diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 842aaad..a73eb5d 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -1,10 +1,10 @@
{
"name": "DevEnv",
- "image": "ghcr.io/roboeagles4828/developer-environment:7",
+ "image": "ghcr.io/gold-rush-robotics/dev_env:5",
"workspaceMount": "source=${localWorkspaceFolder},target=/workspace/DevEnv,type=bind",
"workspaceFolder": "/workspace/DevEnv",
"containerEnv": {
- "SHELL": "/usr/bin/zsh",
+ "SHELL": "zsh",
"ROS_DOMAIN_ID": "0",
"FASTRTPS_DEFAULT_PROFILES_FILE": "/usr/local/share/middleware_profiles/rtps_udp_profile.xml",
"WORKSPACE_LOCAL_PATH": "${localWorkspaceFolder}",
@@ -16,14 +16,14 @@
},
"postCreateCommand": "sh .devcontainer/postCreate.sh",
- "postStartCommand": " sh .devcontainer/postStart.sh",
+ // "postStartCommand": " sh .devcontainer/postStart.sh",
"initializeCommand": "sh .devcontainer/init.sh",
"securityOpt": [ "seccomp=unconfined" ],
"capAdd": ["SYS_PTRACE"],
"mounts": [
"source=/var/run/docker.sock,target=/var/run/docker.sock,type=bind", // docker
- "source=${localEnv:HOME}/docker/vscode,target=/home/admin/.vscode-server,type=bind", // vscode
- "source=${localEnv:HOME}/.ssh,target=/home/admin/.ssh,type=bind" // vscode
+ // "source=${localEnv:HOME}/docker/vscode,target=/home/admin/.vscode-server,type=bind", // vscode
+ // "source=${localEnv:HOME}/.ssh,target=/home/admin/.ssh,type=bind" // vscode
],
"runArgs": [
"--privileged",
@@ -37,11 +37,11 @@
"extensions": [
"ms-azuretools.vscode-docker",
"ms-iot.vscode-ros",
- "GitHub.copilot",
"eamodio.gitlens",
"appulate.filewatcher",
"formulahendry.code-runner",
]
}
}
+
}
\ No newline at end of file
diff --git a/.devcontainer/init.sh b/.devcontainer/init.sh
index d216d3c..ba20e2c 100644
--- a/.devcontainer/init.sh
+++ b/.devcontainer/init.sh
@@ -1,5 +1,5 @@
-#!/bin/bash
-# Pull the actual image so it is saved locally
-docker pull ghcr.io/roboeagles4828/developer-environment:7
-mkdir -p ~/docker/vscode
-echo "Display to use: $DISPLAY"
+#!/bin/bash
+# Pull the actual image so it is saved locally
+docker pull ghcr.io/gold-rush-robotics/dev_env:5
+mkdir -p ~/docker/vscode
+echo "Display to use: $DISPLAY"
diff --git a/.devcontainer/postCreate.sh b/.devcontainer/postCreate.sh
index 4f75f5d..1935aba 100644
--- a/.devcontainer/postCreate.sh
+++ b/.devcontainer/postCreate.sh
@@ -1,26 +1,10 @@
#!/bin/bash
-echo "source /opt/ros/humble/setup.bash"
-
-git config --global core.filemode false
-git config --global user.email "git@swiftcreekrobotics.onmicrosoft.com"
-git config --global user.name "roboeagles"
-git config devcontainers-theme.show-dirty 1
+echo "source /opt/ros/jazzy/setup.zsh" | sudo tee -a ~/.zshrc > /dev/null
+echo 'export ZSH="$HOME/.oh-my-zsh"' | sudo tee -a ~/.zshrc > /dev/null
sed -i 's/ZSH_THEME="devcontainers"/ZSH_THEME="eastwood"/' ~/.zshrc
+echo "source /opt/ros/jazzy/setup.zsh" | sudo tee -a ~/.zshrc > /dev/null
+echo "export ROS_DISTRO=jazzy" | sudo tee -a ~/.zshrc > /dev/null
+echo "export RCUTILS_COLORIZED_OUTPUT=1" | sudo tee -a ~/.zshrc > /dev/null
+echo 'complete -o nospace -o default -F _python_argcomplete "ros2"' | sudo tee -a ~/.zshrc > /dev/null
+echo 'alias python="python3"' | sudo tee -a ~/.zshrc > /dev/null
-echo "source /opt/ros/humble/setup.zsh" >> ~/.zshrc
-echo "source /home/admin/workspaces/rtab_ws/install/setup.zsh" >> ~/.zshrc
-# echo "if [ ! -d /workspaces/edna2023/install ]; then" >> ~/.zshrc
-echo "echo -e 'No install folder found remember to build with ctrl + shift + b\n';" >> ~/.zshrc
-# echo "else source /workspaces/edna2023/install/setup.zsh; fi" >> ~/.zshrc
-echo "export ROS_DISTRO=humble" >> ~/.zshrc
-echo "export RCUTILS_COLORIZED_OUTPUT=1" >> ~/.zshrc
-echo 'complete -o nospace -o default -F _python_argcomplete "ros2"' >> ~/.zshrc
-echo 'alias python="python3"' >> ~/.zshrc
-
-
-# Update apt list and rosdep
-# Skipping since this will be done recently in docker file
-# sudo apt-get update
-# rosdep update --rosdistro=humble
-# rosdep install --from-paths src --ignore-src -r -y
-# rm -rf /workspaces/edna2023/install /workspaces/edna2023/build /workspaces/edna2023/log
diff --git a/.devcontainer/postStart.sh b/.devcontainer/postStart.sh
deleted file mode 100644
index 18e56c3..0000000
--- a/.devcontainer/postStart.sh
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/bin/bash
-ORANGE='\033[0;33m'
-RED='\033[0;31m'
-GREEN='\033[0;32m'
-NC='\033[0m'
-
-# Change permissions on any joystick devices
-# sudo chmod a+rw /dev/input/js*
-source /opt/ros/humble/setup.bash
-
-echo -e "\n----JOYSTICKS CONNECTED----"
-ros2 run joy joy_enumerate_devices
-
-
-echo -e "\n----COMMANDS----"
-echo "launch : Launch sim teleop code"
-# echo "launch isaac : Launch sim teleop code"
-echo "launch real : Launch real teleop code"
-# echo "launch test_hw : Launch rviz with teleop code"
-echo "restart-ros2 : restart ros2 daemon"
-
-echo -e "\n----Build Command----"
-echo -e "ctrl + shift + b : Build"
-
-echo -e "\n----ROS DOMAIN ID: ${GREEN}$ROS_DOMAIN_ID${NC}"
-echo -e "----ROS NAMESPACE: ${GREEN}$ROS_NAMESPACE${NC}"
\ No newline at end of file
diff --git a/.gitattributes b/.gitattributes
deleted file mode 100644
index 1b5543b..0000000
--- a/.gitattributes
+++ /dev/null
@@ -1 +0,0 @@
-kernel.zip filter=lfs diff=lfs merge=lfs -text
diff --git a/.gitignore b/.gitignore
deleted file mode 100644
index e99a8e0..0000000
--- a/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-vmlinux
-kernel.zip
diff --git a/.vs/DevEnv/FileContentIndex/1fd538b6-d6eb-4c5d-9643-9fe0b2226647.vsidx b/.vs/DevEnv/FileContentIndex/1fd538b6-d6eb-4c5d-9643-9fe0b2226647.vsidx
deleted file mode 100644
index 33113bb..0000000
Binary files a/.vs/DevEnv/FileContentIndex/1fd538b6-d6eb-4c5d-9643-9fe0b2226647.vsidx and /dev/null differ
diff --git a/.vs/DevEnv/config/applicationhost.config b/.vs/DevEnv/config/applicationhost.config
deleted file mode 100644
index a369b95..0000000
--- a/.vs/DevEnv/config/applicationhost.config
+++ /dev/null
@@ -1,1026 +0,0 @@
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diff --git a/.vs/DevEnv/v17/.wsuo b/.vs/DevEnv/v17/.wsuo
deleted file mode 100644
index d671d4c..0000000
Binary files a/.vs/DevEnv/v17/.wsuo and /dev/null differ
diff --git a/.vs/ProjectSettings.json b/.vs/ProjectSettings.json
deleted file mode 100644
index 866f1e1..0000000
--- a/.vs/ProjectSettings.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
- "CurrentProjectSetting": null
-}
\ No newline at end of file
diff --git a/.vs/VSWorkspaceState.json b/.vs/VSWorkspaceState.json
deleted file mode 100644
index 99054a7..0000000
--- a/.vs/VSWorkspaceState.json
+++ /dev/null
@@ -1,8 +0,0 @@
-{
- "ExpandedNodes": [
- "",
- "\\.devcontainer"
- ],
- "SelectedNode": "\\.devcontainer\\devcontainer.json",
- "PreviewInSolutionExplorer": false
-}
\ No newline at end of file
diff --git a/.vs/slnx.sqlite b/.vs/slnx.sqlite
deleted file mode 100644
index 6b61224..0000000
Binary files a/.vs/slnx.sqlite and /dev/null differ
diff --git a/.vscode/settings.json b/.vscode/settings.json
index b2aeec7..0a013f3 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -4,11 +4,11 @@
{
"match": "\\.xacro*$",
"isAsync": true,
- "cmd": "/bin/bash -c \u0027source /opt/ros/humble/setup.sh \u0026\u0026 source ${workspaceRoot}/install/setup.bash \u0026\u0026 xacro ${workspaceRoot}/src/edna_description/urdf/robots/edna.urdf.xacro \u003e ${workspaceRoot}/src/edna_description/urdf/edna.urdf namespace:=$ROS_NAMESPACE\u0027",
+ "cmd": "/bin/bash -c \u0027source /opt/ros/jazzy/setup.sh \u0026\u0026 source ${workspaceRoot}/install/setup.bash \u0026\u0026 xacro ${workspaceRoot}/src/edna_description/urdf/robots/edna.urdf.xacro \u003e ${workspaceRoot}/src/edna_description/urdf/edna.urdf namespace:=$ROS_NAMESPACE\u0027",
