[feat] Move to monorepo setup

.devcontainer.json

@@ -11,6 +11,7 @@
         "--ipc=host",
         "--privileged"
     ],
+    "containerUser": "cev",
     "containerEnv": {
         "DISPLAY": "${localEnv:DISPLAY}"
     },
@@ -20,10 +21,8 @@
     "customizations": {
         "vscode": {
             "extensions": [
-                "ms-iot.vscode-ros",
-                "ms-vscode.cpptools-extension-pack",
                 "ms-python.black-formatter",
-                "xaver.clang-format"
+                "llvm-vs-code-extensions.vscode-clangd"
             ],
             "settings": {
                 "terminal.integrated.defaultProfile.linux": "bash",
@@ -33,7 +32,7 @@
                     }
                 },
                 "[cpp]": {
-                    "editor.defaultFormatter": "xaver.clang-format"
+                    "editor.defaultFormatter": "llvm-vs-code-extensions.vscode-clangd"
                 },
                 "[python]": {
                     "diffEditor.ignoreTrimWhitespace": false,

.github/workflows/docker-image.yml

@@ -7,17 +7,28 @@ on:
     branches: [ "main" ]
 
 jobs:
-
-  build:
-
+  build-deploy:
     runs-on: ubuntu-22.04
-
     steps:
       - name: Fetch recursively
         uses: actions/checkout@v4
         with:
           submodules: recursive
           fetch-depth: 0
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      - name: Build the Docker image
+        run: docker build . --file Dockerfile.deploy --tag rc-brain-deploy:$(date +%s)
 
+  build-dev:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Fetch recursively
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+          fetch-depth: 0
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
       - name: Build the Docker image
-        run: docker build . --file Dockerfile --tag my-image-name:$(date +%s)
+        run: docker build . --file Dockerfile.dev --tag rc-brain-dev:$(date +%s)

.gitmodules

@@ -1,6 +1,3 @@
-[submodule "cev_msgs"]
-	path = cev_msgs
-	url = https://github.com/cornellev/cev_msgs.git
 [submodule "external/serial-ros2"]
 	path = external/serial-ros2
 	url = https://github.com/RoverRobotics-forks/serial-ros2.git
@@ -13,24 +10,12 @@
 [submodule "external/bond"]
 	path = external/bond
 	url = https://github.com/ros/bond_core.git
-[submodule "cev/cev_localization_ros2"]
-	path = cev/cev_localization_ros2
-	url = https://github.com/cornellev/cev_localization_ros2.git
-[submodule "cev/cev_planner_ros2"]
-	path = cev/cev_planner_ros2
-	url = https://github.com/cornellev/cev_planner_ros2.git
-[submodule "cev/cev_autobrake_ros2"]
-	path = cev/cev_autobrake_ros2
-	url = https://github.com/cornellev/cev_autobrake_ros2.git
-[submodule "cev/cev_teleop_ros2"]
-	path = cev/cev_teleop_ros2
-	url = https://github.com/cornellev/cev_teleop_ros2.git
-[submodule "cev/cev_vision_ros2"]
-	path = cev/cev_vision_ros2
-	url = https://github.com/cornellev/cev_vision_ros2.git
-[submodule "cev/cev_encoder_odometry_ros2"]
-	path = cev/cev_encoder_odometry_ros2
-	url = https://github.com/cornellev/cev_encoder_odometry_ros2.git
-[submodule "cev/cev_trajectory_follower_ros2"]
-	path = cev/cev_trajectory_follower_ros2
-	url = https://github.com/cornellev/cev_trajectory_follower_ros2.git
+[submodule "cev/all/cev_planner_ros2/cev_planner"]
+	path = cev/all/cev_planner_ros2/cev_planner
+	url = https://github.com/cornellev/cev_planner.git
+[submodule "cev/all/cev_planner_ros2/matplotlib-cpp"]
+	path = cev/all/cev_planner_ros2/tmp/matplotlib-cpp
+	url = https://github.com/lava/matplotlib-cpp.git
+[submodule "cev/all/cev_localization_ros2/cev_kalman_filter"]
+	path = cev/all/cev_localization_ros2/cev_kalman_filter
+	url = https://github.com/cornellev/cev_kalman_filter

