Use Fixposition SDK, add devcontainer config, cleanup

.devcontainer/.bash_logout

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+# ~/.bash_logout: executed by bash(1) when login shell exits.
+
+# save history
+history -a
+
+# when leaving the console clear the screen to increase privacy
+if [ "$SHLVL" = 1 ]; then
+    [ -x /usr/bin/clear_console ] && /usr/bin/clear_console -q
+fi

.devcontainer/.bashrc

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+# ~/.bashrc: executed by bash(1) for non-login shells.
+# see /usr/share/doc/bash/examples/startup-files (in the package bash-doc)
+# for examples
+
+# If not running interactively, don't do anything
+case $- in
+    *i*) ;;
+      *) return;;
+esac
+
+# don't put duplicate lines or lines starting with space in the history.
+# See bash(1) for more options
+HISTCONTROL="ignoredups:erasedups:ignorespace"
+
+# append to the history file, don't overwrite it
+shopt -s histappend
+
+# for setting history length see HISTSIZE and HISTFILESIZE in bash(1)
+HISTSIZE=10000
+HISTFILESIZE=10000000
+HISTFILE=/home/fpsdk/.bash_history.d/history
+
+# Disable history ! expansion
+set +H
+
+export RSYNC_RSH=ssh
+export PAGER="less -R -i -x 4 -+C"
+export PERLDOC_PAGER="less -R -i -x 4 -+C"
+export LESSCHARSET=UTF-8
+export EDITOR='vim'
+export GIT_EDITOR=vim
+
+# nicely coloured man pages
+export LESS_TERMCAP_mb=$'\E[01;31m'
+export LESS_TERMCAP_md=$'\E[01;31m'
+export LESS_TERMCAP_me=$'\E[0m'
+export LESS_TERMCAP_se=$'\E[0m'
+export LESS_TERMCAP_so=$'\E[01;44;33m'
+export LESS_TERMCAP_ue=$'\E[0m'
+export LESS_TERMCAP_us=$'\E[01;32m'
+
+export LESS="FRSX"
+
+# N.B. -R must be first or lesspipe.sh will be confused
+# warning: -R not compatible with +F (follow mode)!
+alias less='less -R -i -x 4 -S'
+
+# Enable core dumps (does it?)
+ulimit -c 1048576
+
+# check the window size after each command and, if necessary,
+# update the values of LINES and COLUMNS.
+shopt -s checkwinsize
+
+# If set, the pattern "**" used in a pathname expansion context will
+# match all files and zero or more directories and subdirectories.
+#shopt -s globstar
+
+# make less more friendly for non-text input files, see lesspipe(1)
+[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)"
+
+# set variable identifying the chroot you work in (used in the prompt below)
+if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then
+    debian_chroot=$(cat /etc/debian_chroot)
+fi
+
+# set a fancy prompt (non-color, unless we know we "want" color)
+case "$TERM" in
+    xterm-color|*-256color) color_prompt=yes;;
+esac
+
+# uncomment for a colored prompt, if the terminal has the capability; turned
+# off by default to not distract the user: the focus in a terminal window
+# should be on the output of commands, not on the prompt
+#force_color_prompt=yes
+
+if [ -n "$force_color_prompt" ]; then
+    if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then
+	# We have color support; assume it's compliant with Ecma-48
+	# (ISO/IEC-6429). (Lack of such support is extremely rare, and such
+	# a case would tend to support setf rather than setaf.)
+	color_prompt=yes
+    else
+	color_prompt=
+    fi
+fi
+
+if [ "$color_prompt" = yes ]; then
+    PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
+else
+    PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
+fi
+unset color_prompt force_color_prompt
+
+# If this is an xterm set the title to user@host:dir
+case "$TERM" in
+xterm*|rxvt*)
+    PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1"
+    ;;
+*)
+    ;;
+esac
+
+# enable color support of ls and also add handy aliases
+if [ -x /usr/bin/dircolors ]; then
+    test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)"
+    alias ls='ls --color=auto'
+    #alias dir='dir --color=auto'
+    #alias vdir='vdir --color=auto'
+
+    alias grep='grep --color=auto'
+    alias fgrep='fgrep --color=auto'
+    alias egrep='egrep --color=auto'
+fi
+
+# colored GCC warnings and errors
+#export GCC_COLORS='error=01;31:warning=01;35:note=01;36:caret=01;32:locus=01:quote=01'
+
+# some more ls aliases
+alias ll='ls -alF'
+alias la='ls -A'
+alias l='ls -CF'
+alias rm='rm -i'
+alias mv='mv -i'
+
+# Add an "alert" alias for long running commands.  Use like so:
+#   sleep 10; alert
+alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal || echo error)" "$(history|tail -n1|sed -e '\''s/^\s*[0-9]\+\s*//;s/[;&|]\s*alert$//'\'')"'
+
+# Alias definitions.
+# You may want to put all your additions into a separate file like
+# ~/.bash_aliases, instead of adding them here directly.
+# See /usr/share/doc/bash-doc/examples in the bash-doc package.
+
+if [ -f ~/.bash_aliases ]; then
+    . ~/.bash_aliases
+fi
+
+# enable programmable completion features (you don't need to enable
+# this, if it's already enabled in /etc/bash.bashrc and /etc/profile
+# sources /etc/bash.bashrc).
+if ! shopt -oq posix; then
+  if [ -f /usr/share/bash-completion/bash_completion ]; then
+    . /usr/share/bash-completion/bash_completion
+  elif [ -f /etc/bash_completion ]; then
+    . /etc/bash_completion
+  fi
+fi
+
+if [ -f ~/.bash-git-prompt/gitprompt.sh ]; then
+    # https://github.com/magicmonty/bash-git-prompt
+    GIT_PROMPT_THEME=fpsdk
+    source ~/.bash-git-prompt/gitprompt.sh
+fi
+
+# Source ROS environment
+if [ -n "${ROS_DISTRO}" ]; then
+    source /opt/ros/${ROS_DISTRO}/setup.bash
+    export ROSCONSOLE_STDOUT_LINE_BUFFERED=1
+    export ROSCONSOLE_FORMAT='${severity} ${time:%Y-%m-%d %H:%M:%S.%f} ${logger} - ${message}'
+    # export RCUTILS_LOGGING_BUFFERED_STREAM=1
+    # export RCUTILS_LOGGING_USE_STDOUT=1
+    export RCUTILS_COLORIZED_OUTPUT=1
+    case "${ROS_DISTRO}" in
+        jazzy|rolling)
+            export RCUTILS_CONSOLE_OUTPUT_FORMAT="{severity} {date_time_with_ms} {name} - {message}"
+            ;;
+        *)
+            export RCUTILS_CONSOLE_OUTPUT_FORMAT="{severity} {time} {name} - {message}"
+            ;;
+    esac
+
+fi

