Merge pull request #35 from Pugens/ros2-devel

Ros2 devel resume

.devcontainer/scancontrol/devcontainer.json

@@ -0,0 +1,23 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the README at:
+// https://github.com/microsoft/vscode-dev-containers/tree/v0.217.4/containers/go
+{
+    "name": "scancontrol-devcontainer",
+    "dockerComposeFile": [
+        "../../src/scancontrol/.docker/docker-compose.yml"
+    ],
+    "service": "scancontrol-service",
+	"remoteUser": "ros",
+    "workspaceFolder": "/home/ros/workspace/",
+	"customizations": {
+		"vscode": {
+			// Set *default* container specific settings.json values on container create.
+			"settings": {
+			},
+			// Add the IDs of extensions you want installed when the container is created.
+			"extensions": [
+            ]
+		}
+	}
+    // "postCreateCommand": "printenv | grep ROS"
+    // "forwardPorts": [],
+}

.docker/Dockerfile.CI

@@ -0,0 +1,85 @@
+ARG SCANCONTROL_SDK_VERSION=1.0.0
+
+FROM ubuntu:22.04 AS build
+
+ARG SCANCONTROL_SDK_VERSION
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+      checkinstall \
+      cmake \
+      debhelper \
+      g++ \
+      gcc \
+      gettext \
+      git \
+      gobject-introspection \
+      gtk-doc-tools \
+      intltool \
+      libgirepository1.0-dev \
+      libglib2.0-dev \
+      libgstreamer1.0-dev \
+      libgstreamer-plugins-base1.0-dev \
+      libgstreamer-plugins-good1.0-dev \
+      libgtk-3-dev \
+      libusb-1.0-0-dev \
+      libxml2-dev \
+      python3-pip \
+      ninja-build \
+      pkg-config \
+      unzip \
+      wget \
+      xsltproc \
+      meson \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN wget https://github.com/AravisProject/aravis/releases/download/0.8.30/aravis-0.8.30.tar.xz -O aravis-0.8.30.tar.xz &&\
+    tar xfJ aravis-0.8.30.tar.xz && \
+    rm aravis-0.8.30.tar.xz && \
+    cd aravis-0.8.30 && \
+    meson setup build && \
+    cd build && \
+    ninja && \
+    checkinstall --pkgname aravis --pkgversion 0.8.30 --requires="libglib2.0-dev, libxml2-dev, libusb-1.0-0-dev" ninja install
+
+SHELL ["/bin/bash", "-c"]
+RUN wget https://software.micro-epsilon.com/scanCONTROL-Linux-SDK-${SCANCONTROL_SDK_VERSION//./-}.zip -O scanCONTROL-Linux-SDK-${SCANCONTROL_SDK_VERSION//./-}.zip && \
+    unzip scanCONTROL-Linux-SDK-${SCANCONTROL_SDK_VERSION//./-}.zip -d scanCONTROL-Linux-SDK/ && \
+    rm scanCONTROL-Linux-SDK-${SCANCONTROL_SDK_VERSION//./-}.zip && \
+    cd scanCONTROL-Linux-SDK/libmescan/ && \ 
+    meson builddir && \
+    cd builddir && \
+    ninja && \
+    checkinstall --pkgname mescan --pkgversion ${SCANCONTROL_SDK_VERSION} --requires="aravis \(\>= 0.8.0\)" ninja install && \
+    ldconfig && \
+    cd /scanCONTROL-Linux-SDK/libllt/include && \
+    # scanCONTROL SDK fix for libglib 
+    sed -i '27,29 s/^/\/\/ /; 31,33 s/^/\/\/ /;' llt.h && \
+    cd /scanCONTROL-Linux-SDK/libllt && \
+    meson builddir && \
+    cd builddir && \
+    ninja && \
+    checkinstall --pkgname llt --pkgversion ${SCANCONTROL_SDK_VERSION} --requires="mescan \(\>= ${SCANCONTROL_SDK_VERSION}\),aravis \(\>= 0.8.0\)" ninja install
+
+RUN mkdir /library_pkgs && \
+    mv /aravis-0.8.30/build/aravis_0.8.30-1_amd64.deb /library_pkgs && \
+    mv "/scanCONTROL-Linux-SDK/libmescan/builddir/mescan_${SCANCONTROL_SDK_VERSION}-1_amd64.deb" /library_pkgs && \
+    mv "/scanCONTROL-Linux-SDK/libllt/builddir/llt_${SCANCONTROL_SDK_VERSION}-1_amd64.deb" /library_pkgs
+
+FROM ros:humble-ros-core
+ARG SCANCONTROL_SDK_VERSION
+
+RUN apt-get update && apt-get install -y --no-install-recommends\
+    build-essential \
+    pkg-config \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY --from=build ["/library_pkgs", "/library_pkgs"]
+
+RUN apt-get update && \
+    apt install -y /library_pkgs/aravis_0.8.30-1_amd64.deb && \
+    apt install /library_pkgs/mescan_${SCANCONTROL_SDK_VERSION}-1_amd64.deb && \
+    apt install /library_pkgs/llt_${SCANCONTROL_SDK_VERSION}-1_amd64.deb \
+    && rm -rf /var/lib/apt/lists/*
+

