Add bats

.gitmodules

@@ -0,0 +1,9 @@
+[submodule "test/bats"]
+	path = test/bats
+	url = https://github.com/bats-core/bats-core.git
+[submodule "test/test_helper/bats-support"]
+	path = test/test_helper/bats-support
+	url = https://github.com/bats-core/bats-support.git
+[submodule "test/test_helper/bats-assert"]
+	path = test/test_helper/bats-assert
+	url = https://github.com/bats-core/bats-assert.git

test/test_container_docker/README.md

@@ -0,0 +1,35 @@
+# Docker Container for testing 
+
+## container
+The container should support forwarding of the x11-session. If this is not working please make sure docker is granted access to the x-server by running `./start.sh`. Otherwise open an issue on github.  
+The container itself should clone your `user` inside the docker container. The _ros_team_workspace_ folder is then shared with the docker container and mounted under _~/workspace/ros_team_workspace/_ inside the container.
+
+## Usage of the docker container
+Short:
+1. Install docker
+2. run `./build.sh`
+3. run `./create.sh`
+4. You can then connect either as root or user by opening a new terminal and run `:/connect_<user|root>.sh`.
+5. If you want to exit simply type `exit` in the console inside the container. 
+6. If you stop the container with `./stop.sh` or by exiting all instance restart with `./start.sh`.
+
+### Install docker.
+This step depends on the operatingsystem you are using. For instructions have a look [here](https://docs.docker.com/) on the official docs site or google it.
+* [Windows](https://docs.docker.com/desktop/windows/install/)
+* [Mac](https://docs.docker.com/desktop/mac/install/)
+* Linux
+    - have to look it up. However make sure your user is in the docker group. Check with: `groups`.  
+    To add your user to the docker group run: `sudo usermod -aG docker <username>`. 
+
+
+
+## some useful docker commands
+For complete list of commands have a look at [official docker cli reference](https://docs.docker.com/engine/reference/commandline/cli/).
+
++ `docker container <command>`  
+    + `ls` lists all current active containers
+    + `ls -a` lists all containers
+    + `rm <container>` removes container
++ `docker image <command>`   
+    + `ls` lists all images
+    + `rm <image>` removes image  

test/test_container_docker/TODO.md

@@ -0,0 +1,9 @@
+# TODO
+* Automatically add hostname of dockercontainer to /etc/hosts otherwise annoying `sudo: unable to resolve host <hostname>: Name or service not known`   
+  127.0.0.1 <hostname>
+
+
+## Currently **not** working properly
+* [] Auto completion of commands in shell
+  - [] ros2 commands auto completion
+

test/test_container_docker/ubuntu_20_04_ros2_foxy/Dockerfile

@@ -0,0 +1,58 @@
+FROM ubuntu:20.04
+
+#Arguments maybe add defaults?
+ARG user
+ARG uid
+ARG gid
+ARG home
+
+# make bash default
+SHELL ["/bin/bash", "-c"] 
+
+# install locales
+RUN apt-get update -y && apt-get install -y locales
+
+# Configure user env
+ENV TZ=Europe/Berlin
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+# Set the locale to include UTF-8. UTF-8 compatible locales are needed for install
+RUN sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && \
+    locale-gen
+ENV LANG en_US.UTF-8  
+ENV LANGUAGE en_US:en  
+ENV LC_ALL en_US.UTF-8
+
+# Make sure UTF-8 is supported
+RUN locale
+
+# Install basic utilities
+RUN apt-get -y update && apt-get -y install git nano sudo tmux tree vim
+
+# install ROS2:foxy dependencies
+RUN apt-get install -y curl gnupg2 lsb-release
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+# install ROS2:foxy and things needed for ros development, DEBIAN_FRONTEND is needed to ignore interactive keyboard layout setting while install
+RUN apt-get update -y && DEBIAN_FRONTEND=noniteractive apt-get install -y ros-foxy-desktop pip python3-colcon-common-extensions
+RUN pip install -U rosdep && \
+    rosdep init
+
+# clone user into docker image, add to sudo users needed for xsharing
+# the passwd delet is needed to update /etc/shadow otherwise user cannot use sudo
+RUN mkdir -p ${home} && \
+  echo "${user}:x:${uid}:${gid}:${user},,,:${home}:/bin/bash" >> /etc/passwd && \
+  echo "${user}:x:${uid}:" >> /etc/group && \
+  echo "${user} ALL=(ALL) NOPASSWD: ALL" > "/etc/sudoers.d/${user}" && \
+  chmod 0440 "/etc/sudoers.d/${user}" && \
+  usermod -aG sudo ${user} && \
+  passwd -d ${user} && \
+  chown ${uid}:${gid} -R ${home}
+
+# setup environment of ros for usage
+COPY bashrc ${home}/.bashrc
+RUN echo "source /opt/ros/foxy/setup.bash" >> ${home}/.bashrc
+
+#switch to user
+USER ${user}

test/test_container_docker/ubuntu_20_04_ros2_foxy/README.md

@@ -0,0 +1,6 @@
+# Docker Container ubuntu_20_04_ros2_foxy
+
+Ubuntu 20.04 with  ROS 2 [Foxy Fitzroy (codename ‘foxy’)](https://docs.ros.org/en/foxy/index.html) installed with x11 forwading.
+
+## How to use
+Have a look at README.md in `ros_team_workspace/test/test_container_docker` for a detailed description on how to use.