.devcontainer/.gitignore

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+/.bash_history.d
+/.vscode-server

.devcontainer/helper.sh

@@ -0,0 +1,35 @@
+#!/bin/bash
+set -eEu -o pipefail
+
+command=$1
+shift
+
+case ${command} in
+    onCreateCommand)
+        containerWorkspaceFolder=$1
+        # ls -la ${containerWorkspaceFolder}
+        # id
+        case ${ROS_DISTRO} in
+            noetic)
+                if [ ! -d ${containerWorkspaceFolder}/ros1_ws ]; then
+                    ${containerWorkspaceFolder}/create_ros_ws.sh -d ros1_ws
+                fi
+                ;;
+            humble|jazzy)
+                if [ ! -d ${containerWorkspaceFolder}/ros2_ws ]; then
+                    ${containerWorkspaceFolder}/create_ros_ws.sh -d ros2_ws
+                fi
+                ;;
+            *)
+                echo "Don't know how to create a ROS workspace for ROS_DISTRO=${ROS_DISTRO}"
+                exit 1
+                ;;
+        esac
+        ;;
+    *)
+        echo "bad command: ${command}"
+        exit 1
+        ;;
+esac
+
+exit 0

.devcontainer/humble/Dockerfile

@@ -0,0 +1,12 @@
+FROM ghcr.io/fixposition/fixposition-sdk:humble-dev
+
+# RUN <<EOF
+#     # Install additional packages
+#     set -e
+#     export DEBIAN_FRONTEND=noninteractive
+#     apt-get -y update
+#     apt-get -y --with-new-pkgs upgrade
+#     apt-get -y --no-install-recommends install some-package another-package ...
+#     apt-get -y autoremove
+#     apt-get clean
+# EOF

