Ros2 init config (#1)

Prots the ROS1 version of
[av_dbw_ros1](https://github.com/ipab-rad/av_dbw_ros1) to ROS 2 Humble
- Cyclone DDS ROS RMW is used + configured for high msg thorughput

.github/workflows/docker.yml

@@ -0,0 +1,52 @@
+name: Create and publish a Docker image
+
+on:
+  push:
+    tags: ["*"]
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository }}
+  ROS_DISTRO: humble
+
+jobs:
+  build-and-push-image:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Docker meta
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          tags: |
+            type=ref,event=branch
+            type=semver,pattern={{version}}
+            type=semver,pattern={{major}}.{{minor}}
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          file: Dockerfile
+          target: runtime
+          build-args: ROS_DISTRO=${{ env.ROS_DISTRO }}

.pre-commit-config.yaml

@@ -0,0 +1,160 @@
+
+# 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: v4.6.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        exclude_types: [rst]
+      - id: fix-byte-order-marker
+
+  # Python hooks
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.15.2
+    hooks:
+    -   id: pyupgrade
+        args: [--py36-plus]
+
+  - repo: https://github.com/psf/black
+    rev: 24.4.2
+    hooks:
+      - id: black
+        args: ["--line-length=79", -S]
+
+  # CPP hooks
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v18.1.4
+    hooks:
+      - id: clang-format
+        args: ['-fallback-style=none', '-i']
+
+  - repo: local
+    hooks:
+      - id: ament_cppcheck
+        name: ament_cppcheck
+        description: Static code analysis of C/C++ files.
+        entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+
+  - repo: local
+    hooks:
+      - id: ament_cpplint
+        name: ament_cpplint
+        description: Static code analysis of C/C++ files.
+        entry: ament_cpplint
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: ["--linelength=100", "--filter=-legal/copyright,-build/include_order"]
+
+  # Cmake hooks
+  - repo: local
+    hooks:
+      - id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check format of CMakeLists.txt files.
+        entry: ament_lint_cmake
+        language: system
+        files: CMakeLists\.txt$
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+      - id: cmake-format
+
+  # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.1
+    hooks:
+      - id: doc8
+        args: ['--max-line-length=100', '--ignore=D001']
+        exclude: CHANGELOG\.rst$
+
+  - repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.10.0
+    hooks:
+      - id: rst-backticks
+        exclude: CHANGELOG\.rst$
+      - id: rst-directive-colons
+      - id: rst-inline-touching-normal
+
+  # Spellcheck in comments and docs
+  # skipping of *.svg files is not working...
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+      - id: codespell
+        args: ['--write-changes', '--uri-ignore-words-list=ist', '-L manuel']
+        exclude: CHANGELOG\.rst|\.(svg|pyc|drawio|dae)$
+
+  # Check Github files
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.28.2
+    hooks:
+      - id: check-github-workflows
+        args: ["--verbose"]
+      - id: check-github-actions
+        args: ["--verbose"]
+      - id: check-dependabot
+        args: ["--verbose"]
+
+  # Bash prettify
+  - repo: https://github.com/lovesegfault/beautysh
+    rev: v6.2.1
+    hooks:
+      - id: beautysh
+
+  # ROS checks
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.8.0
+    hooks:
+      - id: flake8-ros
+      - id: prettier-xacro
+      - id: prettier-launch-xml
+      - id: prettier-package-xml
+      - id: ros-include-guard
+      - id: sort-package-xml
+
+  # Dockerfiles
+  - repo: https://github.com/AleksaC/hadolint-py
+    rev: v2.12.1b3
+    hooks:
+      - id: hadolint
+        args: ['--ignore=DL3008']
+
+ci:
+    autofix_commit_msg: |
+        [pre-commit.ci] auto fixes from pre-commit.com hooks
+
+        for more information, see https://pre-commit.ci
+    autofix_prs: false
+    autoupdate_branch: ''
+    autoupdate_commit_msg: '[pre-commit.ci] pre-commit autoupdate'
+    autoupdate_schedule: weekly
+    skip: [ament_cppcheck, ament_cpplint, ament_lint_cmake]
+    submodules: false

