From ea905323a54029d4205cd4255338d5a7d490a51e Mon Sep 17 00:00:00 2001
From: Henry Huang <69825683+hhenry01@users.noreply.github.com>
Date: Sat, 2 Sep 2023 13:06:34 -0700
Subject: [PATCH 01/20] Add C++ unit testing (#58)

* Add ROS Node attach and CPP unit test extension

* rebase to latest devcontainer
---
 .devcontainer/config/sailbot_workspace.code-workspace | 11 +++++++++++
 .devcontainer/devcontainer.json                       |  1 +
 2 files changed, 12 insertions(+)

diff --git a/.devcontainer/config/sailbot_workspace.code-workspace b/.devcontainer/config/sailbot_workspace.code-workspace
index 78d735fde..a2645ab36 100644
--- a/.devcontainer/config/sailbot_workspace.code-workspace
+++ b/.devcontainer/config/sailbot_workspace.code-workspace
@@ -173,6 +173,17 @@
             "editor.rulers": [120],
         },
 
+		"testMate.cpp.discovery.loadOnStartup": true,
+		// The following setting just changes the default prelaunch task from "build" to "debug"
+		"testMate.cpp.test.advancedExecutables": [
+			{
+				"pattern": "{build,Build,BUILD,out,Out,OUT}/**/*{test,Test,TEST}*",
+				"runTask": {
+					"before": [ "debug" ]
+				}
+			}
+		],
+
         // markdown
         // copied from docs: https://github.com/UBCSailbot/docs/blob/main/.vscode/settings.json
         "[markdown]": {
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index f7e984053..b446a3eef 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -60,6 +60,7 @@
 				"jeff-hykin.better-cpp-syntax",
 				"KevinRose.vsc-python-indent",
 				"llvm-vs-code-extensions.vscode-clangd",
+				"matepek.vscode-catch2-test-adapter",
 				"mongodb.mongodb-vscode",
 				"ms-iot.vscode-ros",
 				"ms-python.black-formatter",

From a45503a6c211ffdc6dc57dd0bee04a5a4425f4bb Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Mon, 4 Sep 2023 08:19:23 -0700
Subject: [PATCH 02/20] Bump actions/checkout from 3 to 4 (#160)

Bumps [actions/checkout](https://github.com/actions/checkout) from 3 to 4.
- [Release notes](https://github.com/actions/checkout/releases)
- [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md)
- [Commits](https://github.com/actions/checkout/compare/v3...v4)

---
updated-dependencies:
- dependency-name: actions/checkout
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
---
 .github/workflows/test_definitions.yml | 22 +++++++++++-----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/.github/workflows/test_definitions.yml b/.github/workflows/test_definitions.yml
index ce56d1a68..55a1e0844 100644
--- a/.github/workflows/test_definitions.yml
+++ b/.github/workflows/test_definitions.yml
@@ -43,20 +43,20 @@ jobs:
     if: ${{ inputs.ros-ci }}
     steps:
     - name: Checkout workspace
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
           repository: UBCSailbot/sailbot_workspace
 
     - name: Checkout ROS package
       if: ${{ inputs.repository != 'sailbot_workspace' }}
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
           repository: UBCSailbot/${{ inputs.repository }}
           path: src/${{ inputs.repository }}
 
     - name: Checkout custom_interfaces ROS package
       if: ${{ inputs.repository != 'sailbot_workspace' && inputs.repository != 'custom_interfaces' }}
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
           repository: UBCSailbot/custom_interfaces
           path: src/custom_interfaces
@@ -77,20 +77,20 @@ jobs:
     if: ${{ inputs.ros-ci }}
     steps:
     - name: Checkout workspace
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
           repository: UBCSailbot/sailbot_workspace
 
     - name: Checkout ROS package
       if: ${{ inputs.repository != 'sailbot_workspace' }}
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
           repository: UBCSailbot/${{ inputs.repository }}
           path: src/${{ inputs.repository }}
 
     - name: Checkout custom_interfaces ROS package
       if: ${{ inputs.repository != 'sailbot_workspace' && inputs.repository != 'custom_interfaces' }}
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
           repository: UBCSailbot/custom_interfaces
           path: src/custom_interfaces
@@ -106,20 +106,20 @@ jobs:
     if: inputs.clang-tidy
     steps:
     - name: Checkout workspace
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
           repository: UBCSailbot/sailbot_workspace
 
     - name: Checkout ROS package
       if: ${{ inputs.repository != 'sailbot_workspace' }}
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
           repository: UBCSailbot/${{ inputs.repository }}
           path: src/${{ inputs.repository }}
 
     - name: Checkout custom_interfaces ROS package
       if: ${{ inputs.repository != 'sailbot_workspace' && inputs.repository != 'custom_interfaces' }}
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
           repository: UBCSailbot/custom_interfaces
           path: src/custom_interfaces
@@ -135,7 +135,7 @@ jobs:
     if: ${{ inputs.markdown-ci }}
     steps:
     - name: Check out code
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
           repository: UBCSailbot/${{ inputs.repository }}
 
@@ -152,7 +152,7 @@ jobs:
     if: ${{ inputs.markdown-ci }}
     steps:
     - name: Check out code
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
           repository: UBCSailbot/sailbot_workspace
 

From a5b55dddc49db41d34d3cf95ed8bbea69d4a7822 Mon Sep 17 00:00:00 2001
From: Henry Huang <69825683+hhenry01@users.noreply.github.com>
Date: Thu, 7 Sep 2023 09:55:38 -0700
Subject: [PATCH 03/20] mongodb C++ Support (#161)

* Add mongodb c++ dependencies

* Update Dockerfile
---
 .devcontainer/Dockerfile                             |  2 +-
 .devcontainer/base-dev/base-dev.Dockerfile           | 12 ++++++++++++
 .../config/sailbot_workspace.code-workspace          |  2 ++
 3 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 235f9e336..d85a7bcec 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,4 +1,4 @@
-FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:fix-mongodb-tools
+FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:mongodb-cpp
 
 # Copy configuration files (e.g., .vimrc) from config/ to the container's home directory
 ARG USERNAME=ros
diff --git a/.devcontainer/base-dev/base-dev.Dockerfile b/.devcontainer/base-dev/base-dev.Dockerfile
index 4c1c127c7..5119c1bf2 100644
--- a/.devcontainer/base-dev/base-dev.Dockerfile
+++ b/.devcontainer/base-dev/base-dev.Dockerfile
@@ -70,11 +70,23 @@ RUN apt-get update \
     && apt-get install -y --no-install-recommends \
         mongodb-database-tools \
         mongodb-mongosh \
+        libmongoc-dev \
     && apt-get autoremove -y \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 ENV DEBIAN_FRONTEND=
 
+# setup MongoDB C++ Packages
+ENV DEBIAN_FRONTEND=noninteractive
+# mongo-cxx-driver version must match libmongoc-dev version - see https://mongocxx.org/mongocxx-v3/installation/linux/
+RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz \
+    && tar -xzf mongo-cxx-driver-r3.6.7.tar.gz \
+    && cd mongo-cxx-driver-r3.6.7/build \
+    && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local \
+    && cmake --build . \
+    && cmake --build . --target  install
+ENV DEBIAN_FRONTEND=
+
 FROM local-base as ros-dev
 
