Backport Jazzy to Humble

.codespellrc

@@ -0,0 +1,4 @@
+[codespell]
+# Uncomment and populate the following so that codespell ignores the specified words/files
+# skip =
+# ignore-words-list =

.devcontainer/nouveau/Dockerfile

@@ -3,8 +3,6 @@ FROM ghcr.io/robotic-decision-making-lab/ros2-template:humble-desktop
 # Install ROS dependencies
 # This is done in a previous stage, but we include it again here in case anyone wants to
 # add new dependencies during development
-ENV USERNAME=ros
-ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
 WORKDIR $USER_WORKSPACE
 
 COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
@@ -18,9 +16,20 @@ RUN sudo apt-get -q update \
     && sudo rm -rf /var/lib/apt/lists/*
 
 # Install debugging/linting Python packages
-COPY --chown=$USER_UID:$USER_GID requirements-dev.txt .
-RUN python3 -m pip install -r requirements-dev.txt \
-    && rm -rf requirements-dev.txt
+RUN python3 -m pip install \
+    pre-commit \
+    mypy
+
+# Install debugging/linting C++ packages
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
+    && sudo apt-get install -y \
+    clang-format-14 \
+    clang-tidy \
+    clang-tools \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
 
 # Disable the setuputils installation warning
 # This prevents us from needing to pin the setuputils version (which doesn't always work)

.devcontainer/nouveau/devcontainer.json

@@ -2,9 +2,9 @@
   "name": "ROS 2 Dev Container",
   "dockerFile": "Dockerfile",
   "context": "../..",
-  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ros/ws_ros/src/ros2-template,type=bind",
-  "workspaceFolder": "/home/ros/ws_ros/src/ros2-template",
-  "remoteUser": "ros",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_ros/src/ros2-template,type=bind",
+  "workspaceFolder": "/home/ubuntu/ws_ros/src/ros2-template",
+  "remoteUser": "ubuntu",
   "runArgs": [
     "--network=host",
     "--cap-add=SYS_PTRACE",

.devcontainer/nvidia/Dockerfile

@@ -3,8 +3,6 @@ FROM ghcr.io/robotic-decision-making-lab/ros2-template:humble-desktop-nvidia
 # Install ROS dependencies
 # This is done in a previous stage, but we include it again here in case anyone wants to
 # add new dependencies during development
-ENV USERNAME=ros
-ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
 WORKDIR $USER_WORKSPACE
 
 COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
@@ -18,9 +16,20 @@ RUN sudo apt-get -q update \
     && sudo rm -rf /var/lib/apt/lists/*
 
 # Install debugging/linting Python packages
-COPY --chown=$USER_UID:$USER_GID requirements-dev.txt .
-RUN python3 -m pip install -r requirements-dev.txt \
-    && rm -rf requirements-dev.txt
+RUN python3 -m pip install \
+    pre-commit \
+    mypy
+
+# Install debugging/linting C++ packages
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
+    && sudo apt-get install -y \
+    clang-format-14 \
+    clang-tidy \
+    clang-tools \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
 
 # Disable the setuputils installation warning
 # This prevents us from needing to pin the setuputils version (which doesn't always work)

.devcontainer/nvidia/devcontainer.json

@@ -2,9 +2,9 @@
   "name": "ROS 2 NVIDIA Dev Container",
   "dockerFile": "Dockerfile",
   "context": "../..",
-  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ros/ws_ros/src/ros2-template,type=bind",
-  "workspaceFolder": "/home/ros/ws_ros/src/ros2-template",
-  "remoteUser": "ros",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_ros/src/ros2-template,type=bind",
+  "workspaceFolder": "/home/ubuntu/ws_ros/src/ros2-template",
+  "remoteUser": "ubuntu",
   "runArgs": [
     "--network=host",
     "--cap-add=SYS_PTRACE",

.docker/Dockerfile

@@ -16,9 +16,6 @@ RUN apt-get -q update \
     git \
     sudo \
     clang \
-    clang-format-14 \
-    clang-tidy \
-    clang-tools \
     python3-pip \
     python3-dev \
     apt-utils \
@@ -39,8 +36,10 @@ RUN apt-get -q update \
 
 FROM ci as robot
 
+ENV DEBIAN_FRONTEND=noninteractive
+
 # Configure a new non-root user
-ARG USERNAME=ros
+ARG USERNAME=ubuntu
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
 
@@ -55,7 +54,6 @@ RUN groupadd --gid $USER_GID $USERNAME \
 USER $USERNAME
 ENV USER=$USERNAME
 
-ENV DEBIAN_FRONTEND=noninteractive
 ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
 WORKDIR $USER_WORKSPACE
 

example_pkg/LICENSE

@@ -1,28 +1,21 @@
-BSD 3-Clause License
+MIT License
 
-Copyright (c) 2024, Robotic Decision Making Lab
+Copyright (c) 2024 Evan Palmer
 
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
 
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
 
-2. 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.
-
-3. 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.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.