Setup ROS structure

docker/Dockerfile

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+FROM osrf/ros:humble-desktop-full
+
+WORKDIR /ws/
+
+RUN apt install ros-humble-mavros
+RUN wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh && chmod +x install_geographiclib_datasets.sh && ./install_geographiclib_datasets.sh
+

docker/compose.yaml

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+# docker compose file

installation/README.md

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+Installation scripts, for example:
+- for ground control station
+- for spirit drone
+- for some other drone

ros_ws/.gitignore

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+build/
+install/
+log/

ros_ws/src/ground_control_station/README.md

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+Eventually we will have some ground control station that enables commanding all robots simultaneously.
+
+Envision a GUI like an RTS game, where you have a global 3D map you can move around, and can also see and control your "units" on the map.
+A minimap will help with understanding where you are.
+Envision the map being built up over time in 3D as your agents explore.

ros_ws/src/main_launch/launch/main_launch.yaml

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+launch:
+
+- node:
+    pkg: "demo_nodes_cpp"
+    exec: "talker"
+    name: "talker"

ros_ws/src/main_launch/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>main_launch</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">andrew</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros_ws/src/main_launch/setup.cfg

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+[develop]
+script_dir=$base/lib/main_launch
+[install]
+install_scripts=$base/lib/main_launch

ros_ws/src/main_launch/setup.py

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+from setuptools import find_packages, setup
+import os
+from glob import glob
+
+package_name = 'main_launch'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='andrew',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+    data_files=[
+    # ... Other data files
+    # Include all launch files.
+    (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*')))
+]
+
+)

ros_ws/src/main_launch/test/test_copyright.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

ros_ws/src/main_launch/test/test_flake8.py

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+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

ros_ws/src/main_launch/test/test_pep257.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

ros_ws/src/robot/autonomy/install_geographiclib_datasets.sh

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+#!/bin/bash
+# Script to install the model datasets required
+# to GeographicLib apply certain conversions
+
+if [[ $UID != 0 ]]; then
+	echo "This script require root privileges!" 1>&2
+	exit 1
+fi
+
+# Install datasets
+run_get() {
+	local dir="$1"
+	local tool="$2"
+	local model="$3"
+
+	files=$(shopt -s nullglob dotglob; echo /usr/share/GeographicLib/$dir/$model* /usr/local/share/GeographicLib/$dir/$model*)
+	if (( ${#files} )); then
+		echo "GeographicLib $tool dataset $model already exists, skipping"
+		return
+	fi
+
+	echo "Installing GeographicLib $tool $model"
+	geographiclib-get-$tool $model >/dev/null 2>&1
+
+	files=$(shopt -s nullglob dotglob; echo /usr/share/GeographicLib/$dir/$model* /usr/local/share/GeographicLib/$dir/$model*)
+	if (( ! ${#files} )); then
+		echo "Error while installing GeographicLib $tool $model"
+		return
+	fi
+}
+
+# check which command script is available
+if hash geographiclib-get-geoids; then
+	run_get geoids geoids egm96-5
+	run_get gravity gravity egm96
+	run_get magnetic magnetic emm2015
+elif hash geographiclib-datasets-download; then # only allows install the goid model dataset
+	geographiclib-datasets-download egm96_5;
+else
+	echo "OS not supported! Check GeographicLib page for supported OS and lib versions." 1>&2
+fi

ros_ws/src/robot/autonomy/my_package/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(my_package)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_executable(my_node src/my_node.cpp)
+target_include_directories(my_node PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_features(my_node PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+install(TARGETS my_node
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

ros_ws/src/robot/autonomy/my_package/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>my_package</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">andrew</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

ros_ws/src/robot/autonomy/my_package/src/my_node.cpp

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+#include <cstdio>
+
+int main(int argc, char ** argv)
+{
+  (void) argc;
+  (void) argv;
+
+  printf("hello world my_package package\n");
+  return 0;
+}