 # From https://github.com/athackst/dockerfiles/blob/32a872348af0ad25ec4a6e6184cb803357acb6ab/ros2/humble.Dockerfile
diff --git a/.devcontainer/config/sailbot_workspace.code-workspace b/.devcontainer/config/sailbot_workspace.code-workspace
index a2645ab36..c08880b1b 100644
--- a/.devcontainer/config/sailbot_workspace.code-workspace
+++ b/.devcontainer/config/sailbot_workspace.code-workspace
@@ -41,6 +41,7 @@
         "cSpell.words": [
             "athackst",
             "autopep",
+            "bsoncxx",
             "buildx",
             "cmake",
             "cppcheck",
@@ -54,6 +55,7 @@
             "isort",
             "kmph",
             "mkdocs",
+            "mongocxx",
             "noqa",
             "OMPL",
             "pallete",

From 5e0fd567bce0906d07c5138c2e330fdc1fe5d31d Mon Sep 17 00:00:00 2001
From: Henry Huang <69825683+hhenry01@users.noreply.github.com>
Date: Sun, 10 Sep 2023 16:54:54 -0700
Subject: [PATCH 04/20] Fix C++ debug config (#162)

---
 .devcontainer/config/sailbot_workspace.code-workspace | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.devcontainer/config/sailbot_workspace.code-workspace b/.devcontainer/config/sailbot_workspace.code-workspace
index c08880b1b..954e8fe15 100644
--- a/.devcontainer/config/sailbot_workspace.code-workspace
+++ b/.devcontainer/config/sailbot_workspace.code-workspace
@@ -238,7 +238,8 @@
                 "request": "launch",
                 "program": "${workspaceFolder:sailbot_workspace}/install/lib/${input:node}",
                 "args": [],
-                "preLaunchTask": "Build All",
+                // Have testMate extension build before starting debug session to avoid building twice
+                // "preLaunchTask": "debug",
                 "stopAtEntry": false,
                 "cwd": "${workspaceFolder:sailbot_workspace}",
                 "externalConsole": false,

From 6ff96ba6a35a83ac64808028c0c0d09c76e44ea7 Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Tue, 12 Sep 2023 08:32:44 -0700
Subject: [PATCH 05/20] Bump docker/setup-buildx-action from 2 to 3 (#163)

Bumps [docker/setup-buildx-action](https://github.com/docker/setup-buildx-action) from 2 to 3.
- [Release notes](https://github.com/docker/setup-buildx-action/releases)
- [Commits](https://github.com/docker/setup-buildx-action/compare/v2...v3)

---
updated-dependencies:
- dependency-name: docker/setup-buildx-action
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
---
 .github/workflows/build-images.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-images.yml b/.github/workflows/build-images.yml
index 163020234..8c49f56ef 100644
--- a/.github/workflows/build-images.yml
+++ b/.github/workflows/build-images.yml
@@ -22,7 +22,7 @@ jobs:
         uses: docker/setup-qemu-action@v2
 
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
+        uses: docker/setup-buildx-action@v3
         with:
           platforms: linux/arm64,linux/amd64
 

From 19ea6f4bbda16ad5838bdd9db27685b6d1524d62 Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Tue, 12 Sep 2023 08:33:00 -0700
Subject: [PATCH 06/20] Bump docker/build-push-action from 4 to 5 (#164)

Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 4 to 5.
- [Release notes](https://github.com/docker/build-push-action/releases)
- [Commits](https://github.com/docker/build-push-action/compare/v4...v5)

---
updated-dependencies:
- dependency-name: docker/build-push-action
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
---
 .github/workflows/build-images.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build-images.yml b/.github/workflows/build-images.yml
index 8c49f56ef..f35ee05a7 100644
--- a/.github/workflows/build-images.yml
+++ b/.github/workflows/build-images.yml
@@ -34,7 +34,7 @@ jobs:
           password: ${{ secrets.PAT_TOKEN }}
 
       - name: Build and push base
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v5
         with:
           context: "{{defaultContext}}:.devcontainer/base-dev"
           file: base-dev.Dockerfile
@@ -46,7 +46,7 @@ jobs:
           target: base
 
       - name: Build and push local-base
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v5
         with:
           context: "{{defaultContext}}:.devcontainer/base-dev"
           file: base-dev.Dockerfile
@@ -58,7 +58,7 @@ jobs:
           target: local-base
 
       - name: Build and push dev
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v5
         with:
           context: "{{defaultContext}}:.devcontainer/base-dev"
           file: base-dev.Dockerfile

From d3fbd10e12491ace5b773bfc3232eb8bd00cb2a0 Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Tue, 12 Sep 2023 08:33:27 -0700
Subject: [PATCH 07/20] Bump docker/setup-qemu-action from 2 to 3 (#165)

Bumps [docker/setup-qemu-action](https://github.com/docker/setup-qemu-action) from 2 to 3.
- [Release notes](https://github.com/docker/setup-qemu-action/releases)
- [Commits](https://github.com/docker/setup-qemu-action/compare/v2...v3)

---
updated-dependencies:
- dependency-name: docker/setup-qemu-action
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
---
 .github/workflows/build-images.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-images.yml b/.github/workflows/build-images.yml
index f35ee05a7..7660f3715 100644
--- a/.github/workflows/build-images.yml
+++ b/.github/workflows/build-images.yml
@@ -19,7 +19,7 @@ jobs:
 
     steps:
       - name: Set up QEMU
-        uses: docker/setup-qemu-action@v2
+        uses: docker/setup-qemu-action@v3
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3

From c0c09f92ab33483c54a3604eb5ace8e94ac3432a Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Tue, 12 Sep 2023 08:33:45 -0700
Subject: [PATCH 08/20] Bump docker/login-action from 2 to 3 (#166)

Bumps [docker/login-action](https://github.com/docker/login-action) from 2 to 3.
- [Release notes](https://github.com/docker/login-action/releases)
- [Commits](https://github.com/docker/login-action/compare/v2...v3)

---
updated-dependencies:
- dependency-name: docker/login-action
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
---
 .github/workflows/build-images.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-images.yml b/.github/workflows/build-images.yml
index 7660f3715..15519bdd1 100644
--- a/.github/workflows/build-images.yml
+++ b/.github/workflows/build-images.yml
@@ -27,7 +27,7 @@ jobs:
           platforms: linux/arm64,linux/amd64
 
       - name: Login to GitHub Container Registry
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           registry: ghcr.io
           username: ${{ github.actor }}

From bcd5466f51bbebc34029043ec13635607c324e19 Mon Sep 17 00:00:00 2001
From: Patrick Creighton <pcreighton429@gmail.com>
Date: Mon, 25 Sep 2023 11:04:26 -0700
Subject: [PATCH 09/20] Add notebooks repo (#157)

