Extended map server (#23)

* map server services

* map server services

* further changes

* Fix PolygonIterator

* Coverage server

* Couple of significant changes
- migrated to Gazebo Harmonic. ROS bridge needs to be built from a source
- changes to nav2 stack, so navigation is actually working
- fixed a couple of annoying bugs

* Fix ros2_control UDF
Improve launches

* Sim node

.clang-format

@@ -0,0 +1,65 @@
+---
+BasedOnStyle: Google
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: true
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+BinPackParameters: true
+ColumnLimit: 120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 1
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 90
+SpacesBeforeTrailingComments: 2
+Cpp11BracedListStyle: false
+Standard: Auto
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
+IndentFunctionDeclarationAfterType: false
+SpacesInParentheses: false
+SpacesInAngles: false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+ContinuationIndentWidth: 4
+SortIncludes: false
+SpaceAfterCStyleCast: false
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping: {
+  AfterClass: 'true'
+    AfterControlStatement: 'true'
+    AfterEnum : 'true'
+    AfterFunction : 'true'
+    AfterNamespace : 'true'
+    AfterStruct : 'true'
+    AfterUnion : 'true'
+    BeforeCatch : 'true'
+    BeforeElse : 'true'
+    IndentBraces : 'false'
+}
+...

.clang-tidy

@@ -0,0 +1,147 @@
+# Generated from CLion Inspection settings
+---
+Checks: '-*,
+bugprone-argument-comment,
+bugprone-assert-side-effect,
+bugprone-bad-signal-to-kill-thread,
+bugprone-branch-clone,
+bugprone-copy-constructor-init,
+bugprone-dangling-handle,
+bugprone-dynamic-static-initializers,
+bugprone-fold-init-type,
+bugprone-forward-declaration-namespace,
+bugprone-forwarding-reference-overload,
+bugprone-inaccurate-erase,
+bugprone-incorrect-roundings,
+bugprone-integer-division,
+bugprone-lambda-function-name,
+bugprone-macro-parentheses,
+bugprone-macro-repeated-side-effects,
+bugprone-misplaced-operator-in-strlen-in-alloc,
+bugprone-misplaced-pointer-arithmetic-in-alloc,
+bugprone-misplaced-widening-cast,
+bugprone-move-forwarding-reference,
+bugprone-multiple-statement-macro,
+bugprone-no-escape,
+bugprone-parent-virtual-call,
+bugprone-posix-return,
+bugprone-reserved-identifier,
+bugprone-sizeof-container,
+bugprone-sizeof-expression,
+bugprone-spuriously-wake-up-functions,
+bugprone-string-constructor,
+bugprone-string-integer-assignment,
+bugprone-string-literal-with-embedded-nul,
+bugprone-suspicious-enum-usage,
+bugprone-suspicious-include,
+bugprone-suspicious-memset-usage,
+bugprone-suspicious-missing-comma,
+bugprone-suspicious-semicolon,
+bugprone-suspicious-string-compare,
+bugprone-suspicious-memory-comparison,
+bugprone-suspicious-realloc-usage,
+bugprone-swapped-arguments,
+bugprone-terminating-continue,
+bugprone-throw-keyword-missing,
+bugprone-too-small-loop-variable,
+bugprone-undefined-memory-manipulation,
+bugprone-undelegated-constructor,
+bugprone-unhandled-self-assignment,
+bugprone-unused-raii,
+bugprone-unused-return-value,
+bugprone-use-after-move,
+bugprone-virtual-near-miss,
+cert-dcl21-cpp,
+cert-dcl58-cpp,
+cert-err34-c,
+cert-err52-cpp,
+cert-err60-cpp,
+cert-flp30-c,
+cert-msc50-cpp,
+cert-msc51-cpp,
+cert-str34-c,
+cppcoreguidelines-interfaces-global-init,
+cppcoreguidelines-narrowing-conversions,
+cppcoreguidelines-pro-type-member-init,
+cppcoreguidelines-pro-type-static-cast-downcast,
