initial commit

.devcontainer/.install_utils/bashrc_ext

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+ros_env_setup="/opt/ros/$ROS_DISTRO/setup.bash"
+echo "sourcing   $ros_env_setup"
+source "$ros_env_setup"
+source "/home/$USER/catkin_ws/devel/setup.bash"
+alias sauce='source /opt/ros/noetic/setup.bash && source /home/${USER}/catkin_ws/devel/setup.bash'
+alias scripz='cd /home/${USER}/catkin_ws/src/race_stack/stack_master/scripts'
+alias switch_map='/home/${USER}/catkin_ws/src/race_stack/stack_master/scripts/switch_map.sh $1'
+
+echo "ROS_ROOT   $ROS_ROOT"
+echo "ROS_DISTRO $ROS_DISTRO"
+
+# automatically get zerotier IP. Be careful! it does not work if do not have an ip assigned with the correct prefix, "192.168.192" in this case, and it might not work if you have multiple ips with the same prefix
+# export ROS_HOSTNAME=$( ifconfig | awk '/inet 192.168.192/ {print $2}' )
+
+# check if ros hostname is empty
+if [ -z "$ROS_HOSTNAME" ]; then
+    echo "ROS_HOSTNAME is empty, setting it to default"
+    export ROS_HOSTNAME=localhost
+fi
+export ROS_MASTER_URI="http://${ROS_HOSTNAME}:11311"

.devcontainer/.install_utils/cartographer_dep.sh

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+#! /bin/bash
+
+# merge cartographer ws with ours
+rm /etc/ros/rosdep/sources.list.d/20-default.list
+rosdep init
+rosdep update
+rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

.devcontainer/.install_utils/cartographer_req.sh

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+#! /bin/bash
+
+# install dep
+apt-get install -y python3-wstool \
+    python3-rosdep \
+    ninja-build \
+    stow \
+    clang \
+    cmake \
+    g++ \
+    git \
+    google-mock \
+    libboost-all-dev \
+    libcairo2-dev \
+    libceres-dev \
+    libcurl4-openssl-dev \
+    libeigen3-dev \
+    libgflags-dev \
+    libgoogle-glog-dev \
+    liblua5.2-dev \
+    libsuitesparse-dev \
+    lsb-release \
+    python3-sphinx \
+    libgmock-dev \
+    protobuf-compiler
+
+

.devcontainer/.install_utils/cartographer_setup.sh

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+#! /bin/bash
+
+# install dep
+apt-get install -y python3-wstool \
+    python3-rosdep \
+    ninja-build \
+    stow \
+    clang \
+    cmake \
+    g++ \
+    git \
+    google-mock \
+    libboost-all-dev \
+    libcairo2-dev \
+    libceres-dev \
+    libcurl4-openssl-dev \
+    libeigen3-dev \
+    libgflags-dev \
+    libgoogle-glog-dev \
+    liblua5.2-dev \
+    libsuitesparse-dev \
+    lsb-release \
+    python3-sphinx \
+    libgmock-dev \
+    protobuf-compiler
+
+# merge cartographer ws with ours
+rm /etc/ros/rosdep/sources.list.d/20-default.list
+rosdep init
+rosdep update
+rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
+
+# install abseil 
+./state_estimation/cartographer_pbl/cartographer/scripts/install_abseil.sh

.devcontainer/.install_utils/catkin_skiplist_car.sh

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+#! /bin/bash
+
+# list can be manually obtained by ``catkin list --directory <all_the_directories_you_want>``
+# list of packages only for the car
+
+catkin config --skiplist cartographer\
+    ackermann_cmd_mux\
+    joy\
+    joystick_drivers\
+    racecar\
+    serial\
+    vesc\
+    vesc_msgs\
+    vesc_ackermann\
+    vesc_driver\
+    waypoint_logger\
+    cartographer\
+    cartographer_ros_msgs\
+    cartographer_ros\
+    cartographer_rviz\
+    particle_filter

.devcontainer/.install_utils/catkin_skiplist_sim.sh

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+#! /bin/bash
+
+# list can be manually obtained by ``catkin list --directory <all_the_directories_you_want>``
+# list of packages only for the sim
+
+catkin config --skiplist f1tenth_simulator

.devcontainer/.install_utils/dev_pf_setup.sh

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+#! /bin/bash
+
+apt-get update
+
+pip install cython
+# downloading a branch of a fork because they fixed python3 stuff in there
+git clone --branch python3 https://github.com/pmusau17/range_libc.git
+cd ./range_libc/pywrapper
+
+python3 setup.py install