* Add and configure Jupyter extension

* Add notebooks repo
---
 .devcontainer/config/sailbot_workspace.code-workspace | 5 +++++
 .devcontainer/devcontainer.json                       | 1 +
 src/new_project.repos                                 | 5 +++++
 3 files changed, 11 insertions(+)

diff --git a/.devcontainer/config/sailbot_workspace.code-workspace b/.devcontainer/config/sailbot_workspace.code-workspace
index 954e8fe15..6967e20c5 100644
--- a/.devcontainer/config/sailbot_workspace.code-workspace
+++ b/.devcontainer/config/sailbot_workspace.code-workspace
@@ -18,6 +18,9 @@
         {
             "path": "../../src/network_systems"
         },
+        {
+            "path": "../../src/notebooks"
+        },
         {
             "path": "../../src/raye-local-pathfinding"
         },
@@ -125,6 +128,8 @@
             "editor.formatOnSave": true,
             "editor.rulers": [99],
         },
+        "notebook.formatOnCellExecution": true,
+        "notebook.formatOnSave.enabled": true,
         "python.analysis.diagnosticMode": "workspace",
         "python.analysis.extraPaths": [
             "/workspaces/sailbot_workspace/install/lib/python3.10/site-packages",
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index b446a3eef..8c6feb167 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -66,6 +66,7 @@
 				"ms-python.black-formatter",
 				"ms-python.isort",
 				"ms-python.vscode-pylance",
+				"ms-toolsai.jupyter",
 				"ms-vsliveshare.vsliveshare",
 				"njpwerner.autodocstring",
 				"streetsidesoftware.code-spell-checker",
diff --git a/src/new_project.repos b/src/new_project.repos
index f0c32dbaa..b9083c076 100644
--- a/src/new_project.repos
+++ b/src/new_project.repos
@@ -42,6 +42,11 @@ repositories:
     url: https://github.com/UBCSailbot/network_systems
     version: main
 
+  notebooks:
+    type: git
+    url: https://github.com/UBCSailbot/notebooks
+    version: main
+
   raye-local-pathfinding:
     type: git
     url: https://github.com/UBCSailbot/raye-local-pathfinding

From ab968887cb6a6a8efbca8f403d88ffa448bc0a3f Mon Sep 17 00:00:00 2001
From: Patrick Creighton <pcreighton429@gmail.com>
Date: Mon, 25 Sep 2023 11:23:07 -0700
Subject: [PATCH 10/20] Revert "Revert setup skipping existing repositories"
 (#168)

* Revert "Revert setup skipping existing repositories (#151)"

This reverts commit 06eedc6ed78f2cfdb4d328e240361d49214d02c1.

* Rename new_project.repos to polaris.repos
---
 .devcontainer/config/sailbot_workspace.code-workspace | 4 ++--
 .github/actions/ament-lint/run.sh                     | 2 +-
 .gitignore                                            | 2 +-
 setup.sh                                              | 2 +-
 src/{new_project.repos => polaris.repos}              | 0
 5 files changed, 5 insertions(+), 5 deletions(-)
 rename src/{new_project.repos => polaris.repos} (100%)

diff --git a/.devcontainer/config/sailbot_workspace.code-workspace b/.devcontainer/config/sailbot_workspace.code-workspace
index 6967e20c5..fbc998700 100644
--- a/.devcontainer/config/sailbot_workspace.code-workspace
+++ b/.devcontainer/config/sailbot_workspace.code-workspace
@@ -417,9 +417,9 @@
             // Workspace editing tasks
             {
                 "label": "clone source repositories",
-                "detail": "Clone the repositories specified in src/new_project.repos to src/",
+                "detail": "Clone the repositories specified in src/polaris.repos to src/",
                 "type": "shell",
-                "command": "vcs import < src/new_project.repos src --skip-existing",
+                "command": "vcs import < src/polaris.repos src --skip-existing",
                 "problemMatcher": []
             },
             {
diff --git a/.github/actions/ament-lint/run.sh b/.github/actions/ament-lint/run.sh
index 1959f196b..813997678 100755
--- a/.github/actions/ament-lint/run.sh
+++ b/.github/actions/ament-lint/run.sh
@@ -47,5 +47,5 @@ source /opt/ros/${ROS_DISTRO}/setup.bash
 cd src
 
 # Exclude repos and files we don't want to lint
-VALID_SRC_DIRS=$(ls | grep -v -e virtual_iridium -e docs -e raye-local-pathfinding -e new_project.repos)
+VALID_SRC_DIRS=$(ls | grep -v -e virtual_iridium -e docs -e raye-local-pathfinding -e polaris.repos)
 lint ${VALID_SRC_DIRS}
diff --git a/.gitignore b/.gitignore
index 7af5573e6..31103c815 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,7 +6,7 @@ site/*
 # vcstool packages
 src/*
 !src/global_launch
-!src/new_project.repos
+!src/polaris.repos
 
 # configuration files
 .devcontainer/config/*
diff --git a/setup.sh b/setup.sh
index 192222e0a..2810ac16e 100755
--- a/setup.sh
+++ b/setup.sh
@@ -10,7 +10,7 @@ function warn() {
 # Import all project repositories
 if [[ $DISABLE_VCS != "true" ]]; then
     echo "Importing project repositories..."
-    vcs import < src/new_project.repos src
+    vcs import < src/polaris.repos src --skip-existing
 else
     warn "VCS disabled. Skipping project repository imports..."
 fi
diff --git a/src/new_project.repos b/src/polaris.repos
similarity index 100%
rename from src/new_project.repos
rename to src/polaris.repos

From f3c28df88fd01ca9fa09e3f847b25765b2b994be Mon Sep 17 00:00:00 2001
From: Patrick Creighton <pcreighton429@gmail.com>
Date: Mon, 25 Sep 2023 14:06:45 -0700
Subject: [PATCH 11/20] Add controller repository (#169)

---
 .devcontainer/config/sailbot_workspace.code-workspace | 3 +++
 src/polaris.repos                                     | 5 +++++
 2 files changed, 8 insertions(+)

diff --git a/.devcontainer/config/sailbot_workspace.code-workspace b/.devcontainer/config/sailbot_workspace.code-workspace
index fbc998700..2ff328e96 100644
--- a/.devcontainer/config/sailbot_workspace.code-workspace
+++ b/.devcontainer/config/sailbot_workspace.code-workspace
@@ -6,6 +6,9 @@
         {
             "path": "../../src/boat_simulator"
         },
+        {
+            "path": "../../src/controller"
+        },
         {
             "path": "../../src/custom_interfaces"
         },
diff --git a/src/polaris.repos b/src/polaris.repos
index b9083c076..7ba1a9f74 100644
--- a/src/polaris.repos
+++ b/src/polaris.repos
@@ -22,6 +22,11 @@ repositories:
     url: https://github.com/UBCSailbot/boat_simulator
     version: main
 
+  controller:
+    type: git
+    url: https://github.com/UBCSailbot/controller
+    version: main
+
   custom_interfaces:
     type: git
     url: https://github.com/UBCSailbot/custom_interfaces

From f0e879cbd3b552b3eb6799bc4139c3b3fc331f69 Mon Sep 17 00:00:00 2001
From: Patrick Creighton <pcreighton429@gmail.com>
Date: Mon, 2 Oct 2023 20:32:04 -0700
Subject: [PATCH 12/20] Fix base/dev image long build times (#173)