"event": "onFileChange"
}
],
- "ros.distro": "humble",
+ "ros.distro": "jazzy",
"ros.rosSetupScript": "${workspaceFolder}/install/setup.bash",
"files.associations": {
"string": "cpp",
@@ -98,12 +98,12 @@
"/workspaces/edna2023/build/edna_debugger",
"/workspaces/edna2023/install/edna_debugger/lib/python3.10/site-packages",
"/home/admin/workspaces/rtab_ws/install/rtabmap_ros/local/lib/python3.10/dist-packages",
- "/opt/ros/humble/lib/python3.10/site-packages",
- "/opt/ros/humble/local/lib/python3.10/dist-packages"
+ "/opt/ros/jazzy/lib/python3.10/site-packages",
+ "/opt/ros/jazzy/local/lib/python3.10/dist-packages"
],
"python.analysis.extraPaths": [
- "/opt/ros/humble/lib/python3.10/site-packages",
- "/opt/ros/humble/local/lib/python3.10/dist-packages"
+ "/opt/ros/jazzy/lib/python3.10/site-packages",
+ "/opt/ros/jazzy/local/lib/python3.10/dist-packages"
]
},
null,
diff --git a/.wslconfig b/.wslconfig
deleted file mode 100644
index 26d18a9..0000000
--- a/.wslconfig
+++ /dev/null
@@ -1,2 +0,0 @@
-[wsl2]
-kernel=C:\\sources\\vmlinux
diff --git a/README.md b/README.md
index e13556f..cc17b6b 100644
--- a/README.md
+++ b/README.md
@@ -1,23 +1,3 @@
# DevEnv
-1) Ensure that virtualization is turned on in bios
-2) Open Powershell as Administrator and run
-```Set-ExecutionPolicy unrestricted```
-3) cd into the DevEnv directory
-```cd C:\path\to\DevEnv```
-3) Run setup.ps1 which installs
- - WSL2
- - WSL2 kernel that support cameras, multicasting, xbox controllers and blueooth
- - winget
- - docker-desktop
- - git
- - usbipd
-4) Run code-setup.ps1
- - vscode
- - dev container extension
- - remote explorer extension
-5) Restart your PC
-
-6) Open the DevEnv folder in vscode and reopen container
- - Installs ROS2 Humble docker image
-
+
diff --git a/code-setup.ps1 b/code-setup.ps1
deleted file mode 100644
index 23d040c..0000000
--- a/code-setup.ps1
+++ /dev/null
@@ -1,44 +0,0 @@
-if ((Get-Location).Path -notmatch 'DevEnv$') {
- Write-Error "This script must be run from the DevEnv directory"
- exit 1
-}
-code --install-extension ms-vscode.remote-explorer
-code --install-extension ms-vscode-remote.remote-containers
-# Get the path to the settings.json file
-$path = "C:\Users\$env:UserName\AppData\Roaming\Code\User\settings.json"
-
-# Check if the file exists
-if (-not (Test-Path $path)) {
- # Write-Error "File not found: $path"
- # return
- "Vscode settings does not exist, creating new settings file."
- New-Item C:\Users\$env:UserName\AppData\Roaming\Code\User\settings.json -type file
- Set-Content $path "{`n`"dev.containers.executeInWSL`":true`n}"
-}
-
-# Read the contents of the file
-$content = Get-Content $path -Raw
-
-# Convert the contents to a JSON object
-$json = ConvertFrom-Json $content
-
-
-# Check if the property already exists
-
-if ($json | Get-Member -Name 'dev.containers.executeInWSL') {
- Write-Host "Property already exists in $path"
- return
-}
-
-# Add the new property to the existing object
-$json | add-member -Name "dev.containers.executeInWSL" -value $true -MemberType NoteProperty
-
-# Convert the JSON object back to a string
-$newContent = ConvertTo-Json $json -Depth 100
-
-# Write the new contents to the file
-Set-Content $path $newContent
-
-Write-Host "Property added to $path"
-
-code
\ No newline at end of file
diff --git a/docker/developer-isaac-ros/Dockerfile b/docker/developer-isaac-ros/Dockerfile
deleted file mode 100644
index 0287c77..0000000
--- a/docker/developer-isaac-ros/Dockerfile
+++ /dev/null
@@ -1,76 +0,0 @@
-FROM nvcr.io/nvidia/isaac/ros:x86_64-humble-nav2_7356480e8a4f3484b21ae13ec5c959ee
-RUN mkdir -p /opt/install-scripts
-
-################
-# Config Setup #
-################
-
-# Copy middleware profiles
-RUN mkdir -p /usr/local/share/middleware_profiles
-COPY config/*_profile.xml /usr/local/share/middleware_profiles/
-
-######################
-# User configuration #
-######################
-
-ARG USERNAME=admin
-ARG USER_UID=1000
-ARG USER_GID=1000
-
-# Install prerequisites
-RUN apt-get update && apt-get install -y \
- sudo \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
-
-# Reuse triton-server user as 'admin' user if exists
-RUN if [ $(getent group triton-server) ]; then \
- groupmod --gid ${USER_GID} -n ${USERNAME} triton-server ; \
- usermod -l ${USERNAME} -u ${USER_UID} -m -d /home/${USERNAME} triton-server ; \
- mkdir -p /home/${USERNAME} ; \
- sudo chown ${USERNAME}:${USERNAME} /home/${USERNAME} ; \
- fi
-
-# Create the 'admin' user if not already exists
-RUN if [ ! $(getent passwd ${USERNAME}) ]; then \
- groupadd --gid ${USER_GID} ${USERNAME} ; \
- useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} ; \
- fi
-
-# Update 'admin' user
-RUN echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} \
- && chmod 0440 /etc/sudoers.d/${USERNAME} \
- && adduser ${USERNAME} video && adduser ${USERNAME} sudo
-
-# Add docker group
-RUN groupadd --system docker
-RUN usermod -aG docker ${USERNAME}
-
-ENV USERNAME=${USERNAME}
-ENV USER_GID=${USER_GID}
-ENV USER_UID=${USER_UID}
-
-####################################
-# Install and Build Isaac ROS Pkgs #
-####################################
-USER ${USERNAME}
-
-# Download
-COPY install-scripts/install-isaac-pkgs /opt/install-scripts/install-isaac-pkgs
-RUN sudo chmod +x /opt/install-scripts/install-isaac-pkgs
-RUN /opt/install-scripts/install-isaac-pkgs
-
-# Build
-RUN sudo rm /usr/lib/x86_64-linux-gnu/libcuda.so.1
-RUN sudo ln -s /usr/local/cuda/lib64/stubs/libcuda.so /usr/lib/x86_64-linux-gnu/libcuda.so.1
-RUN cd /home/${USERNAME}/workspaces/isaac_ros-dev && source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build --symlink-install
-
-#####################
-# Interactive Setup #
-#####################
-
-WORKDIR /home/${USERNAME}/workspaces/isaac_ros-dev
-RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/${USERNAME}/.bashrc
-RUN echo "source /home/${USERNAME}/workspaces/isaac_ros-dev/install/setup.bash" >> /home/${USERNAME}/.bashrc
-COPY entrypoint.sh /home/${USERNAME}/entrypoint.sh
-RUN sudo chmod +x /home/${USERNAME}/entrypoint.sh
\ No newline at end of file
diff --git a/docker/developer-isaac-ros/README.md b/docker/developer-isaac-ros/README.md
deleted file mode 100644
index 1938b65..0000000
--- a/docker/developer-isaac-ros/README.md
+++ /dev/null
@@ -1,13 +0,0 @@
-# Docker for isaac ros
-
-This directory has the configuration for building the image used for isaac utilities that require l4t.
-It uses the isaac ros common container as a base and installs edna related software on top.
-
-# Build
-
-1. Docker Login to the nvidia NGC registry. [Guide](https://docs.nvidia.com/ngc/ngc-catalog-user-guide/index.html)\
-This will be used to download nvidia images.
-2. Docker Login to github registry. [Guide](https://docs.github.com/en/packages/working-with-a-github-packages-registry/working-with-the-container-registry#authenticating-with-a-personal-access-token-classic) \
-This will be used to push the image to the registry
-3. Run `./build` to build the image. \
-The script will prompt you if you would like to do a quick test or push to the registry.
\ No newline at end of file
diff --git a/docker/developer-isaac-ros/build b/docker/developer-isaac-ros/build
deleted file mode 100644
index d6a7c9c..0000000
--- a/docker/developer-isaac-ros/build
+++ /dev/null
@@ -1,30 +0,0 @@
-#!/bin/bash
-VERSION="1" # Increment manually for now
-GITHUB_REGISTRY="ghcr.io/roboeagles4828"
-IMAGE_NAME="developer-isaac-ros:$VERSION"
-
-nvidia-docker build -t "$GITHUB_REGISTRY/$IMAGE_NAME" \
- --network host .