test/test_container_docker/ubuntu_20_04_ros2_foxy/TODO.md

@@ -0,0 +1,3 @@
+# TODO
+
+## Currently **not** working properly

test/test_container_docker/ubuntu_20_04_ros2_foxy/bashrc

@@ -0,0 +1,103 @@
+# ~/.bashrc: executed by bash(1) for non-login shells.
+# see /usr/share/doc/bash/examples/startup-files (in the package bash-doc)
+# for examples
+
+# If not running interactively, don't do anything
+[ -z "$PS1" ] && return
+
+# don't put duplicate lines in the history. See bash(1) for more options
+# ... or force ignoredups and ignorespace
+HISTCONTROL=ignoredups:ignorespace
+
+# append to the history file, don't overwrite it
+shopt -s histappend
+
+# for setting history length see HISTSIZE and HISTFILESIZE in bash(1)
+HISTSIZE=1000
+HISTFILESIZE=2000
+
+# check the window size after each command and, if necessary,
+# update the values of LINES and COLUMNS.
+shopt -s checkwinsize
+
+# make less more friendly for non-text input files, see lesspipe(1)
+[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)"
+
+# set variable identifying the chroot you work in (used in the prompt below)
+if [ -z "$debian_chroot" ] && [ -r /etc/debian_chroot ]; then
+    debian_chroot=$(cat /etc/debian_chroot)
+fi
+
+# set a fancy prompt (non-color, unless we know we "want" color)
+case "$TERM" in
+    xterm-color) color_prompt=yes;;
+esac
+
+# uncomment for a colored prompt, if the terminal has the capability; turned
+# off by default to not distract the user: the focus in a terminal window
+# should be on the output of commands, not on the prompt
+#force_color_prompt=yes
+
+if [ -n "$force_color_prompt" ]; then
+    if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then
+	# We have color support; assume it's compliant with Ecma-48
+	# (ISO/IEC-6429). (Lack of such support is extremely rare, and such
+	# a case would tend to support setf rather than setaf.)
+	color_prompt=yes
+    else
+	color_prompt=
+    fi
+fi
+
+if [ "$color_prompt" = yes ]; then
+    PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
+else
+    PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
+fi
+unset color_prompt force_color_prompt
+
+# If this is an xterm set the title to user@host:dir
+case "$TERM" in
+xterm*|rxvt*)
+    PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1"
+    ;;
+*)
+    ;;
+esac
+
+# enable color support of ls and also add handy aliases
+if [ -x /usr/bin/dircolors ]; then
+    test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)"
+    alias ls='ls --color=auto'
+    #alias dir='dir --color=auto'
+    #alias vdir='vdir --color=auto'
+
+    alias grep='grep --color=auto'
+    alias fgrep='fgrep --color=auto'
+    alias egrep='egrep --color=auto'
+fi
+
+# some more ls aliases
+alias ll='ls -alF'
+alias la='ls -A'
+alias l='ls -CF'
+
+# Add an "alert" alias for long running commands.  Use like so:
+#   sleep 10; alert
+alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal || echo error)" "$(history|tail -n1|sed -e '\''s/^\s*[0-9]\+\s*//;s/[;&|]\s*alert$//'\'')"'
+
+# Alias definitions.
+# You may want to put all your additions into a separate file like
+# ~/.bash_aliases, instead of adding them here directly.
+# See /usr/share/doc/bash-doc/examples in the bash-doc package.
+
+if [ -f ~/.bash_aliases ]; then
+    . ~/.bash_aliases
+fi
+
+# enable programmable completion features (you don't need to enable
+# this, if it's already enabled in /etc/bash.bashrc and /etc/profile
+# sources /etc/bash.bashrc).
+if [ -f /etc/bash_completion ] && ! shopt -oq posix; then
+    . /etc/bash_completion
+fi

test/test_container_docker/ubuntu_20_04_ros2_foxy/build.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+docker build \
+  --build-arg user=$USER \
+  --build-arg uid=$UID \
+  --build-arg gid=$GROUPS \
+  --build-arg home=$HOME \
+  -t ubuntu_20_04_ros2_foxy .

