added required files

.github/workflows/ci.yaml

@@ -0,0 +1,30 @@
+name: CI
+on:
+  push:
+    branches: [main]
+  pull_request:
+  workflow_dispatch:
+    inputs:
+      image_tag:
+        description: 'The tag of the image to use for the container'
+        required: false
+        default: ''
+  # Run every 6 hours Mon-Fri
+  schedule:
+    - cron: "0 */6 * * 1-5"
+
+jobs:
+  integration-test-in-studio-container:
+    uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@virtual-buffer
+    with:
+      image_tag: ${{ github.event.inputs.image_tag || null }}
+      colcon_test_args: "--executor sequential"
+    secrets: inherit
+
+  ensure-no-ssh-in-gitmodules:
+    name: Ensure no SSH URLs in .gitmodules
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - name: Check .gitmodules file for Git-over-SSH URLs
+        run: "! grep 'git@' .gitmodules"

.github/workflows/format.yaml

@@ -0,0 +1,17 @@
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  pre-commit:
+    name: pre-commit
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - uses: pre-commit/[email protected]

.pre-commit-config.yaml

@@ -0,0 +1,85 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.4.0
+    hooks:
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-yaml
+        args: ["--unsafe"] # Fixes errors parsing custom YAML constructors like ur_description's !degrees
+      - id: debug-statements
+      - id: end-of-file-fixer
+        exclude: (\.(svg|stl|dae))$
+      - id: mixed-line-ending
+      - id: fix-byte-order-marker
+
+  - repo: https://github.com/psf/black
+    rev: 22.3.0
+    hooks:
+      - id: black
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.0.0
+    hooks:
+      - id: codespell
+        args: ["--write-changes", "-L", "atleast,inout,ether"] # Provide a comma-separated list of misspelled words that codespell should ignore (for example: '-L', 'word1,word2,word3').
+        exclude: \.(svg|pyc|stl|dae|lock)$
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.6
+    hooks:
+      - id: clang-format
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|m|proto|vert)$
+        # -i arg is included by default by the hook
+        args: ["-fallback-style=none"]
+
+  - repo: https://github.com/adrienverge/yamllint
+    rev: v1.27.1
+    hooks:
+      - id: yamllint
+        args:
+          [
+            "--no-warnings",
+            "--config-data",
+            "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}}}",
+          ]
+        types: [text]
+        files: \.(yml|yaml)$
+
+  - repo: https://github.com/tcort/markdown-link-check
+    rev: v3.10.3
+    hooks:
+      - id: markdown-link-check
+
+  # NOTE: Broken on arm64. Will need to bump once https://github.com/hadolint/hadolint/issues/840 is fixed.
+  - repo: https://github.com/hadolint/hadolint
+    rev: v2.10.0
+    hooks:
+      - id: hadolint-docker
+
+  - repo: https://github.com/pre-commit/mirrors-prettier
+    rev: "v3.1.0"
+    hooks:
+      # Use Prettier to lint XML files because, well.. its rules are prettier than most linters, as the name implies.
+      # Also we use it in the UI, so it's familiar.
+      - id: prettier
+        additional_dependencies:
+          - "[email protected]"
+          - "@prettier/[email protected]"
+        files: \.(xml)$

.prettierrc.cjs

@@ -0,0 +1,5 @@
+module.exports = {
+  plugins: [require.resolve("@prettier/plugin-xml")],
+  xmlWhitespaceSensitivity: "ignore",
+  xmlQuoteAttributes: "double"
+}

CONTRIBUTING.md

@@ -0,0 +1,7 @@
+Any contribution that you make to this repository will
+be under the 3-Clause BSD License, as dictated by that
+[license](https://opensource.org/licenses/BSD-3-Clause).
+
+# Contributing to this Repository
+
+Thanks for getting involved! If you want to add to this repository, please reach out to [email protected].