* Move cpp mongodb driver installation to pre-base

* Fix git clone error

* Fix curl error

* Refactor certificate fix

* Refactor mongodb-cpp-driver installation

* Use mongo-cxx-driver-builder in pre-base

* Install mongoc-dev package

* Revert

* Add git as pre-base dep

* Build mongo-cxx-driver in separate layer

* Change order

* Update tag name

* Try original first

* Narrow scope

* Update tags to v2 image
---
 .devcontainer/Dockerfile                   |  2 +-
 .devcontainer/base-dev/base-dev.Dockerfile | 14 +------
 .devcontainer/pre-base/build-pre-base.sh   |  2 +-
 .devcontainer/pre-base/pre-base.Dockerfile | 43 ++++++++++++++++++++--
 4 files changed, 43 insertions(+), 18 deletions(-)

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index d85a7bcec..7fc073865 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,4 +1,4 @@
-FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:mongodb-cpp
+FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:refactor-images-v2
 
 # Copy configuration files (e.g., .vimrc) from config/ to the container's home directory
 ARG USERNAME=ros
diff --git a/.devcontainer/base-dev/base-dev.Dockerfile b/.devcontainer/base-dev/base-dev.Dockerfile
index 5119c1bf2..ce7ebcee5 100644
--- a/.devcontainer/base-dev/base-dev.Dockerfile
+++ b/.devcontainer/base-dev/base-dev.Dockerfile
@@ -1,4 +1,4 @@
-FROM ghcr.io/ubcsailbot/sailbot_workspace/pre-base:ros_humble-ompl_4c86b2f as base
+FROM ghcr.io/ubcsailbot/sailbot_workspace/pre-base:ros_humble-ompl_4c86b2f-mongo_367-v2 as base
 
 # install base apt dependencies
 ENV DEBIAN_FRONTEND=noninteractive
@@ -70,23 +70,11 @@ RUN apt-get update \
     && apt-get install -y --no-install-recommends \
         mongodb-database-tools \
         mongodb-mongosh \
-        libmongoc-dev \
     && apt-get autoremove -y \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 ENV DEBIAN_FRONTEND=
 
-# setup MongoDB C++ Packages
-ENV DEBIAN_FRONTEND=noninteractive
-# mongo-cxx-driver version must match libmongoc-dev version - see https://mongocxx.org/mongocxx-v3/installation/linux/
-RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz \
-    && tar -xzf mongo-cxx-driver-r3.6.7.tar.gz \
-    && cd mongo-cxx-driver-r3.6.7/build \
-    && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local \
-    && cmake --build . \
-    && cmake --build . --target  install
-ENV DEBIAN_FRONTEND=
-
 FROM local-base as ros-dev
 
 # From https://github.com/athackst/dockerfiles/blob/32a872348af0ad25ec4a6e6184cb803357acb6ab/ros2/humble.Dockerfile
diff --git a/.devcontainer/pre-base/build-pre-base.sh b/.devcontainer/pre-base/build-pre-base.sh
index 121e458f9..7cdba38e5 100755
--- a/.devcontainer/pre-base/build-pre-base.sh
+++ b/.devcontainer/pre-base/build-pre-base.sh
@@ -2,6 +2,6 @@
 
 docker buildx build . \
     --file pre-base.Dockerfile \
-    --tag ghcr.io/ubcsailbot/sailbot_workspace/pre-base:ros_humble-ompl_4c86b2f \
+    --tag ghcr.io/ubcsailbot/sailbot_workspace/pre-base:ros_humble-ompl_4c86b2f-mongo_367-v2 \
     --platform linux/arm64,linux/amd64 \
     --push
diff --git a/.devcontainer/pre-base/pre-base.Dockerfile b/.devcontainer/pre-base/pre-base.Dockerfile
index b73beb1a1..66c342830 100644
--- a/.devcontainer/pre-base/pre-base.Dockerfile
+++ b/.devcontainer/pre-base/pre-base.Dockerfile
@@ -1,4 +1,15 @@
-FROM ubuntu:22.04 AS ompl-source
+FROM ubuntu:22.04 AS fix-certificates
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update \
+    && apt-get install -y --no-install-recommends \
+        ca-certificates \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+ENV DEBIAN_FRONTEND=
+
+FROM fix-certificates AS ompl-source
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update \
@@ -11,7 +22,7 @@ WORKDIR /ompl
 RUN git reset --hard 4c86b2f
 
 # From https://github.com/athackst/dockerfiles/blob/32a872348af0ad25ec4a6e6184cb803357acb6ab/ros2/humble.Dockerfile
-FROM ubuntu:22.04 AS ros-pre-base
+FROM fix-certificates AS ros-pre-base
 
 ENV DEBIAN_FRONTEND=noninteractive
 
@@ -55,7 +66,7 @@ ENV ROS_VERSION=2
 ENV DEBIAN_FRONTEND=
 
 # Based on https://github.com/ompl/ompl/blob/4c86b2fecf7084ae9073bf6a837176d0be169721/scripts/docker/ompl.Dockerfile
-FROM ros-pre-base AS ompl-builder
+FROM fix-certificates AS ompl-builder
 # avoid interactive configuration dialog from tzdata, which gets pulled in
 # as a dependency
 ENV DEBIAN_FRONTEND=noninteractive
@@ -99,6 +110,30 @@ RUN cmake \
     && ninja -j `nproc` \
     && ninja install
 
+FROM fix-certificates AS mongo-cxx-driver-builder
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update \
+    && apt-get install -y --no-install-recommends \
+        build-essential \
+        cmake \
+        git \
+        libmongoc-dev \
+        wget \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# setup MongoDB C++ Packages
+# mongo-cxx-driver version must match libmongoc-dev version - see https://mongocxx.org/mongocxx-v3/installation/linux/
+RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz \
+    && tar -xzf mongo-cxx-driver-r3.6.7.tar.gz \
+    && cd mongo-cxx-driver-r3.6.7/build \
+    && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local \
+    && cmake --build . \
+    && cmake --build . --target  install
+ENV DEBIAN_FRONTEND=
+
 FROM ros-pre-base as pre-base
 LABEL org.opencontainers.image.source = "https://github.com/UBCSailbot/sailbot_workspace"
 
@@ -115,6 +150,7 @@ RUN apt-get update \
         libboost-system-dev \
         libeigen3-dev \
         libflann-dev \
+        libmongoc-dev \
         libode-dev \
         libtriangle-dev \
         ninja-build \
@@ -129,3 +165,4 @@ RUN apt-get update \
 ENV DEBIAN_FRONTEND=
 
 COPY --from=ompl-builder /usr /usr
+COPY --from=mongo-cxx-driver-builder /usr/local /usr/local

From 8d0ae2e9975fefbf2a02875747de764df862905a Mon Sep 17 00:00:00 2001
From: Henry Huang <69825683+hhenry01@users.noreply.github.com>
Date: Mon, 2 Oct 2023 20:33:32 -0700
Subject: [PATCH 13/20] Restore BUILD_TYPE Flag (#172)