test/test_container_docker/ubuntu_20_04_ros2_foxy/connect_root.sh

@@ -0,0 +1,2 @@
+#!/usr/bin/env bash
+docker exec -u root -it ubuntu_20_04_ros2_foxy-instance /bin/bash

test/test_container_docker/ubuntu_20_04_ros2_foxy/connect_user.sh

@@ -0,0 +1,2 @@
+#!/usr/bin/env bash
+docker exec -u $USER -it ubuntu_20_04_ros2_foxy-instance /bin/bash

test/test_container_docker/ubuntu_20_04_ros2_foxy/create.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+xhost +local:docker
+docker run --net=host -h ubuntu_20_04_ros2_foxy-docker -e DISPLAY --tmpfs /tmp -v /tmp/.X11-unix/:/tmp/.X11-unix:rw -v $PWD/../../../../ros_team_workspace/:$HOME/workspace/ros_team_workspace:rw --name ubuntu_20_04_ros2_foxy-instance -it ubuntu_20_04_ros2_foxy /bin/bash
+

test/test_container_docker/ubuntu_20_04_ros2_foxy/start.sh

@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+xhost +local:docker
+docker start ubuntu_20_04_ros2_foxy-instance

test/test_container_docker/ubuntu_20_04_ros2_foxy/stop.sh

@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+xhost -local:docker
+docker stop ubuntu_20_04_ros2_foxy-instance

test/test_container_docker/ubuntu_20_04_ros2_multi/Dockerfile

@@ -0,0 +1,57 @@
+FROM ubuntu:20.04
+
+#Arguments maybe add defaults?
+ARG user
+ARG uid
+ARG gid
+ARG home
+
+# make bash default
+SHELL ["/bin/bash", "-c"] 
+
+# install locales
+RUN apt-get update -y && apt-get install -y locales
+
+# Configure user env
+ENV TZ=Europe/Berlin
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+# Set the locale to include UTF-8. UTF-8 compatible locales are needed for install
+RUN sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && \
+    locale-gen
+ENV LANG en_US.UTF-8  
+ENV LANGUAGE en_US:en  
+ENV LC_ALL en_US.UTF-8
+
+# Make sure UTF-8 is supported
+RUN locale
+
+# Install basic utilities
+RUN apt-get -y update && apt-get -y install git nano sudo tmux tree vim
+
+# install ROS2:foxy dependencies
+RUN apt-get install -y curl gnupg gnupg2 lsb-release software-properties-common && apt-add-repository universe
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+# install ROS2:foxy and things needed for ros development, DEBIAN_FRONTEND is needed to ignore interactive keyboard layout setting while install
+RUN apt-get update -y && DEBIAN_FRONTEND=noniteractive apt-get install -y ros-foxy-desktop ros-galactic-desktop ros-rolling-desktop pip python3-colcon-common-extensions
+RUN pip install -U rosdep && \
+    rosdep init
+
+# clone user into docker image, add to sudo users needed for xsharing
+# the passwd delet is needed to update /etc/shadow otherwise user cannot use sudo
+RUN mkdir -p ${home} && \
+  echo "${user}:x:${uid}:${gid}:${user},,,:${home}:/bin/bash" >> /etc/passwd && \
+  echo "${user}:x:${uid}:" >> /etc/group && \
+  echo "${user} ALL=(ALL) NOPASSWD: ALL" > "/etc/sudoers.d/${user}" && \
+  chmod 0440 "/etc/sudoers.d/${user}" && \
+  usermod -aG sudo ${user} && \
+  passwd -d ${user} && \
+  chown ${uid}:${gid} -R ${home}
+
+# setup environment of ros for usage
+COPY bashrc ${home}/.bashrc
+
+#switch to user
+USER ${user}

test/test_container_docker/ubuntu_20_04_ros2_multi/README.md

@@ -0,0 +1,10 @@
+# Docker Container ubuntu_20_04_ros2_multi
+
+Ubuntu 20.04 with  ROS 2 and 
+* [Foxy Fitzroy (codename ‘foxy’)](https://docs.ros.org/en/foxy/index.html)
+* [Galactic Geochelone (codename ‘galactic’)](https://docs.ros.org/en/galactic/index.html)
+* [Rolling Ridley (codename ‘rolling’)](https://docs.ros.org/en/rolling/index.html)  
+installed with x11 forwading.
+
+## How to use
+Have a look at README.md in `ros_team_workspace/test/test_container_docker` for a detailed description on how to use.

test/test_container_docker/ubuntu_20_04_ros2_multi/TODO.md

@@ -0,0 +1,4 @@
+# TODO
+
+## Currently **not** working properly
+