Dockerfile.deploy

@@ -3,6 +3,17 @@ FROM ros:humble
 
 SHELL ["/bin/bash", "-c"]
 
+# Set up CEV user
+RUN useradd -m -s /bin/bash cev
+RUN usermod -aG sudo cev
+# Grant passwordless sudo access to the 'sudo' group
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER cev
+
+# Docker doesn't do this by default
+RUN sudo chown -R cev /home/cev
+
+
 ARG FOLDER_NAME=rc-brain
 ARG WORKSPACE_DIR=/home/cev
 WORKDIR $WORKSPACE_DIR
@@ -12,36 +23,31 @@ RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
 RUN echo "source $WORKSPACE_DIR/install/setup.bash" >> ~/.bashrc
 
 # Init rosdep and update package index
-# for some reason we need to do this
-RUN rm /var/lib/dpkg/info/libc-bin.* 
-RUN apt-get clean
-RUN apt-get update
-RUN apt-get install libc-bin
+RUN sudo apt-get update
 RUN rosdep update --rosdistro $ROS_DISTRO
 
-RUN mkdir -p src/$FOLDER_NAME
-
 # Install and build build-from-source packages
 # We do this as a separate step from the stuff for our code, since that changes more frequently
-RUN cd src && \
-    git clone https://github.com/Slamtec/sllidar_ros2.git && \
-    cd sllidar_ros2 && \
-    git checkout 3430009
+COPY --chown=cev --parents external/**/package.xml src/$FOLDER_NAME/
 RUN source /opt/ros/$ROS_DISTRO/setup.bash && rosdep install --from-paths src -r -y
-RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon build
 
-# Install self dependencies with rosdep
-COPY --parents ./*/package.xml src/$FOLDER_NAME
+# Run install_extra.sh, which installs additional dependencies
+COPY --chown=cev scripts/install_extra.sh src/$FOLDER_NAME/scripts/
+RUN sudo src/$FOLDER_NAME/scripts/install_extra.sh
+
+# Finally build external packages
+COPY --chown=cev external src/$FOLDER_NAME/external/
+RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon build --symlink-install
+
+# Install all other dependencies
+COPY --chown=cev --parents **/package.xml src/$FOLDER_NAME/
 RUN source /opt/ros/$ROS_DISTRO/setup.bash && rosdep install --from-paths src -r -y
 
 # Clean up apt cache to make container smaller
-RUN apt-get clean
+RUN sudo apt-get clean
 
 # Build
-COPY . src/$FOLDER_NAME
-RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon build
+COPY --chown=cev . src/$FOLDER_NAME
+RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon build --symlink-install
 
-# Copy entrypoint script
-COPY entrypoint.sh entrypoint.sh
-RUN chmod +x entrypoint.sh
-ENTRYPOINT ["/bin/bash", "/home/cev/entrypoint.sh"]
+ENTRYPOINT ["/bin/bash", "/home/cev/src/rc-brain/scripts/deployed_entrypoint.sh"]

Dockerfile.dev

@@ -3,44 +3,44 @@ FROM ros:humble
 
 SHELL ["/bin/bash", "-c"]
 
+# Set up CEV user
+RUN useradd -m -s /bin/bash cev
+RUN usermod -aG sudo cev
+# Grant passwordless sudo access to the 'sudo' group
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER cev
+
 ARG FOLDER_NAME=rc-brain
 ARG WORKSPACE_DIR=/home/cev
 WORKDIR $WORKSPACE_DIR
 
+# Docker doesn't do this by default
+RUN sudo chown -R cev /home/cev
+
 # Source the ROS2 environment automatically when a new shell is created
 RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
 RUN echo "source $WORKSPACE_DIR/install/setup.bash" >> ~/.bashrc
 