---
 build.sh | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/build.sh b/build.sh
index c6165525c..ab28ca2f8 100755
--- a/build.sh
+++ b/build.sh
@@ -41,6 +41,9 @@ else
     STATIC_ANALYSIS="ON"
     UNIT_TEST="ON"
 fi
+if [[ $UNIT_TEST = "ON" ]]; then
+    BUILD_TYPE="Debug"
+fi
 
 # Build ROS packages in src directory
 colcon build \

From d51e8f11380c18d9c1b88bcffc8740949c6a1693 Mon Sep 17 00:00:00 2001
From: Patrick Creighton <pcreighton429@gmail.com>
Date: Mon, 2 Oct 2023 21:00:20 -0700
Subject: [PATCH 14/20] Add local pathfinding python dependencies (#171)

* Add local pathfinding python dependencies

* Update dev container base image
---
 .devcontainer/Dockerfile                   | 2 +-
 .devcontainer/base-dev/base-dev.Dockerfile | 5 +++++
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 7fc073865..919452d0c 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,4 +1,4 @@
-FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:refactor-images-v2
+FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:add-py-deps-v2
 
 # Copy configuration files (e.g., .vimrc) from config/ to the container's home directory
 ARG USERNAME=ros
diff --git a/.devcontainer/base-dev/base-dev.Dockerfile b/.devcontainer/base-dev/base-dev.Dockerfile
index ce7ebcee5..ed8a5ecab 100644
--- a/.devcontainer/base-dev/base-dev.Dockerfile
+++ b/.devcontainer/base-dev/base-dev.Dockerfile
@@ -22,6 +22,11 @@ RUN apt-get update \
     && rosdep init || echo "rosdep already initialized"
 ENV DEBIAN_FRONTEND=
 
+# install base pip dependencies
+RUN pip3 install \
+    pyproj \
+    shapely
+
 # root bash configuration
 ENV ROS_WORKSPACE=/workspaces/sailbot_workspace
 COPY update-bashrc.sh /sbin/update-bashrc

From cb6f026dae0a0632890dc03ddd0e934515a69f63 Mon Sep 17 00:00:00 2001
From: Patrick Creighton <pcreighton429@gmail.com>
Date: Tue, 3 Oct 2023 01:04:01 -0700
Subject: [PATCH 15/20] Refactor CI (#174)

* Try moving checking out repos to action

* Move back checkout workspace step

* Test checking out custom_interfaces

* Use new action in other jobs

* Convert test action to composite

* Debugging

* Figured out directories

* Run tests in one command

* allocate a pseudo-TTY

* Move website to separate dockerfile

* Remove user

* Update other actions to use docker-compose

* temporarily hardcode branch

* Try passing through environment variables

* Set env variables

* Set inputs

* Fix file name

* Update actions accordingly

* Add mongodb environment variable

* Undo branch hardcoding
---
 .devcontainer/docker-compose.yml         |  2 +
 .github/actions/ament-lint/action.yml    | 25 ++++++++--
 .github/actions/checkout/action.yml      | 24 ++++++++++
 .github/actions/clang-tidy/action.yml    | 22 +++++++--
 .github/actions/docker-compose.ci.db.yml | 18 ++++++++
 .github/actions/docker-compose.ci.yml    | 23 +++++++++
 .github/actions/test/action.yml          | 22 +++++++--
 .github/workflows/test_definitions.yml   | 59 +++++++-----------------
 8 files changed, 143 insertions(+), 52 deletions(-)
 create mode 100644 .github/actions/checkout/action.yml
 create mode 100644 .github/actions/docker-compose.ci.db.yml
 create mode 100644 .github/actions/docker-compose.ci.yml