.devcontainer/.install_utils/install_abseil.sh

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+#!/bin/sh
+
+# Copyright 2019 The Cartographer Authors
+#
+# 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.
+
+set -o errexit
+set -o verbose
+
+git clone https://github.com/abseil/abseil-cpp.git
+cd abseil-cpp
+git checkout d902eb869bcfacc1bad14933ed9af4bed006d481
+mkdir build
+cd build
+cmake -G Ninja \
+  -DCMAKE_BUILD_TYPE=Release \
+  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+  -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \
+  ..
+ninja
+sudo ninja install
+cd /usr/local/stow
+sudo stow absl

.devcontainer/.install_utils/linux_req_car.txt

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+wget
+apt-utils
+git
+net-tools
+libgl1
+python3-pip
+ros-noetic-tf
+ros-noetic-joy
+ros-noetic-rqt
+ros-noetic-rviz
+ros-noetic-amcl
+ros-noetic-rospy
+ros-noetic-roslint
+ros-noetic-pcl-ros
+ros-noetic-nav-msgs
+ros-noetic-map-server
+ros-noetic-urg-node
+ros-noetic-slam-toolbox
+ros-noetic-ackermann-msgs
+ros-noetic-slam-toolbox-msgs
+ros-noetic-slam-toolbox-rviz
+ros-noetic-tf2-sensor-msgs
+ros-noetic-tf2-geometry-msgs
+ros-noetic-realsense2-camera
+ros-noetic-robot-localization
+ros-noetic-interactive-markers
+ros-noetic-rosbridge-server
+ros-noetic-rosserial
+ros-noetic-rosserial-python
+ros-noetic-rospy-message-converter
+ros-noetic-realsense2-camera
+ros-noetic-tf2-sensor-msgs
+ros-noetic-imu-tools
+ros-noetic-imu-complementary-filter
+ros-noetic-imu-filter-madgwick
+qt5-default
+libeigen3-dev
+ros-noetic-rqt-common-plugins

.devcontainer/.install_utils/linux_req_sim.txt

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+wget
+apt-utils 
+git
+libgl1
+ros-noetic-map-server
+python3-pip
+ros-noetic-tf
+ros-noetic-joy
+ros-noetic-rqt
+ros-noetic-rviz
+ros-noetic-amcl
+ros-noetic-rospy
+ros-noetic-roslint
+ros-noetic-nav-msgs
+ros-noetic-slam-toolbox
+ros-noetic-ackermann-msgs
+ros-noetic-slam-toolbox-rviz
+ros-noetic-tf2-geometry-msgs
+ros-noetic-tf2-sensor-msgs
+ros-noetic-realsense2-camera
+ros-noetic-robot-localization
+ros-noetic-interactive-markers
+ros-noetic-rosbridge-server
+ros-noetic-rosserial
+ros-noetic-rosserial-python
+ros-noetic-rospy-message-converter
+ros-noetic-realsense2-camera
+ros-noetic-tf2-sensor-msgs
+qt5-default
+libeigen3-dev

.devcontainer/.install_utils/pf_setup.sh

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+#! /bin/bash
+
+sudo apt-get update
+rosdep install -r --from-paths src --ignore-src --rosdistro noetic -y
+
+sudo pip install cython
+# downloading a branch of a fork because they fixed python3 stuff in there
+git clone --branch python3 https://github.com/pmusau17/range_libc.git
+cd ./range_libc/pywrapper
+python3 setup.py install

.devcontainer/.install_utils/post_installation.sh

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+#! /bin/bash
+
+# extend .bashrc
+cat /home/${USER}/catkin_ws/src/race_stack/.devcontainer/.install_utils/bashrc_ext >> ~/.bashrc
+
+# source
+source /opt/ros/noetic/setup.bash && source /home/${USER}/catkin_ws/devel/setup.bash
+
+# build 
+cd /home/${USER}/catkin_ws
+catkin build

.devcontainer/.install_utils/requirements.txt

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+cython<3
+scipy==1.6.3
+rospkg
+tqdm
+scikit-learn
+scikit-image==0.19.2
+opencv-python>=4.5.2
+trajectory_planning_helpers==0.76
+PyYAML
+pynput
+pandas 
+matplotlib~=3.5.1
+numba
+filterpy
+torch>=1.7
+botorch==0.5.0
+pytest>=6.2
+sphinx
+sphinx-rtd-theme
+gpytorch==1.8.1
+roslibpy==1.6.0
+twisted==23.10.0
+pyOpenSSL==23.3.0
+psutil