Dockerfile

@@ -0,0 +1,98 @@
+FROM ros:humble-ros-base-jammy AS base
+
+# Install basic dev tools (And clean apt cache afterwards)
+RUN apt-get update \
+    && DEBIAN_FRONTEND=noninteractive \
+        apt-get -y --quiet --no-install-recommends install \
+        # Download tool
+        curl \
+        # Install Cyclone DDS ROS RMW
+        ros-"$ROS_DISTRO"-rmw-cyclonedds-cpp \
+    && rm -rf /var/lib/apt/lists/*
+
+# Setup Dataspeed apt
+RUN curl -sSL https://bitbucket.org/DataspeedInc/ros_binaries/raw/master/dataspeed.key -o /usr/share/keyrings/dataspeed-archive-keyring.gpg \
+    && sh -c 'echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/dataspeed-archive-keyring.gpg] http://packages.dataspeedinc.com/ros2/ubuntu \
+    $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2-dataspeed-public.list > /dev/null'
+
+# Setup Dataspeed rosdep
+RUN sh -c "echo \"yaml http://packages.dataspeedinc.com/ros2/ros-public-\$ROS_DISTRO.yaml \$ROS_DISTRO\" \
+    > /etc/ros/rosdep/sources.list.d/30-dataspeed-public-\$ROS_DISTRO.list"
+
+
+# Install Dataspeed Ford Drive-By-Wire ROS driver
+RUN apt-get update \
+    && rosdep update \
+    && DEBIAN_FRONTEND=noninteractive \
+        apt-get -y --quiet --no-install-recommends install \
+        ros-"$ROS_DISTRO"-dbw-ford \
+    && rm -rf /var/lib/apt/lists/*
+
+# Setup ROS workspace folder
+ENV ROS_WS /opt/ros_ws
+WORKDIR $ROS_WS
+
+# Set cyclone DDS ROS RMW
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+COPY ./cyclone_dds.xml $ROS_WS/
+
+# Configure Cyclone cfg file
+ENV CYCLONEDDS_URI=file://${ROS_WS}/cyclone_dds.xml
+
+# Enable ROS log colorised output
+ENV RCUTILS_COLORIZED_OUTPUT=1
+
+# -----------------------------------------------------------------------
+
+FROM base AS prebuilt
+
+# Import Five DBW code into docker image
+COPY av_dbw_launch $ROS_WS/src/
+
+# Source ROS setup for dependencies and build our code
+RUN . /opt/ros/"$ROS_DISTRO"/setup.sh \
+    && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# -----------------------------------------------------------------------
+
+FROM base AS dev
+
+# Install basic dev tools (And clean apt cache afterwards)
+RUN apt-get update \
+    && DEBIAN_FRONTEND=noninteractive \
+        apt-get -y --quiet --no-install-recommends install \
+        # Dbw joystick controller
+        ros-"$ROS_DISTRO"-dbw-ford-joystick-demo \
+        # Command-line editor
+        nano \
+        # Ping network tools
+        inetutils-ping \
+        # Bash auto-completion for convenience
+        bash-completion \
+    && rm -rf /var/lib/apt/lists/*
+
+# Add sourcing local workspace command to bashrc when running interactively
+# Add colcon build alias for convenience
+RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /root/.bashrc && \
+    echo 'alias colcon_build="colcon build --symlink-install \
+            --cmake-args -DCMAKE_BUILD_TYPE=Release && \
+            source install/setup.bash"' >> /root/.bashrc
+
+# Enter bash for development
+CMD ["bash"]
+
+# -----------------------------------------------------------------------
+
+FROM base AS runtime
+
+# Copy artifacts/binaries from prebuilt
+COPY --from=prebuilt $ROS_WS/install $ROS_WS/install
+
+# Add command to docker entrypoint to source newly compiled code in container
+RUN sed --in-place --expression \
+      "\$isource \"$ROS_WS/install/setup.bash\" " \
+      /ros_entrypoint.sh
+
+# Launch Five DBW launchfile
+CMD ["ros2", "launch", "av_dbw_launch", "av_dbw.launch.xml"]

README.md

@@ -1,2 +1,27 @@
 # av_dbw
-This repository hosts the required enviorment to run the Dataspeed Ford drive-by-wire ROS 2 driver.
+Drive-by-wire interface between ROS 2 and usb-CANbus Dataspeed tool for a FORD Mondeo
+
+## Usage
+
+This repository is designed to be used alongside a Docker container. Quickly build and run the Docker container using `runtime.sh` for runtime or debugging, and `dev.sh` for a convenient development setup.
+
+### Runtime or Debugging
+
+Execute the drive-by-wire ROS nodes in runtime mode or start an interactive bash session for detailed debugging:
+
+```bash
+./runtime.sh [bash]
+```
+
+- **Without arguments**: Activates the container in runtime mode.
+- **With `bash`**: Opens an interactive bash session for debugging.
+
+### Development
+
+Prepare a development setting that reflects local code modifications and simplifies the build process:
+
+```bash
+./dev.sh
+```
+
+- **Live Code Synchronization**: Mounts local `av_dbw_launch` directory with the container.

av_dbw_launch/CHANGELOG.rst

@@ -0,0 +1,16 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package av_dbw_launch
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Forthcoming
+-----------
+* Add Cyclone DDS ROS RMW
+  - Configure DDS for high msg throughput 
+* Add docker build github workflow
+* Add pre-commit support
+* Add ROS 2 av_dbw_launch cfg to run dataspeed FORD dbw ROS driver
+  - Dockefile based on ubuntu 22.04
+  ROS 2 Humble
+  - dev.sh and runtime.sh scrips are added
+  - Docker container is synchronised with host time
+* Contributors: Hector Cruz, hect95

av_dbw_launch/CMakeLists.txt

@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.8)
+project(av_dbw_launch)
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+
+ament_package()