diff --git a/.devcontainer/docker-compose.yml b/.devcontainer/docker-compose.yml
index da1dc0148..db0c247f2 100644
--- a/.devcontainer/docker-compose.yml
+++ b/.devcontainer/docker-compose.yml
@@ -7,6 +7,8 @@ services:
     build:
       context: .
       dockerfile: Dockerfile
+    environment:
+      - MONGODB_CONN_STR=mongodb://localhost:27017
     volumes:
       - ..:/workspaces/sailbot_workspace:cached
       - sailbot-new-project-bashhistory:/home/ros/commandhistory:delegated
diff --git a/.github/actions/ament-lint/action.yml b/.github/actions/ament-lint/action.yml
index f5fcfb578..3825102d0 100644
--- a/.github/actions/ament-lint/action.yml
+++ b/.github/actions/ament-lint/action.yml
@@ -1,6 +1,25 @@
 name: 'Ament Lint'
 description: 'Ament Lint using devcontainer'
+
+inputs:
+  linter:
+    description: 'The linter to run'
+    required: true
+  disable_vcs:
+    description: 'Whether to disable VCS cloning all repositories'
+    required: true
+
 runs:
-  using: 'docker'
-  image: '../../../.devcontainer/Dockerfile'
-  entrypoint: ".github/actions/ament-lint/run.sh"
+  using: "composite"
+  steps:
+    - name: Build Containers
+      shell: bash
+      run: docker-compose -f .github/actions/docker-compose.ci.yml build
+
+    - name: Run Containers
+      shell: bash
+      run: docker-compose -f .github/actions/docker-compose.ci.yml up -d
+
+    - name: Run Tests
+      shell: bash
+      run: docker-compose -f .github/actions/docker-compose.ci.yml exec -T sailbot-workspace /bin/bash -c "export LINTER=${{ inputs.linter}} && export DISABLE_VCS=${{ inputs.disable_vcs }} && cd /workspaces/sailbot_workspace && .github/actions/ament-lint/run.sh"
diff --git a/.github/actions/checkout/action.yml b/.github/actions/checkout/action.yml
new file mode 100644
index 000000000..c616eeeb1
--- /dev/null
+++ b/.github/actions/checkout/action.yml
@@ -0,0 +1,24 @@
+name: 'Checkout Repositories'
+description: 'Checkout the repositories depending on the inputs'
+
+inputs:
+  repository:
+    description: 'The repository name: github.event.repository.name'
+    required: true
+
+runs:
+  using: "composite"
+  steps:
+    - name: Checkout ROS package
+      if: ${{ inputs.repository != 'sailbot_workspace' }}
+      uses: actions/checkout@v4
+      with:
+          repository: UBCSailbot/${{ inputs.repository }}
+          path: src/${{ inputs.repository }}
+
+    - name: Checkout custom_interfaces ROS package
+      if: ${{ inputs.repository != 'sailbot_workspace' && inputs.repository != 'custom_interfaces' }}
+      uses: actions/checkout@v4
+      with:
+          repository: UBCSailbot/custom_interfaces
+          path: src/custom_interfaces
diff --git a/.github/actions/clang-tidy/action.yml b/.github/actions/clang-tidy/action.yml
index e398c2b4d..34f261442 100644
--- a/.github/actions/clang-tidy/action.yml
+++ b/.github/actions/clang-tidy/action.yml
@@ -1,6 +1,22 @@
 name: 'Clang-Tidy'
 description: 'Clang-Tidy using devcontainer'
+
+inputs:
+  disable_vcs:
+    description: 'Whether to disable VCS cloning all repositories'
+    required: true
+
 runs:
-  using: 'docker'
-  image: '../../../.devcontainer/Dockerfile'
-  entrypoint: ".github/actions/clang-tidy/run.sh"
+  using: "composite"
+  steps:
+    - name: Build Containers
+      shell: bash
+      run: docker-compose -f .github/actions/docker-compose.ci.yml build
+
+    - name: Run Containers
+      shell: bash
+      run: docker-compose -f .github/actions/docker-compose.ci.yml up -d
+
+    - name: Run Tests
+      shell: bash
+      run: docker-compose -f .github/actions/docker-compose.ci.yml exec -T sailbot-workspace /bin/bash -c "export DISABLE_VCS=${{ inputs.disable_vcs }} && cd /workspaces/sailbot_workspace && .github/actions/clang-tidy/run.sh"
diff --git a/.github/actions/docker-compose.ci.db.yml b/.github/actions/docker-compose.ci.db.yml
new file mode 100644
index 000000000..db408f698
--- /dev/null
+++ b/.github/actions/docker-compose.ci.db.yml
@@ -0,0 +1,18 @@
+# adapted from https://github.com/microsoft/vscode-dev-containers/blob/main/containers/javascript-node-mongo/.devcontainer/docker-compose.yml
+# Note: the "ports" property in this file will not forward from a codespace; add to "forwardPorts" in devcontainer.json instead
+version: '3.8'
+
+services:
+  # URL: mongodb://localhost:27017
+  mongodb:
+    image: mongo:latest
+    restart: unless-stopped
+
+    # Runs on the same network as the workspace container, allows "forwardPorts" in devcontainer.json function.
+    network_mode: service:sailbot-workspace
+
+    # Uncomment to change startup options
+    # environment:
+    #  MONGO_INITDB_ROOT_USERNAME: root
+    #  MONGO_INITDB_ROOT_PASSWORD: example
+    #  MONGO_INITDB_DATABASE: your-database-here
diff --git a/.github/actions/docker-compose.ci.yml b/.github/actions/docker-compose.ci.yml
new file mode 100644
index 000000000..6e713a703
--- /dev/null
+++ b/.github/actions/docker-compose.ci.yml
@@ -0,0 +1,23 @@
+# adapted from https://github.com/microsoft/vscode-dev-containers/blob/main/containers/javascript-node-mongo/.devcontainer/docker-compose.yml
+# Note: the "ports" property in this file will not forward from a codespace; add to "forwardPorts" in devcontainer.json instead
+version: '3.8'
+
+services:
+  sailbot-workspace:
+    build:
+      context: ../../.devcontainer
+      dockerfile: Dockerfile
+    environment:
+      - MONGODB_CONN_STR=mongodb://localhost:27017
+    volumes:
+      - ../..:/workspaces/sailbot_workspace:cached
+
+    # Overrides default command so things don't shut down after the process ends.
+    command: sleep infinity
+
+    # From run arguments of template repository
+    cap_add:
+    - SYS_PTRACE
+    security_opt:
+    - seccomp:unconfined
+    - apparmor:unconfined
diff --git a/.github/actions/test/action.yml b/.github/actions/test/action.yml
index 4e4cf0011..2b34ae858 100644
--- a/.github/actions/test/action.yml
+++ b/.github/actions/test/action.yml
@@ -1,6 +1,22 @@
 name: 'Test'
 description: 'Test using devcontainer'
+
+inputs:
+  disable_vcs:
+    description: 'Whether to disable VCS cloning all repositories'
+    required: true
+
 runs:
-  using: 'docker'
-  image: '../../../.devcontainer/Dockerfile'
-  entrypoint: ".github/actions/test/run.sh"
+  using: "composite"
+  steps:
+    - name: Build Containers
+      shell: bash
+      run: docker-compose -f .github/actions/docker-compose.ci.yml -f .github/actions/docker-compose.ci.db.yml build
+
+    - name: Run Containers
+      shell: bash
+      run: docker-compose -f .github/actions/docker-compose.ci.yml -f .github/actions/docker-compose.ci.db.yml up -d
+
+    - name: Run Tests
+      shell: bash
+      run: docker-compose -f .github/actions/docker-compose.ci.yml -f .github/actions/docker-compose.ci.db.yml exec -T sailbot-workspace /bin/bash -c "export DISABLE_VCS=${{ inputs.disable_vcs }} && cd /workspaces/sailbot_workspace && .github/actions/test/run.sh"
diff --git a/.github/workflows/test_definitions.yml b/.github/workflows/test_definitions.yml
index 55a1e0844..cdd90de57 100644
--- a/.github/workflows/test_definitions.yml
+++ b/.github/workflows/test_definitions.yml
@@ -47,24 +47,15 @@ jobs:
       with:
           repository: UBCSailbot/sailbot_workspace
 
-    - name: Checkout ROS package
-      if: ${{ inputs.repository != 'sailbot_workspace' }}
-      uses: actions/checkout@v4
-      with:
-          repository: UBCSailbot/${{ inputs.repository }}
-          path: src/${{ inputs.repository }}
-
-    - name: Checkout custom_interfaces ROS package
-      if: ${{ inputs.repository != 'sailbot_workspace' && inputs.repository != 'custom_interfaces' }}
-      uses: actions/checkout@v4
+    - name: Checkout repositories
+      uses: ./.github/actions/checkout/
       with:
-          repository: UBCSailbot/custom_interfaces
-          path: src/custom_interfaces
+          repository: ${{ inputs.repository }}
 
     - name: Test
       uses: ./.github/actions/test/
-      env:
-        DISABLE_VCS: ${{ inputs.repository != 'sailbot_workspace' }}
+      with:
+        disable_vcs: ${{ inputs.repository != 'sailbot_workspace' }}
 
   ament-lint:
     strategy:
@@ -81,25 +72,16 @@ jobs:
       with:
           repository: UBCSailbot/sailbot_workspace
 
-    - name: Checkout ROS package
-      if: ${{ inputs.repository != 'sailbot_workspace' }}
-      uses: actions/checkout@v4
-      with:
-          repository: UBCSailbot/${{ inputs.repository }}
-          path: src/${{ inputs.repository }}
-
-    - name: Checkout custom_interfaces ROS package
-      if: ${{ inputs.repository != 'sailbot_workspace' && inputs.repository != 'custom_interfaces' }}
-      uses: actions/checkout@v4
+    - name: Checkout repositories
+      uses: ./.github/actions/checkout/
       with:
-          repository: UBCSailbot/custom_interfaces
-          path: src/custom_interfaces
+          repository: ${{ inputs.repository }}
 
     - name: Run linter
       uses: ./.github/actions/ament-lint/
-      env:
-        LINTER: ${{ matrix.linter }}
-        DISABLE_VCS: ${{ inputs.repository != 'sailbot_workspace' }}
+      with:
+        linter: ${{ matrix.linter }}
+        disable_vcs: ${{ inputs.repository != 'sailbot_workspace' }}
 
   clang-tidy:
     runs-on: ubuntu-latest
@@ -110,24 +92,15 @@ jobs:
       with:
           repository: UBCSailbot/sailbot_workspace
 