.devcontainer/.install_utils/ros_entrypoint.sh

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+#! /bin/bash
+
+set -e
+
+exec "$@"

.devcontainer/.install_utils/setup_user.sh

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+!# /bin/bash
+
+useradd -ms /bin/bash -u ${UID} -G sudo ${USER}
+groupadd -fg ${GID} ${USER}

.devcontainer/.install_utils/xauth_setup.sh

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+#! /bin/bash
+
+# Script to create a Xauthority file for the docker container
+XAUTH=$HOME/.Xauthority
+export XAUTH_LOC=$XAUTH
+xhost +local:$USER
+
+touch $XAUTH

.devcontainer/devcontainer.json

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+{
+    "name": "ForzaETH ROS Development Container",
+    "containerUser": "${localEnv:USER}",
+    "privileged": true,
+    "initializeCommand": "/bin/bash -c 'source ${localWorkspaceFolder}/.devcontainer/.install_utils/xauth_setup.sh'",
+    "image": "race_stack_sim_x86", // change name in case you are working on arm/on the car
+    "workspaceFolder": "/home/${localEnv:USER}/catkin_ws",
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/${localEnv:USER}/catkin_ws/src/race_stack,type=bind",
+    "customizations": {
+        "vscode": {
+            "extensions":[
+                "ms-vscode.cpptools",
+                "ms-vscode.cpptools-themes",
+                "twxs.cmake",
+                "donjayamanne.python-extension-pack",
+                "eamodio.gitlens",
+                "ms-iot.vscode-ros",
+                "redhat.vscode-xml",
+                "ms-python.autopep8"
+            ]
+        }
+    },
+    "containerEnv": {
+        "DISPLAY": "${localEnv:DISPLAY}",
+        "USER" : "${localEnv:USER}",
+        "XAUTHORITY" : "/tmp/.Xauthority",
+        "ROS_HOSTNAME" : "${localEnv:ROS_HOSTNAME}"
+    },
+    "runArgs": [
+        "--name", "forzaeth_devcontainer",
+        "--net", "host",
+        "--privileged"
+    ],
+    "mounts": [
+        "source=/home/${localEnv:USER}/.Xauthority,target=/tmp/.Xauthority,type=bind,consistency=cached",
+        "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
+        "source=/dev,target=/dev,type=bind,consistency=cached",
+        "source=${localWorkspaceFolder}/../cache/noetic/build,target=/home/${localEnv:USER}/catkin_ws/build,type=bind",
+        "source=${localWorkspaceFolder}/../cache/noetic/devel,target=/home/${localEnv:USER}/catkin_ws/devel,type=bind",
+        "source=${localWorkspaceFolder}/../cache/noetic/logs,target=/home/${localEnv:USER}/catkin_ws/logs,type=bind"
+    ],
+    "postCreateCommand": "/bin/bash /home/${localEnv:USER}/catkin_ws/src/race_stack/.devcontainer/.install_utils/post_installation.sh"
+}

.docker_utils/Dockerfile.base_arm

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+# 
+# Container Creation for the F110 race-stack at Center for Project Based Learning, ETH
+#
+
+# use ROS Noetic image 
+FROM ros:noetic-robot
+SHELL [ "/bin/bash", "-c" ]
+
+ADD ./.devcontainer/.install_utils /.install_utils
+
+# install ros packages
+ARG DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && xargs apt-get install -y < /.install_utils/linux_req_car.txt 
+
+# install python packages
+RUN pip3 install -r /.install_utils/requirements.txt && \
+        pip3 install numpy==1.18.1 --no-build-isolation && \
+        pip3 install casadi
+
+
+# install catkin build tools
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" \
+        > /etc/apt/sources.list.d/ros-latest.list' && \
+        wget http://packages.ros.org/ros.key -O - | sudo apt-key add - && \
+        apt-get update && apt-get install -y python3-catkin-tools
+
+# install cartographer
+RUN . /.install_utils/cartographer_req.sh && . /.install_utils/install_abseil.sh
+
+# install particle filter
+RUN . /.install_utils/dev_pf_setup.sh 
+
+ENTRYPOINT [ "bash", "/.install_utils/ros_entrypoint.sh" ]