Fixed case sensitivity issue

.flake8

@@ -0,0 +1,6 @@
+[flake8]
+extend-ignore = B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,Q000
+import-order-style = google
+max-line-length = 125
+show-source = true
+statistics = true

.github/ISSUE_TEMPLATE/feature_request.md

@@ -13,4 +13,4 @@ about: "For feature requests. Please search for existing issues first. Also see
 * Tradeoffs made in design decisions
 * Caveats and considerations for the future
 
-If there are multiple solutions, please present each one separately. Save comparisons for the very end.)
+If there are multiple solutions, please present each one separately. Save comparisons for the very end.)

.github/workflows/build_and_test.yml

@@ -0,0 +1,65 @@
+name: Build and Test Workflows
+
+on:
+  pull_request:
+    branches:
+      - main
+      - develop
+  push:
+    branches:
+      - main
+
+jobs:
+  ament_lint:
+    name: Lint and Codecheck
+    runs-on:  ubuntu-latest
+    steps:
+      - name: Code Checkout
+        uses: actions/checkout@v4
+      - name: Setup ROS
+        uses: ros-tooling/setup-ros@master
+      - name: Ament Copyright Lint
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          distribution: humble
+          linter: copyright
+          package-name: "*"
+      - name: Ament Flake8 Lint
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          distribution: humble
+          linter: flake8
+          package-name: "*"
+          arguments: '--config=${{ github.workspace }}/.flake8'
+      - name: Ament PEP257 Lint
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          distribution: humble
+          linter: pep257
+          package-name: "*"
+      - name: Ament xmllint Lint
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          distribution: humble
+          linter: xmllint
+          package-name: "*"
+
+  build_source:
+    name: Build Docker Image and ROS 2 Packages
+    runs-on: ubuntu-latest
+    env:
+      CONTAINER_NAME: perception_pipeline
+      PERCEP_WS:  /root/percep_ws
+    steps:
+      - name: Code Checkout
+        uses: actions/checkout@v4
+      - name: Build Docker Image
+        run:  docker build . --file Dockerfile.ubuntu -t ${{ github.repository }}:latest
+      - name: Run Docker Image
+        run:  |
+          docker run -it -d --name $CONTAINER_NAME \
+          -v ${{ github.workspace }}:$PERCEP_WS/src \
+          ${{ github.repository }}:latest
+      - name: Build ROS 2 Packages in Container
+        run:  docker exec $CONTAINER_NAME bash -c \
+              "source /opt/ros/humble/setup.bash && cd $PERCEP_WS && colcon build"

.gitignore

@@ -1,9 +1,82 @@
-#Ignore the test node
-/object_detection/object_detection/test_node.py
+# Custom settings asset
+*.settings.asset*
 
-#Ignore pycache dirs
-object_detection/object_detection/Detectors/__pycache__/
-object_detection/object_detection/__pycache__/
+# Visual Studio 2015 cache directory
+/Project/.vs/
 
-#Ignore .vscode dir
-.vscode
+/[Ll]ibrary/
+/[Tt]emp/
+/[Oo]bj/
+/[Bb]uild/
+/[Bb]uilds/
+/[Ll]ogs/
+/[Mm]emoryCaptures/
+
+# Autogenerated VS/MD/Consulo solution and project files
+*.csproj
+*.unityproj
+*.sln
+*.suo
+*.tmp
+*.user
+*.userprefs
+*.pidb
+*.booproj
+*.svd
+*.pdb
+
+# Unity3D generated meta files
+*.pidb.meta
+
+# Builds
+*.apk
+*.unitypackage
+*.app
+*.exe
+*.x86_64
+*.x86
+
+# Generated doc folders
+/docs/html
+
+# Mac hidden files
+*.DS_Store
+*/.ipynb_checkpoints
+*/.idea
+*.pyc
+*.idea/misc.xml
+*.idea/modules.xml
+*.idea/
+*.iml
+*.cache
+*/build/
+*/dist/
+*.egg-info*
+*.eggs*
+*.gitignore.swp
+
+# VSCode hidden files
+.vscode/
+
+.DS_Store
+.ipynb_checkpoints
+
+# pytest cache
+*.pytest_cache/
+
+# Ignore PyPi build files.
+dist/
+build/
+
+# Python virtual environment
+venv/
+.mypy_cache/
+
+# Code coverage report
+.coverage
+coverage.xml
+/htmlcov/
+
+**/UserSettings/*
+
+ROSConnectionPrefab.prefab