-    - name: Checkout ROS package
-      if: ${{ inputs.repository != 'sailbot_workspace' }}
-      uses: actions/checkout@v4
+    - name: Checkout repositories
+      uses: ./.github/actions/checkout/
       with:
-          repository: UBCSailbot/${{ inputs.repository }}
-          path: src/${{ inputs.repository }}
-
-    - name: Checkout custom_interfaces ROS package
-      if: ${{ inputs.repository != 'sailbot_workspace' && inputs.repository != 'custom_interfaces' }}
-      uses: actions/checkout@v4
-      with:
-          repository: UBCSailbot/custom_interfaces
-          path: src/custom_interfaces
+          repository: ${{ inputs.repository }}
 
     - name: Run linter
       uses: ./.github/actions/clang-tidy/
-      env:
-        DISABLE_VCS: ${{ inputs.repository != 'sailbot_workspace' }}
+      with:
+        disable_vcs: ${{ inputs.repository != 'sailbot_workspace' }}
 
   # https://github.com/nosborn/github-action-markdown-cli
   markdownlint:

From 3d9b365e6f60ee6f43cf1c13ea81bd5512ee5fb8 Mon Sep 17 00:00:00 2001
From: Patrick Creighton <pcreighton429@gmail.com>
Date: Tue, 3 Oct 2023 01:35:59 -0700
Subject: [PATCH 16/20] Simplify CI (#175)

* Move CI docker-compose files to .devcontainer/

* Fix volume path

* Use regular docker-compose files
---
 .github/actions/ament-lint/action.yml    |  6 +++---
 .github/actions/clang-tidy/action.yml    |  6 +++---
 .github/actions/docker-compose.ci.db.yml | 18 ------------------
 .github/actions/docker-compose.ci.yml    | 23 -----------------------
 .github/actions/test/action.yml          |  6 +++---
 5 files changed, 9 insertions(+), 50 deletions(-)
 delete mode 100644 .github/actions/docker-compose.ci.db.yml
 delete mode 100644 .github/actions/docker-compose.ci.yml

diff --git a/.github/actions/ament-lint/action.yml b/.github/actions/ament-lint/action.yml
index 3825102d0..e18805155 100644
--- a/.github/actions/ament-lint/action.yml
+++ b/.github/actions/ament-lint/action.yml
@@ -14,12 +14,12 @@ runs:
   steps:
     - name: Build Containers
       shell: bash
-      run: docker-compose -f .github/actions/docker-compose.ci.yml build
+      run: docker-compose -f .devcontainer/docker-compose.yml build
 
     - name: Run Containers
       shell: bash
-      run: docker-compose -f .github/actions/docker-compose.ci.yml up -d
+      run: docker-compose -f .devcontainer/docker-compose.yml up -d
 
     - name: Run Tests
       shell: bash
-      run: docker-compose -f .github/actions/docker-compose.ci.yml exec -T sailbot-workspace /bin/bash -c "export LINTER=${{ inputs.linter}} && export DISABLE_VCS=${{ inputs.disable_vcs }} && cd /workspaces/sailbot_workspace && .github/actions/ament-lint/run.sh"
+      run: docker-compose -f .devcontainer/docker-compose.yml exec -T sailbot-workspace /bin/bash -c "export LINTER=${{ inputs.linter}} && export DISABLE_VCS=${{ inputs.disable_vcs }} && cd /workspaces/sailbot_workspace && .github/actions/ament-lint/run.sh"
diff --git a/.github/actions/clang-tidy/action.yml b/.github/actions/clang-tidy/action.yml
index 34f261442..d8b5a9039 100644
--- a/.github/actions/clang-tidy/action.yml
+++ b/.github/actions/clang-tidy/action.yml
@@ -11,12 +11,12 @@ runs:
   steps:
     - name: Build Containers
       shell: bash
-      run: docker-compose -f .github/actions/docker-compose.ci.yml build
+      run: docker-compose -f .devcontainer/docker-compose.yml build
 
     - name: Run Containers
       shell: bash
-      run: docker-compose -f .github/actions/docker-compose.ci.yml up -d
+      run: docker-compose -f .devcontainer/docker-compose.yml up -d
 
     - name: Run Tests
       shell: bash
-      run: docker-compose -f .github/actions/docker-compose.ci.yml exec -T sailbot-workspace /bin/bash -c "export DISABLE_VCS=${{ inputs.disable_vcs }} && cd /workspaces/sailbot_workspace && .github/actions/clang-tidy/run.sh"
+      run: docker-compose -f .devcontainer/docker-compose.yml exec -T sailbot-workspace /bin/bash -c "export DISABLE_VCS=${{ inputs.disable_vcs }} && cd /workspaces/sailbot_workspace && .github/actions/clang-tidy/run.sh"
diff --git a/.github/actions/docker-compose.ci.db.yml b/.github/actions/docker-compose.ci.db.yml
deleted file mode 100644
index db408f698..000000000
--- a/.github/actions/docker-compose.ci.db.yml
+++ /dev/null
@@ -1,18 +0,0 @@
-# adapted from https://github.com/microsoft/vscode-dev-containers/blob/main/containers/javascript-node-mongo/.devcontainer/docker-compose.yml
-# Note: the "ports" property in this file will not forward from a codespace; add to "forwardPorts" in devcontainer.json instead
-version: '3.8'
-
-services:
-  # URL: mongodb://localhost:27017
-  mongodb:
-    image: mongo:latest
-    restart: unless-stopped
-
-    # Runs on the same network as the workspace container, allows "forwardPorts" in devcontainer.json function.
-    network_mode: service:sailbot-workspace
-
-    # Uncomment to change startup options
-    # environment:
-    #  MONGO_INITDB_ROOT_USERNAME: root
-    #  MONGO_INITDB_ROOT_PASSWORD: example
-    #  MONGO_INITDB_DATABASE: your-database-here
diff --git a/.github/actions/docker-compose.ci.yml b/.github/actions/docker-compose.ci.yml
deleted file mode 100644
index 6e713a703..000000000
--- a/.github/actions/docker-compose.ci.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-# adapted from https://github.com/microsoft/vscode-dev-containers/blob/main/containers/javascript-node-mongo/.devcontainer/docker-compose.yml
-# Note: the "ports" property in this file will not forward from a codespace; add to "forwardPorts" in devcontainer.json instead
-version: '3.8'
-
-services:
-  sailbot-workspace:
-    build:
-      context: ../../.devcontainer
-      dockerfile: Dockerfile
-    environment:
-      - MONGODB_CONN_STR=mongodb://localhost:27017
-    volumes:
-      - ../..:/workspaces/sailbot_workspace:cached
-
-    # Overrides default command so things don't shut down after the process ends.
-    command: sleep infinity
-
-    # From run arguments of template repository
-    cap_add:
-    - SYS_PTRACE
-    security_opt:
-    - seccomp:unconfined
-    - apparmor:unconfined
diff --git a/.github/actions/test/action.yml b/.github/actions/test/action.yml
index 2b34ae858..46da4d182 100644
--- a/.github/actions/test/action.yml
+++ b/.github/actions/test/action.yml
@@ -11,12 +11,12 @@ runs:
   steps:
     - name: Build Containers
       shell: bash
-      run: docker-compose -f .github/actions/docker-compose.ci.yml -f .github/actions/docker-compose.ci.db.yml build
+      run: docker-compose -f .devcontainer/docker-compose.yml -f .devcontainer/docker-compose.db.yml build
 