 # Install dev tools
-RUN apt-get update
-RUN apt-get install -y curl
-RUN curl -fsSL https://apt.llvm.org/llvm-snapshot.gpg.key | tee /etc/apt/trusted.gpg.d/apt.llvm.org.asc
-RUN cat /etc/apt/trusted.gpg.d/apt.llvm.org.asc
-RUN echo $'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy main\n' \
-    $'deb-src http://apt.llvm.org/jammy/ llvm-toolchain-jammy main\n' \
-    $'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-18 main\n' \
-    $'deb-src http://apt.llvm.org/jammy/ llvm-toolchain-jammy-18 main\n' \
-    $'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-19 main\n' \
-    $'deb-src http://apt.llvm.org/jammy/ llvm-toolchain-jammy-19 main\n' \
-    | tee -a /etc/apt/sources.list
-RUN apt-get update
-RUN apt-get install -y clang-format clang-format-19
+RUN sudo apt-get update
+# Tools required to run clang install
+RUN sudo apt-get install -y \
+    curl \
+    lsb-release \
+    software-properties-common \
+    gnupg
+RUN curl -fsSL https://apt.llvm.org/llvm.sh | sudo bash -s -- 19
+RUN sudo apt-get install -y clangd-19
+RUN sudo update-alternatives --install /usr/bin/clangd clangd /usr/bin/clangd-19 100
 
 # Init rosdep and update package index
-# for some reason we need to do this
-RUN rm /var/lib/dpkg/info/libc-bin.* 
-RUN apt-get clean
-RUN apt-get update
-RUN apt-get install -y libc-bin
 RUN rosdep update --rosdistro $ROS_DISTRO
 
-RUN mkdir -p src/$FOLDER_NAME
-
-# Copy install.sh
-COPY --parents ./install.sh src/$FOLDER_NAME
-
-# Run install.sh
-RUN src/$FOLDER_NAME/install.sh
+# Run install_extra.sh, which installs additional dependencies
+COPY --chown=cev scripts/install_extra.sh src/$FOLDER_NAME/scripts/
+RUN sudo src/$FOLDER_NAME/scripts/install_extra.sh
 
-COPY --parents ./*/package.xml src/$FOLDER_NAME
+# Install own dependencies
+RUN mkdir -p src/$FOLDER_NAME
+COPY --chown=cev --parents **/package.xml src/$FOLDER_NAME/
 RUN source /opt/ros/$ROS_DISTRO/setup.bash && rosdep install --from-paths src -r -y

README.md

@@ -1,16 +1,9 @@
 # rc-brain
 One repo to rule them all
 
-## Installation
+## Installation (local)
 `git clone --recurse-submodules https://github.com/cornellev/rc-brain.git`  
-`cd rc-brain && sudo ./install.sh`
-
-## Docker
-`docker build -t cev-rc-autonomy .`  
-Then run either  
-`docker run --rm ros2-autonomy launch`  
-or  
-`docker run --rm ros2-autonomy teleop`
+`cd rc-brain && sudo ./scripts/install_extra.sh`
 
 ## Development
 
@@ -21,12 +14,25 @@ Run `./scripts/deploy/arduino_deploy.sh` to compile and flash code to the arduin
 #### Formatting
 If you're not using the DevContainer, please make sure to install `clang-format`, ideally version 19! This will help keep the formatting of our C++ code formatted consistently. Python code is formatted by `black`. The DevContainer will install the `Black` extension for you, which ships with `black`, but otherwise you'll need to install it in VSCode or whatever other IDE you're using.
 
+### Docker (DevContainer)
+Everything should pretty much work out of the box, except...
+> [!WARNING]  
+> You must have the Docker buildx plugin installed to build the image correctly. You may get very confusing failures!
+> On Ubuntu, you can install the `docker-buildx-plugin` package.
+
 ### Deployment
 
 #### Regular deployment
 If you're just developing, building Docker images will probably take too long. You can deploy normally just by running `scripts/deploy.sh`. It will drop you into an interactive session at the end so you can launch whatever you want to.
 
 #### Docker deployment
+Use `docker build . --file Dockerfile.deploy -t rc-brain-deploy:latest` to build the deploy container.
+Then run either `docker run --rm rc-brain-deploy launch` or `docker run --rm rc-brain-deploy teleop` to launch.
+
+> [!WARNING]  
+> You must have the Docker buildx plugin installed to build the image correctly. You may get very confusing failures!
+> On Ubuntu, you can install the `docker-buildx-plugin` package.
+
 Our Docker deployment pipeline works by pushing Docker images to a local registry and pulling them down on the mini cars. This avoids both long build times on the mini cars and the long time it takes to transfer whole images (as we can take advantage of Docker's cache).
 
 You'll have to do a bit of setup to get your computer to use the local registry. Note that you must be connected to `cev-router`.