+cppcoreguidelines-slicing,
+google-default-arguments,
+google-explicit-constructor,
+google-runtime-operator,
+hicpp-exception-baseclass,
+hicpp-multiway-paths-covered,
+misc-misplaced-const,
+misc-new-delete-overloads,
+misc-no-recursion,
+misc-non-copyable-objects,
+misc-throw-by-value-catch-by-reference,
+misc-unconventional-assign-operator,
+misc-uniqueptr-reset-release,
+modernize-avoid-bind,
+modernize-concat-nested-namespaces,
+modernize-deprecated-headers,
+modernize-deprecated-ios-base-aliases,
+modernize-loop-convert,
+modernize-make-shared,
+modernize-make-unique,
+modernize-pass-by-value,
+modernize-raw-string-literal,
+modernize-redundant-void-arg,
+modernize-replace-auto-ptr,
+modernize-replace-disallow-copy-and-assign-macro,
+modernize-replace-random-shuffle,
+modernize-return-braced-init-list,
+modernize-shrink-to-fit,
+modernize-unary-static-assert,
+modernize-use-auto,
+modernize-use-bool-literals,
+modernize-use-emplace,
+modernize-use-equals-default,
+modernize-use-equals-delete,
+modernize-use-nodiscard,
+modernize-use-noexcept,
+modernize-use-nullptr,
+modernize-use-override,
+modernize-use-transparent-functors,
+modernize-use-uncaught-exceptions,
+mpi-buffer-deref,
+mpi-type-mismatch,
+openmp-use-default-none,
+performance-faster-string-find,
+performance-for-range-copy,
+performance-implicit-conversion-in-loop,
+performance-inefficient-algorithm,
+performance-inefficient-string-concatenation,
+performance-inefficient-vector-operation,
+performance-move-const-arg,
+performance-move-constructor-init,
+performance-no-automatic-move,
+performance-noexcept-move-constructor,
+performance-trivially-destructible,
+performance-type-promotion-in-math-fn,
+performance-unnecessary-copy-initialization,
+performance-unnecessary-value-param,
+portability-simd-intrinsics,
+readability-avoid-const-params-in-decls,
+readability-const-return-type,
+readability-container-size-empty,
+readability-convert-member-functions-to-static,
+readability-delete-null-pointer,
+readability-deleted-default,
+readability-inconsistent-declaration-parameter-name,
+readability-make-member-function-const,
+readability-misleading-indentation,
+readability-misplaced-array-index,
+readability-non-const-parameter,
+readability-redundant-control-flow,
+readability-redundant-declaration,
+readability-redundant-function-ptr-dereference,
+readability-redundant-smartptr-get,
+readability-redundant-string-cstr,
+readability-redundant-string-init,
+readability-simplify-subscript-expr,
+readability-static-accessed-through-instance,
+readability-static-definition-in-anonymous-namespace,
+readability-string-compare,
+readability-uniqueptr-delete-release,
+readability-use-anyofallof'

.devcontainer/.gitignore

@@ -0,0 +1 @@
+home/p*

.devcontainer/Dockerfile

@@ -14,6 +14,7 @@ RUN apt-get update \
     python3-pip \
     curl \
     rsync \
+    psmisc \
   && rm -rf /var/lib/apt/lists/*
 
 RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \

.devcontainer/devcontainer.json

@@ -1,5 +1,5 @@
 {
-    "name": "OpenMowerROS2 development environment",
+    "name": "OpenMowerNext development environment",
     "privileged": true,
     "remoteUser": "openmower",
     "dockerComposeFile": "docker-compose.yaml",

.devcontainer/docker-compose.yaml

@@ -37,8 +37,6 @@ services:
     depends_on:
     - xserver
   groot:
-    profiles:
-      - with_groot
     image: jkaflik/behaviortree-groot:latest
     ipc: host
     pid: host