     - name: Run Containers
       shell: bash
-      run: docker-compose -f .github/actions/docker-compose.ci.yml -f .github/actions/docker-compose.ci.db.yml up -d
+      run: docker-compose -f .devcontainer/docker-compose.yml -f .devcontainer/docker-compose.db.yml up -d
 
     - name: Run Tests
       shell: bash
-      run: docker-compose -f .github/actions/docker-compose.ci.yml -f .github/actions/docker-compose.ci.db.yml exec -T sailbot-workspace /bin/bash -c "export DISABLE_VCS=${{ inputs.disable_vcs }} && cd /workspaces/sailbot_workspace && .github/actions/test/run.sh"
+      run: docker-compose -f .devcontainer/docker-compose.yml -f .devcontainer/docker-compose.db.yml exec -T sailbot-workspace /bin/bash -c "export DISABLE_VCS=${{ inputs.disable_vcs }} && cd /workspaces/sailbot_workspace && .github/actions/test/run.sh"

From 23eff81439712c1b49a5c51179dfd8087810517a Mon Sep 17 00:00:00 2001
From: Patrick Creighton <pcreighton429@gmail.com>
Date: Tue, 3 Oct 2023 15:10:54 -0700
Subject: [PATCH 17/20] Request write access to repositories in codespace
 (#152)

* Request write access to new project repositories in codespaces

* Update repositories list
---
 .devcontainer/devcontainer.json | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 8c6feb167..91259d1e5 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -22,6 +22,20 @@
 	},
 	// Set *default* container specific settings.json values on container create.
 	"customizations": {
+		"codespaces": {
+			"repositories": {
+				"UBCSailbot/boat_simulator": {"permissions": "write-all"},
+				"UBCSailbot/controller": {"permissions": "write-all"},
+				"UBCSailbot/custom_interfaces": {"permissions": "write-all"},
+				"UBCSailbot/docs": {"permissions": "write-all"},
+				"UBCSailbot/local_pathfinding": {"permissions": "write-all"},
+				"UBCSailbot/network_systems": {"permissions": "write-all"},
+				"UBCSailbot/notebooks": {"permissions": "write-all"},
+				"UBCSailbot/raye-local-pathfinding": {"permissions": "write-all"},
+				"UBCSailbot/website": {"permissions": "write-all"},
+				"UBCSailbot/virtual_iridium": {"permissions": "write-all"}
+			}
+		},
 		"vscode": {
 			"settings": {
 				"terminal.integrated.profiles.linux": {

From 2281e5a7ef28f849e93a543008d95848bb047a54 Mon Sep 17 00:00:00 2001
From: John Ahn <john.ahn.es@gmail.com>
Date: Wed, 4 Oct 2023 07:17:59 -0700
Subject: [PATCH 18/20] Website infrastructure updates (#170)

---
 .devcontainer/devcontainer.json          | 1 +
 .devcontainer/website/website.Dockerfile | 5 +----
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 91259d1e5..1b76d3717 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -83,6 +83,7 @@
 				"ms-toolsai.jupyter",
 				"ms-vsliveshare.vsliveshare",
 				"njpwerner.autodocstring",
+				"stevejpurves.cucumber",
 				"streetsidesoftware.code-spell-checker",
 				"vscode-icons-team.vscode-icons",
 				"zxh404.vscode-proto3"
diff --git a/.devcontainer/website/website.Dockerfile b/.devcontainer/website/website.Dockerfile
index d7b17b04f..893136ada 100644
--- a/.devcontainer/website/website.Dockerfile
+++ b/.devcontainer/website/website.Dockerfile
@@ -15,9 +15,6 @@ FROM mcr.microsoft.com/vscode/devcontainers/javascript-node:0-${VARIANT}
 # RUN su node -c "npm install -g <your-package-list-here>"
 
 # Adapted from https://www.digitalocean.com/community/tutorials/how-to-build-a-node-js-application-with-docker
-RUN mkdir -p /website/node_modules
 WORKDIR /website
-COPY src/website/package*.json ./
-RUN npm install
 EXPOSE 3005
-CMD [ "npm", "run", "dev" ]
+CMD npm install --legacy-peer-deps && npm run dev

From 5ab530f07a6e054fca3024160be23b56824cfd98 Mon Sep 17 00:00:00 2001
From: Henry Huang <69825683+hhenry01@users.noreply.github.com>
Date: Wed, 4 Oct 2023 10:59:48 -0700
Subject: [PATCH 19/20] Remove MONGODB_CONN_STR env var (#176)

* Remove MONGODB_CONN_STR env var

* Enable mongodb by default
---
 .devcontainer/devcontainer.json  | 2 +-
 .devcontainer/docker-compose.yml | 2 --
 2 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 1b76d3717..1a5883f89 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -3,7 +3,7 @@
 	"name": "Sailbot Workspace",
 	"dockerComposeFile": [
 		// Uncomment the files containing the programs you need
-		// "docker-compose.db.yml", // mongodb
+		"docker-compose.db.yml", // mongodb
 		// "docker-compose.docs.yml", // docs
 		// "docker-compose.website.yml", // grafana, website
 
diff --git a/.devcontainer/docker-compose.yml b/.devcontainer/docker-compose.yml
index db0c247f2..da1dc0148 100644
--- a/.devcontainer/docker-compose.yml
+++ b/.devcontainer/docker-compose.yml
@@ -7,8 +7,6 @@ services:
     build:
       context: .
       dockerfile: Dockerfile
-    environment:
-      - MONGODB_CONN_STR=mongodb://localhost:27017
     volumes:
       - ..:/workspaces/sailbot_workspace:cached
       - sailbot-new-project-bashhistory:/home/ros/commandhistory:delegated

From c2087b9bcb3d33b3d4337a3057c0b381d7a3e2ab Mon Sep 17 00:00:00 2001
From: Patrick Creighton <pcreighton429@gmail.com>
Date: Mon, 9 Oct 2023 21:41:50 -0600
Subject: [PATCH 20/20] Python: add plotly pkg to base img (#177)

* Python: add plotly pkg to base img

* Update dev container accordingly
---
 .devcontainer/Dockerfile                   | 2 +-
 .devcontainer/base-dev/base-dev.Dockerfile | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 919452d0c..c9d3c01fb 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,4 +1,4 @@
-FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:add-py-deps-v2
+FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:py-plotly
 
 # Copy configuration files (e.g., .vimrc) from config/ to the container's home directory
 ARG USERNAME=ros
diff --git a/.devcontainer/base-dev/base-dev.Dockerfile b/.devcontainer/base-dev/base-dev.Dockerfile
index ed8a5ecab..08342ca59 100644
--- a/.devcontainer/base-dev/base-dev.Dockerfile
+++ b/.devcontainer/base-dev/base-dev.Dockerfile
@@ -24,6 +24,7 @@ ENV DEBIAN_FRONTEND=
 
 # install base pip dependencies
 RUN pip3 install \
+    plotly \
     pyproj \
     shapely