Merge pull request #2 from ETHZ-RobotX/release/v1.2.0

Release/v1.2.0

.devcontainer/devcontainer-lock.json

@@ -0,0 +1,19 @@
+{
+  "features": {
+    "ghcr.io/devcontainers/features/common-utils:2": {
+      "version": "2.4.3",
+      "resolved": "ghcr.io/devcontainers/features/common-utils@sha256:e9e1d402031416ed5fc500f242c27ffa1043a27b5ba612e6596ea62503c8ae70",
+      "integrity": "sha256:e9e1d402031416ed5fc500f242c27ffa1043a27b5ba612e6596ea62503c8ae70"
+    },
+    "ghcr.io/devcontainers/features/desktop-lite:1": {
+      "version": "1.2.0",
+      "resolved": "ghcr.io/devcontainers/features/desktop-lite@sha256:3ae291711d296da3829948600f49c9acf26f58c14ff636f34240fbf240deaf43",
+      "integrity": "sha256:3ae291711d296da3829948600f49c9acf26f58c14ff636f34240fbf240deaf43"
+    },
+    "ghcr.io/devcontainers/features/git:1": {
+      "version": "1.3.0",
+      "resolved": "ghcr.io/devcontainers/features/git@sha256:aa0f267b6f10c7a1ba2545d6beb5d3d8576b584d5017dce4ba2d61d409f342f9",
+      "integrity": "sha256:aa0f267b6f10c7a1ba2545d6beb5d3d8576b584d5017dce4ba2d61d409f342f9"
+    }
+  }
+}

.devcontainer/devcontainer.json

@@ -49,7 +49,7 @@
 		"onAutoForward": "ignore"
 	},
 	"containerUser": "robotx",
-	"initializeCommand": "docker pull ghcr.io/ethz-robotx/rss_workspace:main",
+	// "initializeCommand": "docker pull ghcr.io/ethz-robotx/rss_workspace:main",
 	"postCreateCommand": "bash ./.devcontainer/post-create.sh",
 	"customizations": {
 		"vscode": {

.devcontainer/generate_catkin_buildlist.py

@@ -22,9 +22,10 @@ def main():
     args = parser.parse_args()
     top_level_packages = args.packages
 
-    all_build_packages = set()
+    all_build_packages = set(top_level_packages)
     for pkg in top_level_packages:
         all_build_packages |= generate_dependencies(pkg)
+
     all_build_packages = sorted(all_build_packages)    
     print(" ".join(all_build_packages).lstrip())
 

.devcontainer/post-create.sh

@@ -10,48 +10,53 @@ echo "export HISTFILE=${ROOT}/.zsh_history" >> ~/.zshrc
 echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
 echo "source /opt/ros/noetic/setup.zsh" >> ~/.zshrc
 
-# Setup fzf
+# Setup fzf completions
 echo "eval \"\$(fzf --bash)\"" >> ~/.bashrc
 echo "source <(fzf --zsh)" >> ~/.zshrc
 
+# Setup vcs completions
+echo "source /usr/share/vcstool-completion/vcs.bash" >> ~/.bashrc
+echo "source /usr/share/vcstool-completion/vcs.zsh" >> ~/.zshrc
+
 # Setup aliases
 source "${ROOT}/.devcontainer/setup_alias.sh" ${ROOT}
 
-# Make folder `src` if not exists
+# Clone repositories and configure the workspace if `src` folder does not exist
 if [ ! -d "${ROOT}/src" ]; then
+    # Create the `src` folder
     mkdir -p "${ROOT}/src"
-fi
-
-# Clone the repository
-vcs import --input "${SMB_RAW_REPO_FILE_URL}" --recursive --skip-existing "${ROOT}/src"
-
-# Setup catkin workspace
-catkin init --workspace "${ROOT}" &>/dev/null
-
-# Generate buildlist for catkin config
-# NOTE: catkin build will only build the packages themselve listed in the buildlist but not their dependencies
-#       so we need to generate a buildlist of packages that are recursively dependent on the packages we want to build
-# NOTE: The input to the script is a list of top-level packages to build and the output is the complete list of packages to build
-# NOTE: You can use the `scripts/list_top_level_packages.sh` script to list the top level packages in the workspace
-# CAUTION: This script should be run after the workspace is created and the repositories are cloned as it uses the workspace to generate the buildlist
-BUILD_PKG_LIST=$(python3 "${ROOT}/.devcontainer/generate_catkin_buildlist.py" --workspace "${ROOT}" \
-                catkin_simple \
-                smb_exploration \
-                smb_gazebo \
-                smb_mission_planner \
-                smb_mpc \
-                smb_msf \
-                smb_msf_graph \
-                smb_path_planner \
-                object_detection \
-                )
-
-# Split the string into an array of package names to pass to catkin config as positional arguments
-IFS=' ' read -r -a BUILD_PKGS_ARRAY <<< "${BUILD_PKG_LIST}"
-
-# Configure the workspace
-catkin config --workspace "${ROOT}" \
-              --extend /opt/ros/noetic \
-              --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -- \
-              --buildlist "${BUILD_PKGS_ARRAY[@]}"
-              
+
+    # Clone the repository
+    vcs import --input "${SMB_RAW_REPO_FILE_URL}" --recursive --skip-existing "${ROOT}/src"
+
+    # Setup catkin workspace
+    catkin init --workspace "${ROOT}" &>/dev/null
+
+    # Generate buildlist for catkin config
+    # NOTE: catkin build will only build the packages themselve listed in the buildlist but not their dependencies
+    #       so we need to generate a buildlist of packages that are recursively dependent on the packages we want to build
+    # NOTE: The input to the script is a list of top-level packages to build and the output is the complete list of packages to build
+    # NOTE: You can use the `scripts/list_top_level_packages.sh` script to list the top level packages in the workspace
+    # CAUTION: This script should be run after the workspace is created and the repositories are cloned as it uses the workspace to generate the buildlist
+    BUILD_PKG_LIST=$(python3 "${ROOT}/.devcontainer/generate_catkin_buildlist.py" --workspace "${ROOT}" \
+                    catkin_simple \
+                    smb_exploration \
+                    smb_gazebo \
+                    smb_mission_planner \
+                    smb_msf_graph \
+                    smb_path_planner \
+                    object_detection \
+                    )
+
+    # Split the string into an array of package names to pass to catkin config as positional arguments
+    IFS=' ' read -r -a BUILD_PKGS_ARRAY <<< "${BUILD_PKG_LIST}"
+
+    # Configure the workspace
+    catkin config --workspace "${ROOT}" \
+                  --extend /opt/ros/noetic \
+                  --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -- \
+                  --buildlist "${BUILD_PKGS_ARRAY[@]}"
+else
+    echo "Workspace already exists. Skipping cloning and configuring the workspace."
+    echo "If you want to re-clone the repository, please remove the 'src' folder and rebuild the workspace."
+fi

.devcontainer/setup_alias.sh

@@ -19,9 +19,11 @@ setup_alias_in_zsh "wssetup" "source ${ROOT}/devel/setup.zsh"
 setup_alias_in_bash "wssetup" "source ${ROOT}/devel/setup.bash"
 
 ## Setup alias for other commands
-## Example: define ROS_MASTER_URI and ROS_IP for connecting to SMB 263
-## The ip address of every SMB is 10.0.x.5 where x is the last digit of SMB Robot Number. Example: For SMB 263 the on-board computer IP address is 10.0.3.5
-setup_alias_in_shell "connect-smb263" "export ROS_MASTER_URI=http://10.0.3.5:11311 && export ROS_IP=$(hostname -I | awk '{print $1}')"
+## Example: define ROS_MASTER_URI and ROS_IP for connecting to SMB
+## It will automatically set ROS_MASTER_URI to the IP address of the SMB NUC and ROS_IP to the IP address of the host machine
+## based on the default gateway IP address (the IP address of the router on the SMB)
+## Note: The ip address of every SMB is 10.0.x.5 where x is the last digit of SMB Robot Number. Example: For SMB 261 the on-board computer IP address is 10.0.1.5
+setup_alias_in_shell "connect-smb" "export ROS_MASTER_URI=http://\$(ip route show default | grep -oP 'via \K\d+\.\d+\.\d+').5:11311 ; export ROS_IP=\$(ip route get 8.8.8.8 | grep -oP '(?<=src )\S+') ; echo 'ROS_MASTER_URI and ROS_IP set to ' ; printenv ROS_MASTER_URI ; printenv ROS_IP"
 
 # Catkin build memory & job limit
 setup_alias_in_shell "build-limit" "catkin build --jobs 8 --mem-limit 70%"

.tmux.conf

@@ -6,9 +6,9 @@ set -g default-terminal "screen-256color"
 setw -g allow-rename off
 setw -g automatic-rename off
 
-## Change prefix key to C-a, easier to type, same to "screen"
-# unbind C-b
-# set -g prefix C-a
+#  Enable pane title
+set -g pane-border-format "#{pane_index} #{pane_title}"
+set -g pane-border-status bottom
 
 # Enable mouse support
 set -g mouse on

CHANGELOG.rst

@@ -7,4 +7,14 @@ Changelog
 
 1.1.0 (2024-06-26)
 --------------
-* Change `matplotlib` backend to `Qt5Agg` to avoid `tkinter` dependency
+* Change `matplotlib` backend to `Qt5Agg` to avoid `tkinter` dependency
+
+1.2.0 (2024-06-28)
+--------------
+* Comment out `initializeCommand` in `.devcontainer/devcontainer.json` to avoid always pulling the image
+* Add `.devcontainer/devcontainer-lock.json` to lock the feature version
+* Add `connect-smb` alias in `.devcontainer/setup_alias.sh`
+* Add shell completion for `vcs`
+* Do not clone repositories and configure workspace if `src` exists
+* Add pane title for `tmux`
+* fix: add top-level packages to `.devcontainer/generate_catkin_buildlist.py`

scripts/start_smb_tmux.sh

@@ -22,6 +22,11 @@ else
   tmux split-window -h
   tmux split-window -v
 
+  # Set the title of each pane
+  tmux select-pane -t $SESSION_NAME:0.0 -T "Gazebo"
+  tmux select-pane -t $SESSION_NAME:0.1 -T "Object Detection"
+  tmux select-pane -t $SESSION_NAME:0.2 -T "Custom Command"
+
   # Send the command to panes
   tmux send-keys -t $SESSION_NAME:0.0 'wssetup && roslaunch smb_gazebo sim.launch launch_gazebo_gui:=true keyboard_teleop:=true'
   tmux send-keys -t $SESSION_NAME:0.1 'wssetup && roslaunch object_detection object_detection.launch gpu:=off'