Dockerfile.cuda

@@ -0,0 +1,80 @@
+# Use cuda_version arg to take CUDA version as input from user
+ARG cuda_version=11.8.0
+
+# Use NVIDA-CUDA's base image
+FROM nvcr.io/nvidia/cuda:${cuda_version}-devel-ubuntu22.04 
+
+# Prevent console from interacting with the user
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Prevent hash mismatch error for apt-get update, qqq makes the terminal quiet while downloading pkgs
+RUN apt-get clean && rm -rf /var/lib/apt/lists/* && apt-get update -yqqq
+
+# Set folder for RUNTIME_DIR. Only to prevent warnings when running RViz2 and Gz
+RUN mkdir tmp/runtime-root && chmod 0700 tmp/runtime-root
+ENV XDG_RUNTIME_DIR='/tmp/runtime-root'
+
+RUN apt-get update
+
+RUN apt-get install --no-install-recommends -yqqq \
+    apt-utils \
+    nano \
+    git 
+
+# Using shell to use bash commands like 'source'
+SHELL ["/bin/bash", "-c"]
+
+# Python Dependencies
+RUN apt-get install --no-install-recommends -yqqq \
+    python3-pip
+
+# Add locale
+RUN locale  && \
+    apt update && apt install --no-install-recommends -yqqq locales && \
+    locale-gen en_US en_US.UTF-8 && \
+    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
+    export LANG=en_US.UTF-8 && \
+    locale  
+
+# Setup the sources
+RUN apt-get update && apt-get install --no-install-recommends -yqqq software-properties-common curl && \
+    add-apt-repository universe && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/nul
+
+# Install ROS 2 Humble
+RUN apt update && apt install --no-install-recommends -yqqq \
+    ros-humble-ros-base \
+    ros-dev-tools
+
+# Install cv-bridge
+RUN apt update && apt install --no-install-recommends -yqqq \
+    ros-humble-cv-bridge
+
+# Target workspace for ROS2 packages
+ARG WORKSPACE=/root/percep_ws
+
+# Add target workspace in environment
+ENV WORKSPACE=$WORKSPACE
+
+# Creating the models folder
+RUN mkdir -p $WORKSPACE/models && \
+    mkdir -p $WORKSPACE/src
+
+# Installing Python dependencies
+COPY object_detection/requirements.txt .
+RUN  pip3 install -r requirements.txt
+
+# ROS Dependencies
+RUN apt update && apt install --no-install-recommends -yqqq \
+    ros-humble-cyclonedds \
+    ros-humble-rmw-cyclonedds-cpp
+
+# Use cyclone DDS by default
+ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
+
+WORKDIR /root/percep_ws
+
+# Update .bashrc
+RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc
+

Dockerfile.ubuntu

@@ -0,0 +1,77 @@
+# Use Ubuntu's base image
+FROM ubuntu:22.04
+
+# Prevent console from interacting with the user
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Prevent hash mismatch error for apt-get update, qqq makes the terminal quiet while downloading pkgs
+RUN apt-get clean && rm -rf /var/lib/apt/lists/* && apt-get update -yqqq
+
+# Set folder for RUNTIME_DIR. Only to prevent warnings when running RViz2 and Gz
+RUN mkdir tmp/runtime-root && chmod 0700 tmp/runtime-root
+ENV XDG_RUNTIME_DIR='/tmp/runtime-root'
+
+RUN apt-get update
+
+RUN apt-get install --no-install-recommends -yqqq \
+    apt-utils \
+    nano \
+    git 
+
+# Using shell to use bash commands like 'source'
+SHELL ["/bin/bash", "-c"]
+
+# Python Dependencies
+RUN apt-get install --no-install-recommends -yqqq \
+    python3-pip
+
+# Add locale
+RUN locale  && \
+    apt update && apt install --no-install-recommends -yqqq locales && \
+    locale-gen en_US en_US.UTF-8 && \
+    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
+    export LANG=en_US.UTF-8 && \
+    locale  
+
+# Setup the sources
+RUN apt-get update && apt-get install --no-install-recommends -yqqq software-properties-common curl && \
+    add-apt-repository universe && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/nul
+
+# Install ROS 2 Humble
+RUN apt update && apt install --no-install-recommends -yqqq \
+    ros-humble-ros-base \
+    ros-dev-tools
+
+# Install cv-bridge
+RUN apt update && apt install --no-install-recommends -yqqq \
+    ros-humble-cv-bridge
+
+# Target workspace for ROS2 packages
+ARG WORKSPACE=/root/percep_ws
+
+# Add target workspace in environment
+ENV WORKSPACE=$WORKSPACE
+
+# Creating the models folder
+RUN mkdir -p $WORKSPACE/models && \
+    mkdir -p $WORKSPACE/src
+
+# Installing Python dependencies
+COPY object_detection/requirements.txt .
+RUN  pip3 install -r requirements.txt
+
+# ROS Dependencies
+RUN apt update && apt install --no-install-recommends -yqqq \
+    ros-humble-cyclonedds \
+    ros-humble-rmw-cyclonedds-cpp
+
+# Use cyclone DDS by default
+ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
+
+WORKDIR /root/percep_ws
+
+# Update .bashrc
+RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc
+