-
-echo "Build finished"
-
-echo "Would you like to run the image in interactive mode? (y/n)"
-read INTERACTIVE
-
-if [ "$INTERACTIVE" = "y" ]; then
- docker run --rm -it \
- --privileged \
- --network host \
- --runtime nvidia \
- -e NVIDIA_VISIBLE_DEVICES=all \
- -e NVIDIA_DRIVER_CAPABILITIES=all \
- -e FASTRTPS_DEFAULT_PROFILES_FILE="/usr/local/share/middleware_profiles/rtps_udp_profile.xml" \
- -e ACCEPT_EULA=y "$GITHUB_REGISTRY/$IMAGE_NAME" '/bin/bash'
-fi
-
-echo "Would you like to push the image to the registry? (y/n)"
-read PUSH
-
-if [ "$PUSH" = "y" ]; then
- docker push "$GITHUB_REGISTRY/$IMAGE_NAME"
-fi
\ No newline at end of file
diff --git a/docker/developer-isaac-ros/config/rtps_udp_profile.xml b/docker/developer-isaac-ros/config/rtps_udp_profile.xml
deleted file mode 100644
index 9a66187..0000000
--- a/docker/developer-isaac-ros/config/rtps_udp_profile.xml
+++ /dev/null
@@ -1,30 +0,0 @@
-
-
-
-
-NVIDIA Isaac ROS Software License
-
-
-
- UdpTransport
- UDPv4
-
-
-
-
-
-
- UdpTransport
-
- false
-
-
-
\ No newline at end of file
diff --git a/docker/developer-isaac-ros/entrypoint.sh b/docker/developer-isaac-ros/entrypoint.sh
deleted file mode 100644
index 18f127a..0000000
--- a/docker/developer-isaac-ros/entrypoint.sh
+++ /dev/null
@@ -1,6 +0,0 @@
-#!/bin/bash
-source /opt/ros/${ROS_DISTRO}/setup.bash
-if [ -d "/home/${USERNAME}/workspaces/isaac_ros-dev/install" ]; then
- source /home/${USERNAME}/workspaces/isaac_ros-dev/install/setup.bash
-fi
-$@
\ No newline at end of file
diff --git a/docker/developer-isaac-ros/install-scripts/install-isaac-pkgs b/docker/developer-isaac-ros/install-scripts/install-isaac-pkgs
deleted file mode 100644
index d12958d..0000000
--- a/docker/developer-isaac-ros/install-scripts/install-isaac-pkgs
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/bin/bash
-# Followed basic instructions from isaac ros github
-
-# Create workspace
-mkdir -p ~/workspaces/isaac_ros-dev/src
-
-# Deps
-cd ~/workspaces/isaac_ros-dev/src && \
- git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nitros && \
- git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_pipeline && \
- git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_dnn_inference && \
- git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common && \
- git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam && \
- git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation && \
- git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_apriltag && \
- git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_compression
\ No newline at end of file
diff --git a/docker/developer-zed/Dockerfile b/docker/developer-zed/Dockerfile
deleted file mode 100644
index a24dcf7..0000000
--- a/docker/developer-zed/Dockerfile
+++ /dev/null
@@ -1,111 +0,0 @@
-ARG IMAGE_NAME=nvcr.io/nvidia/cuda:11.7.1-devel-ubuntu22.04
-
-FROM ${IMAGE_NAME}
-
-ARG UBUNTU_RELEASE_YEAR=22
-ARG CUDA_MAJOR=11
-ARG CUDA_MINOR=7
-ARG ZED_SDK_MAJOR=3
-ARG ZED_SDK_MINOR=8
-
-ARG ROS2_DIST=humble # ROS2 distribution
-
-ARG DEBIAN_FRONTEND=noninteractive
-
-ENV NVIDIA_DRIVER_CAPABILITIES \
- ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}compute,video,utility
-
-# Disable apt-get warnings
-RUN apt-get update || true && apt-get install -y --no-install-recommends apt-utils dialog && \
- rm -rf /var/lib/apt/lists/*
-
-ENV TZ=Europe/Paris
-
-RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone && \
- apt-get update && \
- apt-get install --yes lsb-release wget less udev sudo build-essential cmake python3 python3-dev python3-pip python3-wheel git jq libopencv-dev libpq-dev zstd usbutils && \
- rm -rf /var/lib/apt/lists/*
-
-############ Install ROS2 ############
-
-# Set and Check Locale
-RUN apt-get update || true && \
- apt-get install --no-install-recommends -y locales && \
- locale-gen en_US en_US.UTF-8 && \
- update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
- export LANG=en_US.UTF-8 && \
- locale # verify settings && \
- rm -rf /var/lib/apt/lists/*
-
-# Setup Sources
-RUN apt-get update || true && \
- apt-get install --no-install-recommends -y software-properties-common && \
- add-apt-repository universe && \
- apt-get install -y curl && \
- curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
- echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
- rm -rf /var/lib/apt/lists/*
-
-# Install ROS 2 Base packages and Python dependencies
-RUN apt-get update || true && \
- apt-get install --no-install-recommends -y \
- ros-${ROS2_DIST}-ros-base \
- ros-${ROS2_DIST}-ament-cmake-clang-format \
- ros-${ROS2_DIST}-image-transport \
- ros-${ROS2_DIST}-image-transport-plugins \
- ros-${ROS2_DIST}-diagnostic-updater \
- ros-${ROS2_DIST}-xacro \
- python3-flake8-docstrings \
- python3-pip \
- python3-pytest-cov \
- ros-dev-tools && \
- pip3 install \
- argcomplete \
- numpy \
- empy \
- lark && \
- rm -rf /var/lib/apt/lists/*
-
-# Initialize rosdep
-RUN rosdep init && rosdep update
-
-# Install the ZED SDK
-RUN echo "CUDA Version $CUDA_VERSION" > /usr/local/cuda/version.txt
-
-# Setup the ZED SDK
-RUN apt-get update -y || true && \
- apt-get install --no-install-recommends dialog bash-completion lsb-release wget less udev sudo build-essential cmake zstd python3 python3-pip libpng-dev libgomp1 -y && \
- python3 -m pip install --upgrade pip; python3 -m pip install numpy opencv-python-headless && \
- wget -q -O ZED_SDK_Linux_Ubuntu.run https://download.stereolabs.com/zedsdk/$ZED_SDK_MAJOR.$ZED_SDK_MINOR/cu$CUDA_MAJOR$CUDA_MINOR/ubuntu$UBUNTU_RELEASE_YEAR && \
- chmod +x ZED_SDK_Linux_Ubuntu.run && \
- ./ZED_SDK_Linux_Ubuntu.run -- silent skip_tools skip_cuda && \
- ln -sf /lib/x86_64-linux-gnu/libusb-1.0.so.0 /usr/lib/x86_64-linux-gnu/libusb-1.0.so && \
- rm ZED_SDK_Linux_Ubuntu.run && \
- rm -rf /var/lib/apt/lists/*
-
-# Install the ZED ROS2 Wrapper
-ENV ROS_DISTRO ${ROS2_DIST}
-
-# Copy the sources in the Docker image
-WORKDIR /root/ros2_ws/src
-RUN git clone --recursive https://github.com/stereolabs/zed-ros2-wrapper.git
-
-# RUN ls -lah /root/ros2_ws/src/
-WORKDIR /root/ros2_ws/
-
-RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash && \
- rosdep install --from-paths src --ignore-src -r -y && \
- colcon build --parallel-workers $(nproc) --symlink-install \
- --event-handlers console_direct+ --base-paths src \
- --cmake-args ' -DCMAKE_BUILD_TYPE=Release' \
- ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs' \
- ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"' "
-
-WORKDIR /root/ros2_ws
-
-# Setup environment variables
-COPY ros_entrypoint.sh /sbin/ros_entrypoint.sh
-RUN sudo chmod 755 /sbin/ros_entrypoint.sh
-
-ENTRYPOINT ["/sbin/ros_entrypoint.sh"]
-CMD ["bash"]
\ No newline at end of file
diff --git a/docker/developer-zed/build b/docker/developer-zed/build
deleted file mode 100644
index 0ab7e3a..0000000
--- a/docker/developer-zed/build
+++ /dev/null
@@ -1,24 +0,0 @@
-#!/bin/bash
-echo "ONLY USE THIS SCRIPT ON THE JETSON"
-
-VERSION=1
-GITHUB_REGISTRY="ghcr.io/roboeagles4828"
-IMAGE_NAME="developer-zed"
-
-docker build -t $GITHUB_REGISTRY/$IMAGE_NAME:$VERSION .