.devcontainer/home/map.geojson

@@ -6,8 +6,11 @@
       "properties": {
         "id": "0859c0c1-ec2d-4197-96b7-2d12f6cf1cd9",
         "name": "backyard",
-        "type": "lawn",
-        "fill": "#00ff00"
+        "type": "operation",
+        "fill": "#00ff00",
+        "style": {
+            "color": "#00ff00"
+        }
       },
       "geometry": {
         "coordinates": [
@@ -84,7 +87,10 @@
         "id": "6387f8e9-bc4e-48a5-95e2-fedd3b3b5c09",
         "name": "driveway",
         "type": "navigation",
-        "fill": "#ffffff"
+        "fill": "#ffffff",
+        "style": {
+             "color": "#ffffff"
+         }
       },
       "geometry": {
         "coordinates": [
@@ -119,8 +125,11 @@
       "type": "Feature",
       "properties": {
         "id": "a7a3e913-5e9e-4959-8044-059f40356996",
-        "type": "lawn",
-        "fill": "#00ff00"
+        "type": "operation",
+        "fill": "#00ff00",
+        "style": {
+            "color": "#00ff00"
+        }
       },
       "geometry": {
         "coordinates": [
@@ -170,10 +179,13 @@
     {
       "type": "Feature",
       "properties": {
-        "fill": "#ff0000",
-        "type": "obstacle",
+        "type": "exclusion",
         "name": "tree",
-        "id": "90cd67cb-a606-4878-be1c-2c08f8fc085d"
+        "id": "90cd67cb-a606-4878-be1c-2c08f8fc085d",
+        "fill": "#ff0000",
+        "style": {
+            "color": "#ff0000"
+        }
       },
       "geometry": {
         "coordinates": [

.devcontainer/scripts/remote_devices.sh

@@ -16,19 +16,40 @@ then
     exit 1
 fi
 
+isFirstRun=false
+
 # check if RSA private key exists, if not create it
 if [ ! -f ~/.ssh/id_rsa ]; then
+    isFirstRun=true
+
     ssh-keygen -t rsa -b 4096 -C "devcontainer@devcontainer" -f ~/.ssh/id_rsa -q -N ""
+
+    echo "Add the following public key to the authorized_keys file on the host:"
+    echo "----------------------------------------"
+
+    cat ~/.ssh/id_rsa.pub
+
+    echo "----------------------------------------"
+    echo "Press any key to continue"
+    read -n 1 -s
 fi
 
-ssh-copy-id -i ~/.ssh/id_rsa.pub $username@$host
+echo "Checking if host is reachable"
 
 # check if can ssh to host
 if ! ssh -o ConnectTimeout=2 $username@$host exit > /dev/null; then
     echo "Cannot connect to host"
     exit 1
 fi
 
+if [ "$isFirstRun" = true ]; then
+    echo "Install socat on host"
+
+    ssh $username@$host "sudo apt install -y socat > /dev/null"
+fi
+
+echo "Making sure all socat processes are killed on host"
+
 ssh $username@$host "sudo killall socat || true"
 
 #trap "trap - SIGTERM && kill -- -$$" SIGINT SIGTERM EXIT
@@ -45,9 +66,13 @@ sshAndSocatSerialToTCP() {
 
 killall socat > /dev/null || true
 
+echo "Starting socat processes"
+
 sshAndSocatSerialToTCP ttyAMA0 115200 65000 & \
 sshAndSocatSerialToTCP ttyAMA1 921600 65001 & \
 sshAndSocatSerialToTCP ttyAMA2 115200 65002 & \
 sshAndSocatSerialToTCP ttyAMA3 115200 65003 & \
 sshAndSocatSerialToTCP ttyAMA4 115200 65004 && fg
 && fg
+
+echo "All socat processes have exited, exiting..."

.gitignore

@@ -8,7 +8,7 @@ __pycache__/
 
 .clion.source.upload.marker
 
-cmake-build-debug/
+cmake-build-debug*/
 
 /.name
 /.idea