.docker/Dockerfile.dev

@@ -0,0 +1,166 @@
+###########################################
+# Base image
+###########################################
+FROM ubuntu:22.04 AS base
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install language
+RUN apt-get update && apt-get install -y \
+  locales \
+  && locale-gen en_US.UTF-8 \
+  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
+  && rm -rf /var/lib/apt/lists/*
+ENV LANG en_US.UTF-8
+
+# Install timezone
+RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
+  && export DEBIAN_FRONTEND=noninteractive \
+  && apt-get update \
+  && apt-get install -y tzdata \
+  && dpkg-reconfigure --frontend noninteractive tzdata \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && apt-get -y upgrade \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install common programs
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    curl \
+    gnupg2 \
+    lsb-release \
+    sudo \
+    software-properties-common \
+    wget \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install ROS2 base
+RUN sudo 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 $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null \
+  && apt-get update && apt-get install -y --no-install-recommends \
+    ros-humble-ros-base \
+    python3-argcomplete \
+  && rm -rf /var/lib/apt/lists/*
+
+ENV ROS_DISTRO=humble
+ENV AMENT_PREFIX_PATH=/opt/ros/humble
+ENV COLCON_PREFIX_PATH=/opt/ros/humble
+ENV LD_LIBRARY_PATH=/opt/ros/humble/lib
+ENV PATH=/opt/ros/humble/bin:$PATH
+ENV PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages
+ENV ROS_PYTHON_VERSION=3
+ENV ROS_VERSION=2
+ENV DEBIAN_FRONTEND=
+
+###########################################
+#  Develop image
+###########################################
+FROM base AS dev
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && apt-get install -y --no-install-recommends \
+  bash-completion \
+  build-essential \
+  cmake \
+  gdb \
+  git \
+  openssh-client \
+  python3-argcomplete \
+  python3-pip \
+  ros-dev-tools \
+  ros-humble-ament-* \
+  vim \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN rosdep init || echo "rosdep already initialized"
+
+ARG USERNAME=ros
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Create a non-root user
+RUN groupadd --gid $USER_GID $USERNAME \
+  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+  # Add sudo support for the non-root user
+  && apt-get update \
+  && apt-get install -y sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+  && chmod 0440 /etc/sudoers.d/$USERNAME \
+  && rm -rf /var/lib/apt/lists/*
+
+# Set up autocompletion for user
+RUN apt-get update && apt-get install -y git-core bash-completion \
+  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
+  && echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/$USERNAME/.bashrc \
+  && rm -rf /var/lib/apt/lists/* 
+
+ENV DEBIAN_FRONTEND=
+ENV AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1
+
+###########################################
+#  Full image
+###########################################
+FROM dev AS full
+
+ENV DEBIAN_FRONTEND=noninteractive
+# Install the full release
+RUN apt-get update && apt-get install -y --no-install-recommends \
+  ros-humble-desktop \
+  && rm -rf /var/lib/apt/lists/*
+ENV DEBIAN_FRONTEND=
+
+###########################################
+#  Workspace
+###########################################
+FROM full AS workspace
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update \
+   && apt-get -y install --no-install-recommends \
+    unzip \
+    libxml2-dev cmake libusb-1.0-0-dev gobject-introspection \
+    libgtk-3-dev gtk-doc-tools  xsltproc libgstreamer1.0-dev \
+    libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev \
+    libgirepository1.0-dev gettext \
+    autotools-dev automake intltool libtool \
+    meson \
+    ninja-build \
+   # Clean up
+   && apt-get autoremove -y \
+   && apt-get clean -y \
+   && rm -rf /var/lib/apt/lists/*
+
+
+RUN wget https://github.com/AravisProject/aravis/releases/download/0.8.30/aravis-0.8.30.tar.xz && \
+    tar xfJ aravis-0.8.30.tar.xz && \
+    rm aravis-0.8.30.tar.xz
+
+RUN cd aravis-0.8.30 && \
+    meson setup build && \
+    cd build && \
+    ninja && \
+    ninja install && \
+    ldconfig
+
+RUN wget https://software.micro-epsilon.com/scanCONTROL-Linux-SDK-1-0-0.zip -O scanCONTROL-Linux-SDK.zip && \
+    unzip scanCONTROL-Linux-SDK.zip -d scanCONTROL-Linux-SDK/ && \
+    rm scanCONTROL-Linux-SDK.zip
+
+RUN cd scanCONTROL-Linux-SDK/libmescan/ && \ 
+    meson builddir && \
+    cd builddir && \
+    ninja install && \
+    ldconfig
+
+RUN cd scanCONTROL-Linux-SDK/libllt/include && \
+    wget -q https://raw.githubusercontent.com/Pugens/scancontrol/1105de0ea8a28526b03de488d76821e07bada265/micro_epsilon_scancontrol_driver/include/lltlib/llt.h -O llt.h && \
+    cd .. && meson builddir && \
+    cd builddir && \
+    ninja && \
+    ninja install && \
+    ldconfig
+
+ENV DEBIAN_FRONTEND=dialog
+
+WORKDIR /home/ros/workspace