-
-echo "Build finished"
-
-echo "Would you like to run the image in interactive mode? (y/n)"
-read INTERACTIVE
-
-if [ "$INTERACTIVE" = "y" ]; then
- docker run --rm -it -e ACCEPT_EULA=y $GITHUB_REGISTRY/$IMAGE_NAME:$VERSION
-fi
-
-echo "Would you like to push the image to the registry? (y/n)"
-read PUSH
-
-if [ "$PUSH" = "y" ]; then wxxd
- docker push $GITHUB_REGISTRY/$IMAGE_NAME:$VERSION
-fi
\ No newline at end of file
diff --git a/docker/developer-zed/ros_entrypoint_jetson.sh b/docker/developer-zed/ros_entrypoint_jetson.sh
deleted file mode 100644
index 30d1aae..0000000
--- a/docker/developer-zed/ros_entrypoint_jetson.sh
+++ /dev/null
@@ -1,17 +0,0 @@
-#!/bin/bash
-set -e
-
-# setup ros2 environment
-source "/opt/ros/$ROS_DISTRO/install/setup.bash" --
-source "/root/ros2_ws/install/local_setup.bash" --
-
-# Welcome information
-echo "ZED ROS2 Docker Image"
-echo "---------------------"
-echo 'ROS distro: ' $ROS_DISTRO
-echo 'DDS middleware: ' $RMW_IMPLEMENTATION
-echo "---"
-echo 'Available ZED packages:'
-ros2 pkg list | grep zed
-echo "---------------------"
-exec "$@"
\ No newline at end of file
diff --git a/docker/developer/Dockerfile b/docker/developer/Dockerfile
deleted file mode 100644
index a753bab..0000000
--- a/docker/developer/Dockerfile
+++ /dev/null
@@ -1,121 +0,0 @@
-ARG BASE_IMAGE=osrf/ros:humble-desktop
-FROM $BASE_IMAGE
-RUN mkdir -p /opt/install-scripts
-ARG INSTALL_COMMON="true"
-ARG INSTALL_DOCKER="true"
-ARG INSTALL_RTAB="true"
-
-######################
-# User configuration #
-######################
-
-ARG USERNAME=admin
-ARG USER_UID=1000
-ARG USER_GID=1000
-
-# Install prerequisites
-RUN apt-get update && apt-get install -y \
- sudo \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
-
-# Create the 'admin' user if not already exists
-RUN if [ ! $(getent passwd ${USERNAME}) ]; then \
- groupadd --gid ${USER_GID} ${USERNAME} ; \
- useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} ; \
- fi
-
-# Update 'admin' user
-RUN echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} \
- && chmod 0440 /etc/sudoers.d/${USERNAME} \
- && adduser ${USERNAME} video && adduser ${USERNAME} sudo
-
-ENV USERNAME=${USERNAME}
-ENV USER_GID=${USER_GID}
-ENV USER_UID=${USER_UID}
-
-################
-# Config Setup #
-################
-
-# Copy middleware profiles
-RUN mkdir -p /usr/local/share/middleware_profiles
-COPY config/*_profile.xml /usr/local/share/middleware_profiles/
-
-##################
-# Common Utility #
-##################
-
-# Copy and install common
-COPY install-scripts/install-common /opt/install-scripts/install-common
-RUN chmod +x /opt/install-scripts/install-common
-RUN /opt/install-scripts/install-common ${INSTALL_COMMON}
-
-##############
-# Docker CLI #
-##############
-
-# Copy and isntall docker
-COPY install-scripts/install-docker /opt/install-scripts/install-docker
-RUN chmod +x /opt/install-scripts/install-docker
-RUN /opt/install-scripts/install-docker ${INSTALL_DOCKER}
-
-# Add docker group
-RUN groupadd --system docker
-RUN usermod -aG docker ${USERNAME}
-
-################
-# Install RTAB #
-################
-
-
-COPY install-scripts/install-rtab /opt/install-scripts/install-rtab
-RUN chmod +x /opt/install-scripts/install-rtab
-USER ${USERNAME}
-RUN sudo apt update && sudo apt-get install -y python3-pip
-RUN /opt/install-scripts/install-rtab ${INSTALL_RTAB}
-USER root
-
-####################
-# Preload ROS Deps #
-####################
-
-# Copy and install workspace rosdeps
-COPY install-scripts/install-rosdeps /opt/install-scripts/install-rosdeps
-RUN chmod +x /opt/install-scripts/install-rosdeps
-COPY src /tmp/src
-USER ${USERNAME}
-RUN /opt/install-scripts/install-rosdeps
-USER root
-RUN mkdir -p /opt/workspace
-
-#######################
-# Install Python deps #
-#######################
-RUN pip install rticonnextdds-connector \
-robotpy==2023.4.2.1 \
-robotpy[ctre] \
-robotpy[all] \
-robotpy[commands2] \
-robotpy[navx] \
-wpilib==2023.4.2.0
-
-######################
-# Docker Permissions #
-######################
-RUN echo "#!/bin/sh\n\
-sudoIf() { if [ \"\$(id -u)\" -ne 0 ]; then sudo \"\$@\"; else \"\$@\"; fi }\n\
-SOCKET_GID=\$(stat -c '%g' /var/run/docker.sock) \n\
-if [ \"${SOCKET_GID}\" != '0' ]; then\n\
- if [ \"\$(cat /etc/group | grep :\${SOCKET_GID}:)\" = '' ]; then sudoIf groupadd --gid \${SOCKET_GID} docker-host; fi \n\
- if [ \"\$(id ${USERNAME} | grep -E \"groups=.*(=|,)\${SOCKET_GID}\(\")\" = '' ]; then sudoIf usermod -aG \${SOCKET_GID} ${USERNAME}; fi\n\
-fi\n\
-exec \"\$@\"" > /usr/local/share/docker-init.sh \
-&& chmod +x /usr/local/share/docker-init.sh
-
-# VS Code overrides ENTRYPOINT and CMD when executing `docker run` by default.
-# Setting the ENTRYPOINT to docker-init.sh will configure non-root access to
-# the Docker socket if "overrideCommand": false is set in devcontainer.json.
-# The script will also execute CMD if you need to alter startup behaviors.
-ENTRYPOINT [ "/usr/local/share/docker-init.sh" ]
-CMD [ "sleep", "infinity" ]
\ No newline at end of file
diff --git a/docker/developer/README.md b/docker/developer/README.md
deleted file mode 100644
index c2c410a..0000000
--- a/docker/developer/README.md
+++ /dev/null
@@ -1,18 +0,0 @@
-# Docker for Development
-
-This directory has the configuration for building the image used in the edna devcontainer.
-It uses the osrf ros humble image as a base and installs edna related software on top.
-
-
-When loading the devcontainer the common utils feature is used to update the user GID/UID to match local and setup zsh and other terminal nice to haves.
-
-**Common Utils**: `devcontainers/features/common-utils` \
-**URL**: https://github.com/devcontainers/features/tree/main/src/common-utils
-
-
-# Build
-
-1. Docker Login to github registry. [Guide](https://docs.github.com/en/packages/working-with-a-github-packages-registry/working-with-the-container-registry#authenticating-with-a-personal-access-token-classic) \
-This will be used to push the image to the registry
-2. Run `./build` to build the image. \
-The script will prompt you if you would like to do a quick test or push to the registry.
\ No newline at end of file
diff --git a/docker/developer/build b/docker/developer/build
deleted file mode 100755
index 13634c3..0000000
--- a/docker/developer/build
+++ /dev/null
@@ -1,32 +0,0 @@
-#!/bin/bash
-VERSION=7 # Increment manually for now
-PREV_VERSION="$((VERSION-1))"
-GITHUB_REGISTRY="ghcr.io/roboeagles4828"
-IMAGE_NAME="developer-environment"
-
-echo "Building image $GITHUB_REGISTRY/$IMAGE_NAME:$VERSION from $GITHUB_REGISTRY/$IMAGE_NAME:$PREV_VERSION"
-
-rm -rf ./src
-cp -r ../../src .
-# Copy rio requirements to be installed
-cp ../../rio/requirements.txt ./src/requirements.txt
-
-docker build -t $GITHUB_REGISTRY/$IMAGE_NAME:$VERSION --cache-from $GITHUB_REGISTRY/$IMAGE_NAME:$PREV_VERSION .
-
-echo "Build finished"
-
-echo "Would you like to run the image in interactive mode? (y/n)"
-read INTERACTIVE
-
-if [ "$INTERACTIVE" = "y" ]; then
- docker run --rm -it -v /var/run/docker.sock:/var/run/docker.sock:rw --user="1000:1000" $GITHUB_REGISTRY/$IMAGE_NAME:$VERSION zsh
-fi
-
-echo "Would you like to push the image to the registry? (y/n)"
-read PUSH
-
-if [ "$PUSH" = "y" ]; then
- docker push $GITHUB_REGISTRY/$IMAGE_NAME:$VERSION
-fi
-
-rm -rf src
diff --git a/docker/developer/config/rtps_udp_profile.xml b/docker/developer/config/rtps_udp_profile.xml
deleted file mode 100644
index 9a66187..0000000
--- a/docker/developer/config/rtps_udp_profile.xml
+++ /dev/null
@@ -1,30 +0,0 @@
-
-
-
-
-NVIDIA Isaac ROS Software License
-
-
-
- UdpTransport
- UDPv4
-
-
-
-
-
-
- UdpTransport
-
- false
-
-
-
\ No newline at end of file
diff --git a/docker/developer/install-scripts/install-common b/docker/developer/install-scripts/install-common
deleted file mode 100644
index 84862b4..0000000
--- a/docker/developer/install-scripts/install-common
+++ /dev/null
@@ -1,180 +0,0 @@
-#!/bin/bash
-# Installs Common dev packages.
-# These are the same packages used in common devcontainer features.
-# They are added into the docker image to speed up build times but does not have user setup config.
-
-set -e
-
-INSTALL_COMMON=$1
-if [ "$INSTALL_COMMON" != "true" ]; then
- echo "Skipping common packages"
- exit 0
-fi
-
-INSTALL_ZSH="true"
-INSTALL_OH_MY_ZSH="true"
-CONFIGURE_ZSH_AS_DEFAULT_SHELL="true"
-
-# Debian / Ubuntu packages
-install_debian_packages() {
- # Ensure apt is in non-interactive to avoid prompts
- export DEBIAN_FRONTEND=noninteractive
-
- local package_list="apt-utils \
- openssh-client \
- gnupg2 \
- dirmngr \
- iproute2 \
- procps \
- lsof \
- htop \
- net-tools \
- psmisc \
- curl \
- tree \
- wget \
- rsync \
- ca-certificates \
- unzip \
- bzip2 \
- zip \
- nano \
- vim-tiny \
- less \
- jq \
- lsb-release \
- apt-transport-https \
- dialog \
- libc6 \
- libgcc1 \
- libkrb5-3 \
- libgssapi-krb5-2 \
- libicu[0-9][0-9] \
- liblttng-ust[0-9] \
- libstdc++6 \
- zlib1g \
- locales \
- sudo \
- ncdu \
- man-db \
- strace \
- manpages \
- manpages-dev \
- libnss3 \
- init-system-helpers"
-
- # Include libssl1.1 if available
- if [[ ! -z $(apt-cache --names-only search ^libssl1.1$) ]]; then
- package_list="${package_list} libssl1.1"
- fi
-
- # Include libssl3 if available
- if [[ ! -z $(apt-cache --names-only search ^libssl3$) ]]; then
- package_list="${package_list} libssl3"
- fi
-
- # Include appropriate version of libssl1.0.x if available
- local libssl_package=$(dpkg-query -f '${db:Status-Abbrev}\t${binary:Package}\n' -W 'libssl1\.0\.?' 2>&1 || echo '')
- if [ "$(echo "$libssl_package" | grep -o 'libssl1\.0\.[0-9]:' | uniq | sort | wc -l)" -eq 0 ]; then
- if [[ ! -z $(apt-cache --names-only search ^libssl1.0.2$) ]]; then
- # Debian 9
- package_list="${package_list} libssl1.0.2"
- elif [[ ! -z $(apt-cache --names-only search ^libssl1.0.0$) ]]; then
- # Ubuntu 18.04
- package_list="${package_list} libssl1.0.0"
- fi
- fi
-
- # Include git if not already installed (may be more recent than distro version)
- if ! type git > /dev/null 2>&1; then
- package_list="${package_list} git"
- fi
-
- # Install the list of packages
- echo "Packages to verify are installed: ${package_list}"
- rm -rf /var/lib/apt/lists/*
- apt-get update -y
- apt-get -y install --no-install-recommends ${package_list} 2> >( grep -v 'debconf: delaying package configuration, since apt-utils is not installed' >&2 )
-
- # Install zsh (and recommended packages) if needed
- if [ "${INSTALL_ZSH}" = "true" ] && ! type zsh > /dev/null 2>&1; then
- apt-get install -y zsh
- fi
-
- # Ensure at least the en_US.UTF-8 UTF-8 locale is available = common need for both applications and things like the agnoster ZSH theme.