.devcontainer/humble/devcontainer.json

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+// https://aka.ms/devcontainer.json
+{
+    "name": "Fixposition ROS2 driver (Humble)",
+    "build": { "dockerfile": "Dockerfile", "context": "../.." },
+    "remoteUser": "fpsdk",
+    "updateRemoteUserUID": true,
+    "capAdd": ["SYS_PTRACE"],
+    "mounts": [
+        // Persistent bash history
+        "source=${localWorkspaceFolder}/.devcontainer/.bashrc,target=/home/fpsdk/.bashrc,type=bind",
+        "source=${localWorkspaceFolder}/.devcontainer/.bash_logout,target=/home/fpsdk/.bash_logout,type=bind",
+        "source=${localWorkspaceFolder}/.devcontainer/.bash_history.d,target=/home/fpsdk/.bash_history.d,type=bind",
+        // Persistent .vscode-server
+        "source=${localWorkspaceFolder}/.devcontainer/.vscode-server,target=/home/fpsdk/.vscode-server,type=bind",
+        // The code we're working on
+        "source=${localWorkspaceFolder},target=/home/fpsdk/fixposition_driver,type=bind",
+    ],
+    "workspaceFolder": "/home/fpsdk/fixposition_driver",
+    "runArgs": [ "--name=fixposition_driver-humble-${localEnv:USER}", "--hostname=humble" ],
+    "onCreateCommand": "${containerWorkspaceFolder}/.devcontainer/helper.sh onCreateCommand ${containerWorkspaceFolder}",
+    "customizations": {
+        "vscode": {
+            "settings": {
+                "files.exclude": {
+                    "**/.git": true,
+                    ".vscode-cache": true,
+                    "**/*~": true,
+                    ".vstags": true,
+                    "**/build/**": true,
+                    "core": true,
+                    "**/.devcontainer/.vscode-server/**": true,
+                    ".devcontainer/.vscode-server/**": true,
+                    "**/.vscode-server/**": true
+                },
+                "search.exclude": {
+                    "tmp": true,
+                    "**/ros1_ws/**": true,
+                    "**/ros2_ws/**": true
+                },
+                "files.watcherExclude": {
+                    "**/.git/objects/**": true,
+                    "**/.git/refs/**": true,
+                    "**/.git/logs/**": true,
+                    "**/.git/subtree-cache/**": true,
+                    "**/.git/worktrees/**": true,
+                    "**/.vscode-*/**": true,
+                    "**/ros1_ws/**": true,
+                    "**/ros2_ws/**": true
+                }
+            }
+        }
+    }
+}

.devcontainer/jazzy/Dockerfile

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+FROM ghcr.io/fixposition/fixposition-sdk:jazzy-dev
+
+# RUN <<EOF
+#     # Install additional packages
+#     set -e
+#     export DEBIAN_FRONTEND=noninteractive
+#     apt-get -y update
+#     apt-get -y --with-new-pkgs upgrade
+#     apt-get -y --no-install-recommends install some-package another-package ...
+#     apt-get -y autoremove
+#     apt-get clean
+# EOF

.devcontainer/jazzy/devcontainer.json

@@ -0,0 +1,52 @@
+// https://aka.ms/devcontainer.json
+{
+    "name": "Fixposition ROS2 driver (Jazzy)",
+    "build": { "dockerfile": "Dockerfile", "context": "../.." },
+    "remoteUser": "fpsdk",
+    "updateRemoteUserUID": true,
+    "capAdd": ["SYS_PTRACE"],
+    "mounts": [
+        // Persistent bash history
+        "source=${localWorkspaceFolder}/.devcontainer/.bashrc,target=/home/fpsdk/.bashrc,type=bind",
+        "source=${localWorkspaceFolder}/.devcontainer/.bash_logout,target=/home/fpsdk/.bash_logout,type=bind",
+        "source=${localWorkspaceFolder}/.devcontainer/.bash_history.d,target=/home/fpsdk/.bash_history.d,type=bind",
+        // Persistent .vscode-server
+        "source=${localWorkspaceFolder}/.devcontainer/.vscode-server,target=/home/fpsdk/.vscode-server,type=bind",
+        // The code we're working on
+        "source=${localWorkspaceFolder},target=/home/fpsdk/fixposition_driver,type=bind",
+    ],
+    "workspaceFolder": "/home/fpsdk/fixposition_driver",
+    "runArgs": [ "--name=fixposition_driver-jazzy-${localEnv:USER}", "--hostname=jazzy" ],
+    "onCreateCommand": "${containerWorkspaceFolder}/.devcontainer/helper.sh onCreateCommand ${containerWorkspaceFolder}",
+    "customizations": {
+        "vscode": {
+            "settings": {
+                "files.exclude": {
+                    "**/.git": true,
+                    ".vscode-cache": true,
+                    "**/*~": true,
+                    ".vstags": true,
+                    "**/build/**": true,
+                    "core": true,
+                    "**/.devcontainer/.vscode-server/**": true,
+                    "**/.vscode-server/**": true
+                },
+                "search.exclude": {
+                    "tmp": true,
+                    "**/ros1_ws/**": true,
+                    "**/ros2_ws/**": true
+                },
+                "files.watcherExclude": {
+                    "**/.git/objects/**": true,
+                    "**/.git/refs/**": true,
+                    "**/.git/logs/**": true,
+                    "**/.git/subtree-cache/**": true,
+                    "**/.git/worktrees/**": true,
+                    "**/.vscode-*/**": true,
+                    "**/ros1_ws/**": true,
+                    "**/ros2_ws/**": true
+                }
+            }
+        }
+    }
+}

.devcontainer/noetic/Dockerfile

@@ -0,0 +1,12 @@
+FROM ghcr.io/fixposition/fixposition-sdk:noetic-dev
+
+# RUN <<EOF
+#     # Install additional packages
+#     set -e
+#     export DEBIAN_FRONTEND=noninteractive
+#     apt-get -y update
+#     apt-get -y --with-new-pkgs upgrade
+#     apt-get -y --no-install-recommends install some-package another-package ...
+#     apt-get -y autoremove
+#     apt-get clean
+# EOF