Merge branch 'odriverobotics:main' into main

.devcontainer/iron-remote/Dockerfile

@@ -24,7 +24,7 @@ RUN sudo apt update && sudo apt upgrade -y
 RUN sudo apt install -y git
 
 # Rosdep update
-RUN rosdep update
+RUN rosdep update --include-eol-distros
 
 # Source the ROS setup file
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc

.devcontainer/iron/Dockerfile

@@ -24,7 +24,7 @@ RUN sudo apt update && sudo apt upgrade -y
 RUN sudo apt install -y git
 
 # Rosdep update
-RUN rosdep update
+RUN rosdep update --include-eol-distros
 
 # Source the ROS setup file
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc

.devcontainer/jazzy/Dockerfile

@@ -0,0 +1,26 @@
+FROM ros:jazzy-ros-base
+
+# Add vscode user with same UID and GID as your host system
+# (copied from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user)
+ARG USERNAME=ubuntu
+RUN apt-get update \
+    && apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+# Switch from root to user
+USER $USERNAME
+
+# Add user to video group to allow access to webcam
+RUN sudo usermod --append --groups video $USERNAME
+
+# Update all packages
+RUN sudo apt update && sudo apt upgrade -y
+
+# Install Git
+RUN sudo apt install -y git
+
+# Rosdep update
+RUN rosdep update
+
+# Source the ROS setup file
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc

.devcontainer/jazzy/devcontainer.json

@@ -0,0 +1,19 @@
+{
+  "name": "jazzy",
+  "dockerFile": "Dockerfile",
+  "runArgs": [
+    "--privileged",
+    "--network=host"
+  ],
+  "workspaceMount": "source=${localWorkspaceFolder},target=/${localWorkspaceFolderBasename},type=bind",
+  "workspaceFolder": "/${localWorkspaceFolderBasename}",
+  "mounts": [],
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-vscode.cpptools",
+        "eamodio.gitlens"
+      ]
+    }
+  }
+}

.github/workflows/ros-build-test.yaml

@@ -12,7 +12,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros-version: [humble, iron]
+        ros-version: [humble, iron, jazzy]
 
     steps:
       - name: Check out code
@@ -40,7 +40,8 @@ jobs:
 
       - name: Adjust permissions
         run: |
-          docker run -v ${{ github.workspace }}:/workspace -w /workspace local:${{ matrix.ros-version }} sudo chown -R vscode:vscode /workspace
+          docker run -v ${{ github.workspace }}:/workspace -w /workspace local:${{ matrix.ros-version }} \
+          sh -c 'username=$(id -un) && sudo chown -R "$username":"$username" /workspace'
 
       - name: Run colcon build
         run: |

.gitignore

@@ -6,3 +6,6 @@
 
 # Python
 __pycache__/
+
+# OS files
+.DS_Store

.vscode/tasks.json

@@ -16,7 +16,16 @@
             },
             "problemMatcher": [
                 "$gcc"
-            ],
+            ]
         },
+        {
+            "label": "clean",
+            "type": "shell",
+            "command": "rm -rd build install log",
+            "presentation": {
+                "clear": true
+            },
+            "problemMatcher": []
+        }
     ]
 }