- if [ "${LOCALE_ALREADY_SET}" != "true" ] && ! grep -o -E '^\s*en_US.UTF-8\s+UTF-8' /etc/locale.gen > /dev/null; then
- echo "en_US.UTF-8 UTF-8" >> /etc/locale.gen
- locale-gen
- LOCALE_ALREADY_SET="true"
- fi
-
- # Clean up
- apt-get -y clean
- rm -rf /var/lib/apt/lists/*
- PACKAGES_ALREADY_INSTALLED="true"
-}
-install_debian_packages
-
-# *********************************
-# ** Shell customization section **
-# *********************************
-group_name="${USERNAME}"
-if [ "${USERNAME}" = "root" ]; then
- user_rc_path="/root"
-else
- user_rc_path="/home/${USERNAME}"
- if [ ! -d "${user_rc_path}" ]; then
- mkdir -p "${user_rc_path}"
- chown ${USERNAME}:${group_name} "${user_rc_path}"
- fi
-fi
-
-# Restore user .bashrc / .profile / .zshrc defaults from skeleton file if it doesn't exist or is empty
-possible_rc_files=( ".bashrc" ".profile" ".zshrc" )
-for rc_file in "${possible_rc_files[@]}"; do
- if [ -f "/etc/skel/${rc_file}" ]; then
- if [ ! -e "${user_rc_path}/${rc_file}" ] || [ ! -s "${user_rc_path}/${rc_file}" ]; then
- cp "/etc/skel/${rc_file}" "${user_rc_path}/${rc_file}"
- chown ${USERNAME}:${group_name} "${user_rc_path}/${rc_file}"
- fi
- fi
-done
-
-# Optionally configure zsh and Oh My Zsh!
-if [ "${INSTALL_ZSH}" = "true" ]; then
-
- if [ "${CONFIGURE_ZSH_AS_DEFAULT_SHELL}" == "true" ]; then
- chsh --shell /bin/zsh ${USERNAME}
- fi
-
- # Adapted, simplified inline Oh My Zsh! install steps that adds, defaults to a codespaces theme.
- # See https://github.com/ohmyzsh/ohmyzsh/blob/master/tools/install.sh for official script.
- oh_my_install_dir="${user_rc_path}/.oh-my-zsh"
- if [ ! -d "${oh_my_install_dir}" ] && [ "${INSTALL_OH_MY_ZSH}" = "true" ]; then
- template_path="${oh_my_install_dir}/templates/zshrc.zsh-template"
- user_rc_file="${user_rc_path}/.zshrc"
- umask g-w,o-w
- mkdir -p ${oh_my_install_dir}
- git clone --depth=1 \
- -c core.eol=lf \
- -c core.autocrlf=false \
- -c fsck.zeroPaddedFilemode=ignore \
- -c fetch.fsck.zeroPaddedFilemode=ignore \
- -c receive.fsck.zeroPaddedFilemode=ignore \
- "https://github.com/ohmyzsh/ohmyzsh" "${oh_my_install_dir}" 2>&1
- echo -e "$(cat "${template_path}")\nDISABLE_AUTO_UPDATE=true\nDISABLE_UPDATE_PROMPT=true" > ${user_rc_file}
- sed -i -e 's/ZSH_THEME=.*/ZSH_THEME="devcontainers"/g' ${user_rc_file}
-
-
- # Shrink git while still enabling updates
- cd "${oh_my_install_dir}"
- git repack -a -d -f --depth=1 --window=1
- # Copy to non-root user if one is specified
- if [ "${USERNAME}" != "root" ]; then
- cp -rf "${user_rc_file}" "${oh_my_install_dir}" /root
- chown -R ${USERNAME}:${group_name} "${oh_my_install_dir}" "${user_rc_file}"
- fi
- fi
-fi
-
-echo "Done!"
diff --git a/docker/developer/install-scripts/install-docker b/docker/developer/install-scripts/install-docker
deleted file mode 100644
index f4ea500..0000000
--- a/docker/developer/install-scripts/install-docker
+++ /dev/null
@@ -1,15 +0,0 @@
-#!/bin/bash
-
-INSTALL_DOCKER=$1
-if [ "$INSTALL_DOCKER" != "true" ]; then
- echo "Skipping docker install"
- exit 0
-fi
-
-
-curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
-echo \
- "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
- $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
-apt-get update
-apt-get install -y --no-install-recommends docker-ce-cli
diff --git a/docker/developer/install-scripts/install-rosdeps b/docker/developer/install-scripts/install-rosdeps
deleted file mode 100644
index 6018c8f..0000000
--- a/docker/developer/install-scripts/install-rosdeps
+++ /dev/null
@@ -1,11 +0,0 @@
-#!/bin/bash
-# Get pip
-sudo apt-get install -y python3-pip
-
-# Preload workspace dependencies
-cd /tmp &&
- sudo apt-get update -y &&
- rosdep update --rosdistro=humble &&
- rosdep install --from-paths src --ignore-src -r -y &&
- pip install -r src/requirements.txt &&
- sudo rm -rf /tmp/src
diff --git a/docker/developer/install-scripts/install-rtab b/docker/developer/install-scripts/install-rtab
deleted file mode 100644
index ccefa5f..0000000
--- a/docker/developer/install-scripts/install-rtab
+++ /dev/null
@@ -1,20 +0,0 @@
-#!/bin/bash
-
-INSTALL_RTAB=$1
-if [ "$INSTALL_RTAB" != "true" ]; then
- echo "Skipping rtab install"
- exit 0
-fi
-
-mkdir -p ~/workspaces/rtab_ws/src
-
-export MAKEFLAGS="-j6"
-
-sudo apt-get update -y && rosdep update --rosdistro=humble
-
-source /opt/ros/humble/setup.bash
-cd ~/workspaces/rtab_ws && \
- git clone --branch humble-devel https://github.com/introlab/rtabmap.git src/rtabmap && \
- git clone --branch humble-devel https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros && \
- rosdep install --from-paths src --ignore-src -r -y && \
- colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
diff --git a/docker/isaac-sim/Dockerfile b/docker/isaac-sim/Dockerfile
deleted file mode 100644
index 051933e..0000000
--- a/docker/isaac-sim/Dockerfile
+++ /dev/null
@@ -1,7 +0,0 @@
-FROM nvcr.io/nvidia/isaac-sim:2022.2.1
-
-# Set ROS2 Humble as the default ROS Bridge
-RUN sed -i 's/# "omni.isaac.ros_bridge/"omni.isaac.ros2_bridge-humble/' /isaac-sim/apps/omni.isaac.sim.base.kit
-
-# Add allow root to warm up
-RUN echo " --allow-root" >> /isaac-sim/omni.isaac.sim.warmup.sh
\ No newline at end of file
diff --git a/docker/isaac-sim/build b/docker/isaac-sim/build
deleted file mode 100644
index 125c9ab..0000000
--- a/docker/isaac-sim/build
+++ /dev/null
@@ -1,23 +0,0 @@
-#!/bin/bash
-
-GITHUB_REGISTRY="ghcr.io/roboeagles4828"
-VERSION="2022.2.1"
-IMAGE_NAME="isaac-sim:$VERSION"
-
-docker build -t $GITHUB_REGISTRY/$IMAGE_NAME --cache-from $GITHUB_REGISTRY/$IMAGE_NAME .