Dockerfile

@@ -0,0 +1,124 @@
+# Docker image for extending MoveIt Pro with a custom overlay.
+#
+# Example build command (with defaults):
+#
+# docker build -f ./Dockerfile .
+#
+
+# Specify the MoveIt Pro release to build on top of.
+ARG MOVEIT_STUDIO_BASE_IMAGE
+ARG USERNAME=studio-user
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+##################################################
+# Starting from the specified MoveIt Pro release #
+##################################################
+# The image tag is specified in the argument itself.
+# hadolint ignore=DL3006
+FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base
+
+# Create a non-root user
+ARG USERNAME
+ARG USER_UID
+ARG USER_GID
+
+# Copy source code from the workspace's ROS 2 packages to a workspace inside the container
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+RUN mkdir -p ${USER_WS}/src ${USER_WS}/build ${USER_WS}/install ${USER_WS}/log
+COPY ./src ${USER_WS}/src
+
+# Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
+WORKDIR $USER_WS
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    groupadd --gid $USER_GID ${USERNAME} && \
+    useradd --uid $USER_UID --gid $USER_GID --shell /bin/bash --create-home ${USERNAME} && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends sudo && \
+    echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME} && \
+    cp -r /etc/skel/. /home/${USERNAME} && \
+    mkdir -p \
+      /home/${USERNAME}/.ccache \
+      /home/${USERNAME}/.config \
+      /home/${USERNAME}/.ignition \
+      /home/${USERNAME}/.colcon \
+      /home/${USERNAME}/.ros && \
+    chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
+
+# IMPORTANT: Optionally install Nvidia drivers for improved simulator performance with Nvidia GPUs.
+# To do this you must
+# 1. Uncomment the ENV and RUN entries below
+# 2. Replace the 'nvidia-driver-555' apt package with the Nvidia driver version on your host, e.g. nvidia-driver-535, nvidia-driver-555. Use nvidia-smi on your host to determine the driver version.
+# After rebuilding via `moveit_pro build` verify the drivers are active in your container by running `nvidia_smi` inside of `moveit_pro shell`.
+# ENV DEBIAN_FRONTEND=noninteractive
+# RUN apt update && apt install -y software-properties-common
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+#     --mount=type=cache,target=/var/lib/apt,sharing=locked \ 
+#    add-apt-repository ppa:graphics-drivers/ppa && \
+#    apt update && apt upgrade -y && apt install -y nvidia-driver-555
+
+# Install additional dependencies
+# You can also add any necessary apt-get install, pip install, etc. commands at this point.
+# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    . /opt/overlay_ws/install/setup.sh && \
+    apt-get update && \
+    rosdep install -q -y \
+      --from-paths src \
+      --ignore-src
+
+# Set up colcon defaults for the new user
+USER ${USERNAME}
+RUN colcon mixin add default \
+    https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+    colcon mixin update && \
+    colcon metadata add default \
+    https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+    colcon metadata update
+COPY colcon-defaults.yaml /home/${USERNAME}/.colcon/defaults.yaml
+
+# hadolint ignore=DL3002
+USER root
+
+###################################################################
+# Target for the developer build which does not compile any code. #
+###################################################################
+FROM base AS user-overlay-dev
+
+ARG USERNAME
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+# Install any additional packages for development work
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && \
+    apt-get install -y --no-install-recommends \
+        less \
+        gdb \
+        nano
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]
+
+#########################################
+# Target for compiled, deployable image #
+#########################################
+FROM base AS user-overlay
+
+ARG USERNAME
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+# Compile the workspace
+WORKDIR $USER_WS
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]

LICENSE

@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2023 PickNik Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -1 +1,7 @@
-# moveit_pro_empty_ws
+# MoveIt Pro Workspace
+
+This is a minimal user workspace that can be used to build customized MoveIt Pro workspaces.
+
+You may fork this repository and add the MoveIt Pro configurations and ROS 2 packages of your choosing to the `src` folder.
+
+For more information, refer to the [MoveIt Pro Documentation](https://docs.picknik.ai/).

colcon-defaults.yaml

@@ -0,0 +1,19 @@
+# Contains colcon default settings for user overlay containers.
+build:
+  # Enable this for bidirectional syncing from the UI
+  symlink-install: true
+  mixin:
+    # Enable ccache support
+    - ccache
+    # Multithreaded linker to speed up linking step during compilation
+    - lld
+    - compile-commands
+    # Debug info and build testing for dev workflows
+    - rel-with-deb-info
+    - build-testing-on
+    - coverage-gcc
+    - coverage-pytest
+test:
+  event-handlers:
+    - console_direct+
+    - desktop_notification+