-interfaces; \
+    fi
 
-# Colcon the ws
+# colcon the ws
 FROM deps AS builder
 ARG CMAKE_BUILD_TYPE=Release
 RUN source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build
 
-# Source the ROS2 setup file
+# source the ROS 2 setup file
 RUN echo "source /root/ros2_ws/install/setup.bash" >> ~/.bashrc
 
-# Run a default command, e.g., starting a bash shell
+# run a default command, e.g., starting a bash shell
 CMD ["bash"]