-
-echo "Build finished"
-
-echo "Would you like to run the image in interactive mode? (y/n)"
-read INTERACTIVE
-
-if [ "$INTERACTIVE" = "y" ]; then
- docker run --rm -it -e ACCEPT_EULA=y --entrypoint /bin/bash $GITHUB_REGISTRY/$IMAGE_NAME
-fi
-
-echo "Would you like to push the image to the registry? (y/n)"
-read PUSH
-
-if [ "$PUSH" = "y" ]; then
- docker push $GITHUB_REGISTRY/$IMAGE_NAME
-fi
\ No newline at end of file
diff --git a/docker/jetson-isaac-ros/Dockerfile b/docker/jetson-isaac-ros/Dockerfile
deleted file mode 100644
index 072476a..0000000
--- a/docker/jetson-isaac-ros/Dockerfile
+++ /dev/null
@@ -1 +0,0 @@
-FROM nvcr.io/nvidia/isaac/ros:aarch64-humble-nav2_6dfaf7adbe190f1181c3a0a2f2418760
\ No newline at end of file
diff --git a/docker/jetson-isaac-ros/README.md b/docker/jetson-isaac-ros/README.md
deleted file mode 100644
index f972d06..0000000
--- a/docker/jetson-isaac-ros/README.md
+++ /dev/null
@@ -1 +0,0 @@
-# Jetson Docker Image with Isaac ROS
\ No newline at end of file
diff --git a/docker/jetson-zed/Dockerfile b/docker/jetson-zed/Dockerfile
deleted file mode 100644
index 10ad062..0000000
--- a/docker/jetson-zed/Dockerfile
+++ /dev/null
@@ -1,88 +0,0 @@
-ARG IMAGE_NAME=dustynv/ros:humble-ros-base-l4t-r35.1.0
-
-FROM ${IMAGE_NAME}
-
-ARG ZED_SDK_MAJOR=3
-ARG ZED_SDK_MINOR=8
-ARG JETPACK_MAJOR=5
-ARG JETPACK_MINOR=0
-ARG L4T_MAJOR=35
-ARG L4T_MINOR=1
-
-ARG ROS2_DIST=humble # ROS2 distribution
-
-# ZED ROS2 Wrapper dependencies version
-ARG XACRO_VERSION=2.0.8
-ARG DIAGNOSTICS_VERSION=3.0.0
-ARG AMENT_LINT_VERSION=0.12.4
-
-ENV DEBIAN_FRONTEND noninteractive
-
-# Enable required NVIDIA drivers
-#ENV NVIDIA_DRIVER_CAPABILITIES \
-# ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}compute,video,utility
-
-# Disable apt-get warnings
-
-RUN apt-get update --allow-unauthenticated || true && apt-get install --allow-unauthenticated -y --no-install-recommends apt-utils dialog
-
-ENV TZ=Europe/Paris
-
-RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone && \
- apt-get install --allow-unauthenticated --yes lsb-release wget less udev sudo build-essential cmake python3 python3-dev python3-pip python3-wheel git jq libpq-dev zstd usbutils && \
- rm -rf /var/lib/apt/lists/*
-
-# Install the ZED SDK
-RUN echo "# R${L4T_MAJOR} (release), REVISION: ${L4T_MINOR}" > /etc/nv_tegra_release && \
- apt-get update -y --allow-unauthenticated || true && \
- apt-get install -y --allow-unauthenticated --no-install-recommends zstd wget less cmake curl gnupg2 \
- build-essential python3 python3-pip python3-dev python3-setuptools libusb-1.0-0-dev -y && \
- pip install protobuf && \
- wget -q --no-check-certificate -O ZED_SDK_Linux_JP.run \
- https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/l4t${L4T_MAJOR}.${L4T_MINOR}/jetsons && \
- chmod +x ZED_SDK_Linux_JP.run ; ./ZED_SDK_Linux_JP.run silent skip_tools && \
- rm -rf /usr/local/zed/resources/* && \
- rm -rf ZED_SDK_Linux_JP.run && \
- rm -rf /var/lib/apt/lists/*
-
-# Install the ZED ROS2 Wrapper
-ENV ROS_DISTRO ${ROS2_DIST}
-
-# Copy the sources in the Docker image
-WORKDIR /root/ros2_ws/src
-RUN git clone --recursive https://github.com/stereolabs/zed-ros2-wrapper.git
-
-# Install missing dependencies
-WORKDIR /root/ros2_ws/src
-RUN wget https://github.com/ros/xacro/archive/refs/tags/${XACRO_VERSION}.tar.gz -O - | tar -xvz && mv xacro-${XACRO_VERSION} xacro && \
- wget https://github.com/ros/diagnostics/archive/refs/tags/${DIAGNOSTICS_VERSION}.tar.gz -O - | tar -xvz && mv diagnostics-${DIAGNOSTICS_VERSION} diagnostics && \
- wget https://github.com/ament/ament_lint/archive/refs/tags/${AMENT_LINT_VERSION}.tar.gz -O - | tar -xvz && mv ament_lint-${AMENT_LINT_VERSION} ament-lint
-
-
-# Check that all the dependencies are satisfied
-WORKDIR /root/ros2_ws
-RUN apt-get update -y --allow-unauthenticated || true && rosdep update && \
- rosdep install --from-paths src --ignore-src -r -y && \
- rm -rf /var/lib/apt/lists/*
-
-# Build the dependencies and the ZED ROS2 Wrapper
-RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/install/setup.bash && \
- colcon build --parallel-workers $(nproc) --symlink-install \
- --event-handlers console_direct+ --base-paths src \
- --cmake-args ' -DCMAKE_BUILD_TYPE=Release' \
- ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs' \
- ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"' \
- ' --no-warn-unused-cli' "
-
-WORKDIR /root/ros2_ws
-
-# Copy middleware profiles
-RUN mkdir -p /usr/local/share/middleware_profiles
-COPY config/*_profile.xml /usr/local/share/middleware_profiles/
-
-# Setup environment variables
-COPY ros_entrypoint_jetson.sh /sbin/ros_entrypoint.sh
-RUN sudo chmod 755 /sbin/ros_entrypoint.sh
-
-ENTRYPOINT ["/sbin/ros_entrypoint.sh"]
-CMD ["bash"]
diff --git a/docker/jetson-zed/build b/docker/jetson-zed/build
deleted file mode 100644
index 257e362..0000000
--- a/docker/jetson-zed/build
+++ /dev/null
@@ -1,24 +0,0 @@
-#!/bin/bash
-echo "ONLY USE THIS SCRIPT ON THE JETSON"
-
-VERSION=1
-GITHUB_REGISTRY="ghcr.io/roboeagles4828"
-IMAGE_NAME="jetson-zed"
-
-docker build -t $GITHUB_REGISTRY/$IMAGE_NAME:$VERSION .
-
-echo "Build finished"
-
-echo "Would you like to run the image in interactive mode? (y/n)"
-read INTERACTIVE
-
-if [ "$INTERACTIVE" = "y" ]; then
- docker run --rm -it -e ACCEPT_EULA=y $GITHUB_REGISTRY/$IMAGE_NAME:$VERSION
-fi
-
-echo "Would you like to push the image to the registry? (y/n)"
-read PUSH
-
-if [ "$PUSH" = "y" ]; then
- docker push $GITHUB_REGISTRY/$IMAGE_NAME:$VERSION
-fi
\ No newline at end of file
diff --git a/docker/jetson-zed/config/rtps_udp_profile.xml b/docker/jetson-zed/config/rtps_udp_profile.xml
deleted file mode 100644
index 9a66187..0000000
--- a/docker/jetson-zed/config/rtps_udp_profile.xml
+++ /dev/null
@@ -1,30 +0,0 @@
-
-
-
-
-NVIDIA Isaac ROS Software License
-
-
-
- UdpTransport
- UDPv4
-
-
-
-
-
-
- UdpTransport
-
- false
-
-
-
\ No newline at end of file
diff --git a/docker/jetson-zed/ros_entrypoint_jetson.sh b/docker/jetson-zed/ros_entrypoint_jetson.sh
deleted file mode 100644
index 30d1aae..0000000
--- a/docker/jetson-zed/ros_entrypoint_jetson.sh
+++ /dev/null
@@ -1,17 +0,0 @@
-#!/bin/bash
-set -e
-
-# setup ros2 environment
-source "/opt/ros/$ROS_DISTRO/install/setup.bash" --
-source "/root/ros2_ws/install/local_setup.bash" --
-
-# Welcome information
-echo "ZED ROS2 Docker Image"
-echo "---------------------"
-echo 'ROS distro: ' $ROS_DISTRO
-echo 'DDS middleware: ' $RMW_IMPLEMENTATION
-echo "---"
-echo 'Available ZED packages:'
-ros2 pkg list | grep zed
-echo "---------------------"
-exec "$@"
\ No newline at end of file
diff --git a/docker/jetson/README.md b/docker/jetson/README.md
deleted file mode 100644
index 8dce4da..0000000
--- a/docker/jetson/README.md
+++ /dev/null
@@ -1 +0,0 @@
-# Jetson Docker Image
\ No newline at end of file
diff --git a/docker/jetson/build b/docker/jetson/build
deleted file mode 100644
index d8b6b77..0000000
--- a/docker/jetson/build
+++ /dev/null
@@ -1,42 +0,0 @@
-#!/bin/bash
-
-echo "ONLY USE THIS SCRIPT ON THE JETSON"
-VERSION=3 # Increment manually for now
-PREV_VERSION="$((VERSION-1))"
-GITHUB_REGISTRY="ghcr.io/roboeagles4828"
-IMAGE_NAME="jetson"
-
-# Build Image
-echo "Building image : jetson-base:$VERSION"
-cd ../developer
-
-rm -rf ./src
-cp -r ../../src .
-# Copy rio requirements to be installed
-touch ./src/requirements.txt
-
-# Build from the Dockerfile in the developer folder making an intermediate image
-docker build -t $GITHUB_REGISTRY/$IMAGE_NAME:$VERSION \
- --cache-from $GITHUB_REGISTRY/$IMAGE_NAME:$PREV_VERSION \
- --build-arg BASE_IMAGE=ros:humble-ros-base \
- --build-arg INSTALL_RTAB="false" \
- --build-arg INSTALL_DOCKER="false" .
-
-echo "Build finished"
-cd ../jetson
-
-echo "Would you like to run the image in interactive mode? (y/n)"
-read INTERACTIVE
-
-if [ "$INTERACTIVE" = "y" ]; then
- docker run --rm -it $GITHUB_REGISTRY/$IMAGE_NAME:$VERSION
-fi
-
-echo "Would you like to push the image to the registry? (y/n)"
-read PUSH
-
-if [ "$PUSH" = "y" ]; then
- docker push $GITHUB_REGISTRY/$IMAGE_NAME:$VERSION
-fi
-
-rm -rf ../developer/src
\ No newline at end of file
diff --git a/docker/jetson/entrypoint.sh b/docker/jetson/entrypoint.sh
deleted file mode 100644
index 9500ab9..0000000
--- a/docker/jetson/entrypoint.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/bash
-source /opt/ros/${ROS_DISTRO}/setup.bash
-source install/setup.bash
-ros2 launch edna_bringup real.launch.py
\ No newline at end of file
diff --git a/docker/vision-devel/Dockerfile b/docker/vision-devel/Dockerfile
deleted file mode 100644
index f84cac3..0000000
--- a/docker/vision-devel/Dockerfile
+++ /dev/null
@@ -1,41 +0,0 @@
-FROM stereolabs/zed:4.0-devel-cuda11.8-ubuntu22.04
-
-# Install dependencies
-RUN apt-get update && apt-get install -y \
- sudo \
- wget \
- git \
- software-properties-common \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
-# Install libcudnn8
-ENV OS=ubuntu2204
-
-RUN wget https://developer.download.nvidia.com/compute/cuda/repos/${OS}/x86_64/cuda-${OS}.pin
-
-RUN mv cuda-${OS}.pin /etc/apt/preferences.d/cuda-repository-pin-600
-RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/${OS}/x86_64/7fa2af80.pub
-RUN add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/${OS}/x86_64/ /"
-RUN apt-get update
-ENV cudnn_version=8.9.3.28
-ENV cuda_version=cuda11.8
-
-RUN apt-get install libcudnn8=${cudnn_version}-1+${cuda_version}
-RUN pip install pyyaml
-WORKDIR /usr/local
-RUN git clone --recursive https://github.com/pytorch/pytorch
-WORKDIR /usr/local/pytorch
-RUN git submodule sync && git submodule update --init --recursive
-RUN python3 setup.py develop
-WORKDIR /usr/local
-RUN git clone https://github.com/pytorch/vision.git
-WORKDIR /usr/local/vision
-RUN python3 setup.py develop
-WORKDIR /usr/local
-RUN git clone https://github.com/ultralytics/ultralytics
-WORKDIR /usr/local/ultralytics
-RUN sed -i 's/torch>=1.7.0/# torch>=1.7.0/g' requirements.txt
-RUN sed -i 's/torchvision>=0.8.1/# torchvision>=0.8.1/g' requirements.txt
-RUN pip install -e .
-WORKDIR /usr/local
-
diff --git a/docker/vision-devel/build b/docker/vision-devel/build
deleted file mode 100644
index 5c93004..0000000
--- a/docker/vision-devel/build
+++ /dev/null
@@ -1,23 +0,0 @@
-#!/bin/bash
-
-GITHUB_REGISTRY="ghcr.io/roboeagles4828"
-VERSION="2"
-IMAGE_NAME="vision-devel:$VERSION"
-
-docker build -t $GITHUB_REGISTRY/$IMAGE_NAME --cache-from $GITHUB_REGISTRY/$IMAGE_NAME .
-
-echo "Build finished"
-
-echo "Would you like to run the image in interactive mode? (y/n)"
-read INTERACTIVE
-
-if [ "$INTERACTIVE" = "y" ]; then
- docker run --rm -it -e ACCEPT_EULA=y --entrypoint /bin/bash $GITHUB_REGISTRY/$IMAGE_NAME
-fi
-
-echo "Would you like to push the image to the registry? (y/n)"
-read PUSH
-
-if [ "$PUSH" = "y" ]; then
- docker push $GITHUB_REGISTRY/$IMAGE_NAME
-fi
\ No newline at end of file
diff --git a/isaac.bat b/isaac.bat
deleted file mode 100644
index 6b1ae3a..0000000
--- a/isaac.bat
+++ /dev/null
@@ -1,4 +0,0 @@
-@echo off
-call C:\opt\ros\foxy\x64\setup.bat
-call C:\Users\%USERNAME%\AppData\Local\ov\pkg\isaac_sim-2022.2.1\isaac-sim.bat
-```
\ No newline at end of file
diff --git a/isaac_setup.ps1 b/isaac_setup.ps1
deleted file mode 100644
index d1cf683..0000000
--- a/isaac_setup.ps1
+++ /dev/null
@@ -1,21 +0,0 @@
-$ProgressPreference = 'SilentlyContinue'
-if (-not (Test-Path "$env:LOCALAPPDATA\ov")) {
- "Omniverse not installed. Installing..."
- Invoke-WebRequest 'https://install.launcher.omniverse.nvidia.com/installers/omniverse-launcher-win.exe' -OutFile isaac_sim_windows.exe
- ./isaac_sim_windows.exe
- "Omniverse installed!"
-}
-while (-not (Test-Path "$env:LOCALAPPDATA\ov\pkg\isaac_sim-2022.2.1")) {
- "Isaac sim not installed. Please install it"
- Write-Host "Press Enter when installed"
- $null = Read-Host
-
-}
-"Install ROS2..."
-Invoke-WebRequest 'https://www.dropbox.com/scl/fi/chckfua0ontxc9t2hnvrk/ROS2_foxy.zip?rlkey=1zk4u7kjgzfxw85n24pavj9r7&dl=1' -OutFile ROS2_foxy.zip
-Expand-Archive -LiteralPath .\ROS2_foxy.zip -DestinationPath .\C:\
-"ROS 2 installed!"
-"Setup Isaac sim..."
-(Get-Content -Path "$env:LOCALAPPDATA\ov\pkg\isaac_sim-2022.2.1/apps/omni.isaac.sim.base.kit") | ForEach-Object {$_ -replace 'isaac.startup.ros_bridge_extension = ""', 'isaac.startup.ros_bridge_extension = "omni.isaac.ros2_bridge"'} | Set-Content -Path "$env:LOCALAPPDATA\ov\pkg\isaac_sim-2022.2.1/apps/omni.isaac.sim.base.kit"
-"Setup Done!"
-"To run isaac sim, run isaac.bat outside of dev container"
\ No newline at end of file
diff --git a/.vs/DevEnv/FileContentIndex/read.lock b/jazzy_ws/src/README.MD
similarity index 100%
rename from .vs/DevEnv/FileContentIndex/read.lock
rename to jazzy_ws/src/README.MD
diff --git a/scripts/config/SN39192289.conf b/scripts/config/SN39192289.conf
deleted file mode 100644
index 4a3e37f..0000000
--- a/scripts/config/SN39192289.conf
+++ /dev/null
@@ -1,129 +0,0 @@
-[LEFT_CAM_2K]
-fx=1066.47
-fy=1066.69
-cx=1096.4
-cy=608.35
-k1=-0.0481392
-k2=0.0204418
-p1=-0.000164085
-p2=-0.000320881
-k3=-0.00848405
-
-[RIGHT_CAM_2K]
-fx=1067.68
-fy=1067.68
-cx=1119.35
-cy=638.421
-k1=-0.0488906
-k2=0.0210952
-p1=-0.000111085
-p2=-2.85138e-05
-k3=-0.00867969
-
-[LEFT_CAM_FHD]
-fx=1066.47
-fy=1066.69
-cx=952.4
-cy=527.35
-k1=-0.0481392
-k2=0.0204418
-p1=-0.000164085
-p2=-0.000320881
-k3=-0.00848405
-
-[RIGHT_CAM_FHD]
-fx=1067.68
-fy=1067.68
-cx=975.35
-cy=557.421
-k1=-0.0488906
-k2=0.0210952
-p1=-0.000111085
-p2=-2.85138e-05
-k3=-0.00867969
-
-[LEFT_CAM_HD]
-fx=533.235
-fy=533.345
-cx=634.7
-cy=352.175
-k1=-0.0481392
-k2=0.0204418
-p1=-0.000164085
-p2=-0.000320881
-k3=-0.00848405
-
-[RIGHT_CAM_HD]
-fx=533.84
-fy=533.84
-cx=646.175
-cy=367.2105
-k1=-0.0488906
-k2=0.0210952
-p1=-0.000111085
-p2=-2.85138e-05
-k3=-0.00867969
-
-[LEFT_CAM_VGA]
-fx=266.6175
-fy=266.6725
-cx=332.85
-cy=183.5875
-k1=-0.0481392
-k2=0.0204418
-p1=-0.000164085
-p2=-0.000320881
-k3=-0.00848405
-
-[RIGHT_CAM_VGA]
-fx=266.92
-fy=266.92
-cx=338.5875
-cy=191.10525
-k1=-0.0488906
-k2=0.0210952
-p1=-0.000111085
-p2=-2.85138e-05
-k3=-0.00867969
-
-[LEFT_DISTO]
-k1=-1.09881
-k2=2.26482
-k3=0.121642
-k4=-1.00398
-k5=2.11774
-k6=0.27731
-p1=-0.000104778
-p2=-0.00019719
-
-[RIGHT_DISTO]
-k1=-1.23005
-k2=2.54131
-k3=0.146487
-k4=-1.13444
-k5=2.38549
-k6=0.319041
-p1=-1.45179e-05
-p2=-0.000258106
-
-[STEREO]
-Baseline=119.769
-TY=-0.234338
-TZ=0.0178837
-CV_2K=0.00274884
-CV_FHD=0.00274884
-CV_HD=0.00274884
-CV_VGA=0.00274884
-RX_2K=0.00227577
-RX_FHD=0.00227577
-RX_HD=0.00227577
-RX_VGA=0.00227577
-RZ_2K=0.00172762
-RZ_FHD=0.00172762
-RZ_HD=0.00172762
-RZ_VGA=0.00172762
-
-[MISC]
-Sensor_ID=0
-
-
diff --git a/scripts/config/remote-config b/scripts/config/remote-config
deleted file mode 100644
index 6b43d94..0000000
--- a/scripts/config/remote-config
+++ /dev/null
@@ -1,6 +0,0 @@
-USERNAME="roboeagles"
-IP_ADDRESS="10.48.28.22"
-PORT="5800"
-REMOTE_PATH="/home/$USERNAME/edna2023"
-
-MACHINE_NAME=${5:-""}
\ No newline at end of file
diff --git a/scripts/config/remote-config-orin b/scripts/config/remote-config-orin
deleted file mode 100644
index 6ce7b47..0000000
--- a/scripts/config/remote-config-orin
+++ /dev/null
@@ -1,6 +0,0 @@
-USERNAME="sorineagle"
-IP_ADDRESS="192.168.1.171"
-PORT="22"
-REMOTE_PATH="/home/$USERNAME/edna2023"
-
-MACHINE_NAME=${5:-""}
\ No newline at end of file
diff --git a/scripts/dds-ping b/scripts/dds-ping
deleted file mode 100644
index e12fdde..0000000
--- a/scripts/dds-ping
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/usr/bin/bash
-
-# Topic Publish
-ros2 topic pub /ping std_msgs/msg/Header "{'stamp': 'now', frame_id: 'PING' }"
\ No newline at end of file
diff --git a/scripts/launch b/scripts/launch
deleted file mode 100644
index d399d84..0000000
--- a/scripts/launch
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/bash
-
-default="isaac"
-input=$1
-bringup=${input:-$default}
-
-echo "Quick Launching... ${bringup}"
-ros2 launch edna_bringup $bringup.launch.py
\ No newline at end of file
diff --git a/scripts/local-setup.sh b/scripts/local-setup.sh
deleted file mode 100644
index f353d3b..0000000
--- a/scripts/local-setup.sh
+++ /dev/null
@@ -1,71 +0,0 @@
-#!/bin/bash
-ORANGE='\033[0;33m'
-RED='\033[0;31m'
-GREEN='\033[0;32m'
-NC='\033[0m'
-SCRIPT_PATH=$(dirname "$0")
-devenv_path="$SCRIPT_PATH/../.devcontainer/.env"
-
-# Graphics Driver Check
-hasDriver=$(nvidia-smi | grep "Version: 525")
-if [[ -z "$hasDriver" ]]; then
- echo -e "${RED}Please install nvidia driver 525 before this install script${NC}"
- exit 1
-fi
-
-echo -e "${ORANGE}INSTALLING APT PACKAGES${NC}"
-sudo apt-get update
-sudo apt-get install \
- apt-transport-https \
- ca-certificates \
- curl \
- gnupg-agent \
- software-properties-common \
- git-lfs -y
-
-# Stop ubuntu pop ups that applications are not responding
-gsettings set org.gnome.mutter check-alive-timeout 60000
-
-# Setup a unique domain
-# Avoids conflicts with others on the same network
-if [ -z "$(cat $devenv_path | grep ROS_NAMESPACE)" ]; then
- echo -e "${ORANGE}SETTING ROS_NAMESPACE${NC}"
- read -p "Enter a name for your ROS_NAMESPACE: " ros_namespace
- echo "ROS_NAMESPACE=${ros_namespace}" >> $devenv_path
-else
- echo -e "${GREEN}ROS_NAMESPACE ALREADY SET${NC}"
-fi
-
-# Docker
-if [[ -z "$(which docker)" ]]; then
- echo -e "${ORANGE}INSTALLING DOCKER${NC}"
- curl https://get.docker.com | sh \
- && sudo systemctl --now enable docker
- sudo usermod -aG docker $USER
-else
- echo -e "${GREEN}DOCKER ALREADY INSTALLED${NC}"
-fi
-
-
-# Nividia Docker
-if ! dpkg -s nvidia-docker2 > /dev/null; then
- echo -e "${ORANGE}INSTALLING NVIDIA DOCKER${NC}"
- distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
- && curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
- && curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | \
- sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
- sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
- sudo apt-get update
- sudo apt-get install -y nvidia-docker2
- sudo systemctl restart docker
-else
- echo -e "${GREEN}NVIDIA DOCKER ALREADY INSTALLED${NC}"
-fi
-
-# Deployment Keys
-if [ ! -f ~/.ssh/robot_deploy ]; then
- echo -e "${ORANGE}SETTING UP DEPLOY KEYS${NC}"
- ssh-keygen -b 2048 -t rsa -f ~/.ssh/robot_deploy -q -N ""
-else
- echo -e "${GREEN}DEPLOY KEYS ALREADY SET${NC}"
-fi
\ No newline at end of file
diff --git a/scripts/quickpub.py b/scripts/quickpub.py
deleted file mode 100644
index a9ccdc9..0000000
--- a/scripts/quickpub.py
+++ /dev/null
@@ -1,47 +0,0 @@
-#!/usr/bin/python3
-import time
-import rclpy
-from rclpy.node import Node
-from sensor_msgs.msg import JointState
-from threading import Thread
-
-JOINT_NAMES = [
- # Pneumatics
- 'arm_roller_bar_joint',
- 'top_slider_joint',
- 'top_gripper_left_arm_joint',
- 'bottom_gripper_left_arm_joint',
- # Wheels
- 'elevator_center_joint',
- 'bottom_intake_joint',
-]
-
-class ROSNode(Node):
- def __init__(self):
- super().__init__('quickpublisher')
- self.publish_positions = [0.0]*6
- self.publisher = self.create_publisher(JointState, "/real/real_arm_commands", 10)
- self.publishTimer = self.create_timer(0.5, self.publish)
-
- def publish(self):
- msg = JointState()
- msg.name = JOINT_NAMES
- msg.position = self.publish_positions
- self.publisher.publish(msg)
-
-
-def main():
- rclpy.init()
- node = ROSNode()
- Thread(target=rclpy.spin, args=(node,)).start()
- while True:
- try:
- joint_index = int(input("Joint index: "))
- position = float(input("Position: "))
- node.publish_positions[joint_index] = position
- except:
- print("Invalid input")
- continue
-
-if __name__ == '__main__':
- main()
\ No newline at end of file
diff --git a/scripts/real-startup/README.md b/scripts/real-startup/README.md
deleted file mode 100644
index e69de29..0000000
diff --git a/scripts/real-startup/jetson/startup.sh b/scripts/real-startup/jetson/startup.sh
deleted file mode 100644
index 58b655f..0000000
--- a/scripts/real-startup/jetson/startup.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-#!/bin/bash
-cd /home/sorineagle/edna2023/
-docker compose up
\ No newline at end of file
diff --git a/scripts/real-startup/jetson/stop.sh b/scripts/real-startup/jetson/stop.sh
deleted file mode 100644
index 5d99f1c..0000000
--- a/scripts/real-startup/jetson/stop.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-#!/bin/bash
-cd /home/sorineagle/edna2023/
-docker compose down
\ No newline at end of file
diff --git a/scripts/real-startup/pi/edna.service b/scripts/real-startup/pi/edna.service
deleted file mode 100644
index 1f70761..0000000
--- a/scripts/real-startup/pi/edna.service
+++ /dev/null
@@ -1,15 +0,0 @@
-[Unit]
-Description=edna launch real on startup
-Wants=network-online.target
-After=network.target network-online.target
-
-[Service]
-Type=simple
-User=ubuntu
-RemainAfterExit=yes
-ExecStart=/usr/bin/bash /home/ubuntu/edna2023/scripts/real-startup/pi/startup.sh
-Restart=always
-RestartSec=1
-
-[Install]
-WantedBy=multi-user.target
\ No newline at end of file
diff --git a/scripts/real-startup/pi/post-recieve b/scripts/real-startup/pi/post-recieve
deleted file mode 100644
index 7d1916b..0000000
--- a/scripts/real-startup/pi/post-recieve
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/bin/bash
-cd /home/ubuntu/edna2023
-source /opt/ros/humble/setup.bash
-colcon build --symlink-install --paths src/*
-sudo systemctl restart edna.service
\ No newline at end of file
diff --git a/scripts/real-startup/pi/startup.sh b/scripts/real-startup/pi/startup.sh
deleted file mode 100644
index ba712ce..0000000
--- a/scripts/real-startup/pi/startup.sh
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/bin/bash
-cd /home/ubuntu/edna2023/
-source /opt/ros/humble/setup.bash
-source ./install/setup.bash
-export ROS_NAMESPACE=real
-export ROS_DOMAIN_ID=0
-ros2 launch edna_bringup real.launch.py
\ No newline at end of file
diff --git a/scripts/remote b/scripts/remote
deleted file mode 100644
index e22f507..0000000
--- a/scripts/remote
+++ /dev/null
@@ -1,242 +0,0 @@
-#!/bin/bash
-
-ORANGE='\033[0;33m'
-GREEN='\033[0;32m'
-RED='\033[0;31m'
-PURPLE='\033[0;35m'
-NC='\033[0m'
-
-# Check /scripts/config/remote-config for script configuration
-source /workspaces/edna2023/scripts/config/remote-config
-
-smart-deploy() {
- echo "Deploying to $USERNAME@$IP_ADDRESS:$REMOTE_PATH (port $PORT) via rsync..."
-
- echo "Generating rsync metadata..."
- rsync -azPin --checksum -e "ssh -p $PORT" \
- --exclude .git/ \
- --exclude .vscode/ \
- --exclude .devcontainer/ \
- --exclude build/ \
- --exclude install/ \
- --exclude log/ \
- --exclude rio/ \
- --exclude isaac/ \
- --exclude *.rviz \
- --exclude __pycache__ \
- --exclude joy \
- --exclude edna_debugger \
- --exclude edna_tests \
- --exclude .rsyncmetadata \
- /workspaces/edna2023/ $USERNAME@$IP_ADDRESS:$REMOTE_PATH \
- | egrep -v "sending incremental file list" | egrep -v "^\." | awk '{print $2}' | tr ' ' '\n' >> /workspaces/edna2023/.rsyncmetadata
-
- echo "Files that will be changed:"
- printf '%s\n' $( /dev/null
-ros2 daemon start
\ No newline at end of file
diff --git a/scripts/tests b/scripts/tests
deleted file mode 100644
index 33ff582..0000000
--- a/scripts/tests
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/bin/bash
-default="arm-tests"
-input=$1
-test=${input:-$default}
-
-echo "Quick Running Test ${test}..."
-ros2 run edna_tests $test
\ No newline at end of file
diff --git a/scripts/yolo b/scripts/yolo
deleted file mode 100644
index e69de29..0000000