Started tidying up removing redundencies and adding workflows

.devcontainer/Dockerfile

@@ -0,0 +1,31 @@
+FROM lcas.lincoln.ac.uk/lcas/ros:humble as base
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update \
+    && apt-get install -qq -y --no-install-recommends \
+    git \
+    python3-pip \
+    python3-rosdep
+
+
+# get the source tree and analyse it for its package.xml only
+FROM base as sourcefilter
+COPY . /tmp/src
+# remove everything that isn't package.xml
+RUN find /tmp/src -type f \! -name "package.xml" -print | xargs rm -rf
+
+# install all dependencies listed in the package.xml
+FROM base as depbuilder
+# copy the reduced source tree (only package.xml) from previous stage
+COPY --from=sourcefilter /tmp/src /tmp/src
+RUN rosdep update && apt-get update
+RUN cd /tmp/src && rosdep install --from-paths . --ignore-src -r -y && cd && rm -rf /tmp/src
+
+FROM depbuilder as final
+# add sudo without password
+RUN echo "ALL ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers
+
+RUN echo "source /opt/ros/humble/setup.bash" >> /etc/bash.bashrc
+
+USER ros

.devcontainer/devcontainer.json

@@ -0,0 +1,41 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the
+// README at: https://github.com/devcontainers/templates/tree/main/src/ubuntu
+{
+	"name": "L-CAS Humble hunter_robot",
+	// Or use a Dockerfile or Docker Compose file. More info: https://containers.dev/guide/dockerfile
+	"image": "lcas.lincoln.ac.uk/lcas/ros:humble",
+	"dockerFile": "./Dockerfile",
+	"context": "..",
+
+	// Features to add to the dev container. More info: https://containers.dev/features.
+	"features": {
+		"ghcr.io/LCAS/devcontainer-features/desktop-lite:1": {
+		}
+	},	
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	"forwardPorts": [6080],
+	"portsAttributes": {
+	  "6080": {
+			"label": "desktop"
+	  }
+	},
+
+	// Use 'postCreateCommand' to run commands after the container is created.
+	// "postCreateCommand": "uname -a",
+
+	// Configure tool-specific properties.
+	// "customizations": {},
+
+	// Uncomment to connect as root instead. More info: https://aka.ms/dev-containers-non-root.
+	"remoteUser": "ros",
+	"customizations": {
+		"vscode": {
+			"extensions": [
+				"ms-python.python",
+				"GitHub.vscode-pull-request-github",
+				"ms-vscode.cpptools"
+			]
+		}
+	}
+}

.github/workflows/ros-ci.yml

@@ -0,0 +1,70 @@
+name: ros CI
+
+on:
+  push:
+    # you may want to configure the branches that this should be run on here.
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+jobs:
+  test_docker: # On Linux, iterates on all ROS 1 and ROS 2 distributions.
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ros_distribution:
+          # - noetic
+          - humble
+          # - iron
+
+        # Define the Docker image(s) associated with each ROS distribution.
+        # The include syntax allows additional variables to be defined, like
+        # docker_image in this case. See documentation:
+        # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build
+        #
+        # Platforms are defined in REP 3 and REP 2000:
+        # https://ros.org/reps/rep-0003.html
+        # https://ros.org/reps/rep-2000.html
+        include:
+          # Noetic Ninjemys (May 2020 - May 2025)
+          # - docker_image: ubuntu:focal
+          #   ros_distribution: noetic
+          #   ros_version: 1
+
+          # Humble Hawksbill (May 2022 - May 2027)
+          - docker_image: ubuntu:jammy
+            ros_distribution: humble
+            ros_version: 2
+
+          # Iron Irwini (May 2023 - November 2024)
+          # - docker_image: ubuntu:jammy
+          #   ros_distribution: iron
+          #   ros_version: 2
+
+          # # Rolling Ridley (No End-Of-Life)
+          # - docker_image: ubuntu:jammy
+          #   ros_distribution: rolling
+          #   ros_version: 2
+
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - uses: actions/checkout@v3
+      - name: setup ROS environment
+        uses: LCAS/setup-ros@master
+        with:
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+      - name: build and test ROS 1
+        if: ${{ matrix.ros_version == 1 }}
+        uses: ros-tooling/[email protected]
+        with:
+          import-token: ${{ github.token }}
+          target-ros1-distro: ${{ matrix.ros_distribution }}
+          skip-tests: true
+      - name: build and test ROS 2
+        if: ${{ matrix.ros_version == 2 }}
+        uses: ros-tooling/[email protected]
+        with:
+          import-token: ${{ github.token }}
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          skip-tests: true