.docker/docker-compose.yml

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+version: '3'
+
+name: scancontrol-compose
+services:
+  scancontrol-service:
+    container_name: scancontrol-container
+    build:
+      context: .
+      dockerfile: Dockerfile.dev
+    user: ros
+    working_dir: /home/ros/workspace
+    # command: >
+    #   sh -c "sudo apt-get update &&
+    #         rosdep update &&
+    #         rosdep install --from-paths . --ignore-src -y &&
+    #         source /opt/ros/humble/setup.bash &&
+    #         colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=RelWithDebInfo" "-DCMAKE_EXPORT_COMPILE_COMMANDS=On" -Wall -Wextra -Wpedantic &&
+    #         . install/setup.bash"
+    # Uncomment to expose graphic card drivers
+    # deploy:
+    #   resources:
+    #     reservations:
+    #       devices:
+    #         - driver: nvidia
+    #           count: 1
+    #           capabilities: [gpu]
+    environment:
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+      - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
+      # Uncomment to expose graphic card drivers
+      # - NVIDIA_DRIVER_CAPABILITIES=all
+    volumes:
+      - ../../../:/home/ros/workspace
+      - /var/run/docker.sock:/var/run/docker.sock
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
+      # Uncomment to use git within the devcontainer
+      # - ~/.ssh/:/home/ros/.ssh/
+    network_mode: "host" #TODO: UNSAFE, change to specific port!
+    tty: true
+    init: true
+