First version working for ROS2

.devcontainer/Dockerfile

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+ARG BASE_IMAGE=lcas.lincoln.ac.uk/lcas/ros-docker-images:humble-2
+
+FROM ${BASE_IMAGE} AS base
+
+USER root
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update \
+    && apt-get install -qq -y --no-install-recommends \
+    git \
+    python3-pip \
+    ros-humble-controller-manager-msgs \
+    python3-rosdep
+
+# get the source tree and analyse it for its package.xml only
+FROM base AS sourcefilter
+COPY ./src /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 --rosdistro ${ROS_DISTRO} && apt-get update
+RUN cd /tmp/src && rosdep install --from-paths . --ignore-src -r -y && cd && rm -rf /tmp/src
+
+FROM depbuilder AS final
+
+RUN pip install black flake8
+
+# add sudo without password
+ENV DEBIAN_FRONTEND=noninteractive

.devcontainer/devcontainer.json

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+// 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 ROS Humble Devcontainer for Sentor",
+	"build": {
+		"dockerfile": "./Dockerfile",
+		"args": {
+			"BASE_IMAGE": "lcas.lincoln.ac.uk/lcas/ros-docker-images:humble-2"
+		},
+		"context": ".."
+	},
+
+	"postStartCommand": "/opt/entrypoint.sh /bin/true; .devcontainer/post-create.sh",
+
+	"updateRemoteUserUID": true, // ensure internal user has the same UID as the host user and update file permissions
+	"customizations": {
+		"vscode": {
+			"extensions": [
+				"ms-python.python",
+				"GitHub.vscode-pull-request-github",
+				"ms-vscode.cpptools",
+				"JaehyunShim.vscode-ros2",
+				"nonanonno.vscode-ros2",
+				"deitry.colcon-helper",
+				"github.vscode-github-actions"
+			]
+		}
+	}
+}

.devcontainer/post-create.sh

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+#!/bin/bash
+
+set -xe
+
+
+function add_config_if_not_exist {
+    if ! grep -F -q "$1" $HOME/.bashrc; then
+        echo "$1" >> $HOME/.bashrc
+    fi
+}
+
+function add_git_config_if_not_exist {
+    if ! git config --global --get "$1" > /dev/null; then
+        git config --global "$1" "$2"
+    fi
+}
+
+add_config_if_not_exist "source /opt/ros/$ROS_DISTRO/setup.bash"
+
+source /opt/ros/$ROS_DISTRO/setup.bash
+
+colcon build --symlink-install --continue-on-error || true
+
+LOCAL_SETUP_FILE=`pwd`/install/setup.bash
+add_config_if_not_exist "if [ -r $LOCAL_SETUP_FILE ]; then source $LOCAL_SETUP_FILE; fi"
+
+
+add_git_config_if_not_exist "core.autocrlf" "input"
+add_git_config_if_not_exist "core.safecrlf" "warn"
+add_git_config_if_not_exist "pull.rebase" "false"
+add_git_config_if_not_exist "user.name" "Anonymous L-CAS DevContainer User"
+add_git_config_if_not_exist "user.email" "[email protected]"
+add_git_config_if_not_exist "init.defaultBranch" "main"
+

.github/workflows/dev-container.yml

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+name: 'devcontainer CI' 
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - ros2-devel
+      - master
+  push:
+    branches:
+      - ros2-devel
+      - master
+
+jobs:
+  build_devcontainer:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout from github
+        uses: actions/checkout@v3
+      - name: extract the github reference
+        run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV
+      - name: "image name from repo name"
+        id: docker_image_name
+        run: echo "docker_image=${{ github.repository }}" | tr '[:upper:]' '[:lower:]' |sed 's/[^0-9,a-z,A-Z,=,_,\/]/-/g' >>${GITHUB_OUTPUT}
+      - name: Build and run dev container task
+        uses: devcontainers/[email protected]
+        with:
+          imageName: devcontainer/${{ steps.docker_image_name.outputs.docker_image }}
+          configFile: ./.devcontainer/devcontainer.json
+          push: never
+          #imageTag: ${{ matrix.config }}-${{ env.BRANCH }}
+          #runCmd: "bash .devcontainer/run-ci.sh"

.github/workflows/ros-ci.yml

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+name: ros CI
+
+on:
+  push:
+    # you may want to configure the branches that this should be run on here.
+    branches: [ "master", "ros2-devel" ]
+  pull_request:
+    branches: [ "master", "ros2-devel" ]
+
+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

.gitignore

@@ -1,101 +1,52 @@
-# Byte-compiled / optimized / DLL files
-__pycache__/
-*.py[cod]
-*$py.class
-
-# C extensions
-*.so
-
-# Distribution / packaging
-.Python
-env/
+devel/
+log/
 build/
-develop-eggs/
-dist/
-downloads/
-eggs/
-.eggs/
+bin/
 lib/
-lib64/
-parts/
-sdist/
-var/
-wheels/
-*.egg-info/
-.installed.cfg
-*.egg
-
-# PyInstaller
-#  Usually these files are written by a python script from a template
-#  before PyInstaller builds the exe, so as to inject date/other infos into it.
-*.manifest
-*.spec
-
-# Installer logs
-pip-log.txt
-pip-delete-this-directory.txt
-
-# Unit test / coverage reports
-htmlcov/
-.tox/
-.coverage
-.coverage.*
-.cache
-nosetests.xml
-coverage.xml
-*.cover
-.hypothesis/
-
-# Translations
-*.mo
-*.pot
-
-# Django stuff:
-*.log
-local_settings.py
-
-# Flask stuff:
-instance/
-.webassets-cache
-
-# Scrapy stuff:
-.scrapy
-
-# Sphinx documentation
-docs/_build/
-
-# PyBuilder
-target/
-
-# Jupyter Notebook
-.ipynb_checkpoints
-
-# pyenv
-.python-version
-
-# celery beat schedule file
-celerybeat-schedule
-
-# SageMath parsed files
-*.sage.py
-
-# dotenv
-.env
-
-# virtualenv
-.venv
-venv/
-ENV/
-
-# Spyder project settings
-.spyderproject
-.spyproject
-
-# Rope project settings
-.ropeproject
-
-# mkdocs documentation
-/site
-
-# mypy
-.mypy_cache/
+install/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE