Add devcontainer

.clang-format

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+---
+BasedOnStyle: Google
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+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
+IncludeBlocksStyle: Preserve
+SortIncludes: CaseInsensitive
+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",
+  }

.devcontainer/Dockerfile

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+# @license BSD-3 https://opensource.org/licenses/BSD-3-Clause
+# Copyright (c) 2021, Institute of Automatic Control - RWTH Aachen University
+# All rights reserved.
+
+# Choose from melodic or noetic tags
+FROM ros:noetic-robot
+
+# Add your own additional packages
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update \
+  && apt-get install -y \
+  # Check if GUI and 3D acceleration works
+  mesa-utils x11-apps \
+  # Nice plots for debugging
+  ros-${ROS_DISTRO}-plotjuggler-ros \
+  && apt-get upgrade -y \
+  && rm -rf /var/lib/apt/lists/*
+
+# git-lfs
+RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash && \
+  apt-get update && \
+  apt-get install git-lfs -y --no-install-recommends && \
+  rm -rf /var/lib/apt/lists/* && \
+  git lfs install
+# ROS additional essential packages
+RUN apt-get update && apt-get install -y --no-install-recommends\
+  python3-catkin-tools python3-catkin-lint python3-rosdep python3-rosinstall python3-rosinstall-generator python3-vcstool python3-wstool build-essential python3-osrf-pycommon \
+  ros-${ROS_DISTRO}-ros-control ros-${ROS_DISTRO}-ros-controllers ros-${ROS_DISTRO}-rqt-controller-manager && \
+  rm -rf /var/lib/apt/lists/*
+
+ENV DEBIAN_FRONTEND=dialog
+
+# Setup non-root user to solve file permission problems with rootfull docker
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=${USER_UID}
+
+RUN groupadd --gid ${USER_GID} $USERNAME \
+  && useradd --uid ${USER_UID} --gid ${USER_GID} -m $USERNAME \
+  && apt-get update \
+  && apt-get install -y --no-install-recommends sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+  && chmod 0440 /etc/sudoers.d/$USERNAME
+
+# Autocompletion for root user
+RUN echo "if [ -f /etc/bash_completion ] && ! shopt -oq posix; then\n   . /etc/bash_completion\nfi" >> /root/.bashrc
+
+# Create for vscode 
+RUN sudo mkdir -p /workspace/src && chown -R vscode:vscode /workspace
+# Use non-root user to avoid permission problems
+USER vscode

.devcontainer/devcontainer.json

@@ -0,0 +1,63 @@
+// @license BSD-3 https://opensource.org/licenses/BSD-3-Clause
+// Copyright (c) 2021, Institute of Automatic Control - RWTH Aachen University
+// All rights reserved. 
+{
+  "dockerComposeFile": "docker-compose.yml",
+  "service": "ros-devcontainer",
+  "workspaceFolder": "/workspace/src/lbrmed-ros",
+  // Source the ROS workspace, the ${containerWorkspaceFolder} variable only gets replaced in this .json
+  // Install dependencies for workspace except Gazebo packages as the OSRF version is installed
+  "postCreateCommand": "echo 'source /opt/ros/${ROS_DISTRO}/setup.bash' >> ${HOME}/.bashrc && echo 'source ${containerWorkspaceFolder}/devel/setup.bash' >> ${HOME}/.bashrc && /bin/sh .devcontainer/postCreate.sh",
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "dotjoshjohnson.xml",
+        "epivision.vscode-file-header",
+        "gruntfuggly.todo-tree",
+        "mhutchie.git-graph",
+        "ms-azuretools.vscode-docker",
+        "ms-iot.vscode-ros",
+        "ms-python.black-formatter",
+        "ms-python.flake8",
+        "ms-python.python",
+        "ms-vscode.cmake-tools",
+        "ms-vscode.cpptools",
+        "ms-vsliveshare.vsliveshare",
+        "oderwat.indent-rainbow",
+        "redhat.vscode-yaml",
+        "streetsidesoftware.code-spell-checker",
+        "twxs.cmake",
+        "valentjn.vscode-ltex",
+        "visualstudioexptteam.vscodeintellicode"
+      ],
+      // Set *default* container specific settings.json values on container create.
+      "settings": {
+        // Use C/C++ extension for formatting, linting and debugging
+        "C_Cpp.clang_format_style": "file",
+        "C_Cpp.codeAnalysis.clangTidy.enabled": true,
+        "C_Cpp.default.cppStandard": "c++14",
+        "C_Cpp.default.cStandard": "c11",
+        "C_Cpp.formatting": "clangFormat",
+        "[cpp]": {
+          "editor.defaultFormatter": "ms-vscode.cpptools"
+        },
+        // Other settings
+        "editor.formatOnSave": true,
+        "editor.tabSize": 2,
+        "git.repositoryScanMaxDepth": 3,
+        "powerHeader.autoInsert.enable": true,
+        "powerHeader.commentMode": "line",
+        "powerHeader.template": "file://${containerWorkspaceFolder}/.vscode/copyright_template.txt",
+        "python.formatting.provider": "autopep8",
+        "python.autoComplete.extraPaths": [
+          "/opt/ros/${env:ROS_DISTRO}/lib/python3/dist-packages"
+        ],
+        "python.analysis.extraPaths": [
+          "/opt/ros/${env:ROS_DISTRO}/lib/python3/dist-packages"
+        ],
+        "terminal.integrated.defaultProfile.linux": "bash",
+        "terminal.integrated.gpuAcceleration": "on"
+      }
+    }
+  }
+}

.devcontainer/docker-compose.yml

@@ -0,0 +1,43 @@
+# Use this, if you run a full Linux installation
+services:
+  ros-devcontainer:
+    build:
+      # context: ..
+      dockerfile: Dockerfile
+    # Optional: Access external devices, e.g., USB cameras
+    privileged: true
+    volumes:
+      - ..:/workspace/src/lbrmed-ros:cached
+      # GUI support
+      - /tmp/.X11-unix:/tmp/.X11-unix
+    # Avoid Qt glitches
+    ipc: host
+    network_mode: host
+    environment:
+      # GUI support
+      DISPLAY: $DISPLAY
+      WAYLAND_DISPLAY: WAYLAND_DISPLAY
+      XDG_RUNTIME_DIR: XDG_RUNTIME_DIR
+      PULSE_SERVER: PULSE_SERVER
+      # Optional: Use NVIDIA GPU for rendering
+      # __NV_PRIME_RENDER_OFFLOAD: 1
+      # __GLX_VENDOR_LIBRARY_NAME: nvidia
+    devices:
+      # Accelerated 3D graphics
+      - /dev/dri
+    # Optional: Enable CUDA
+    # deploy:
+    #   resources:
+    #     reservations:
+    #       devices:
+    #         - driver: nvidia
+    #           capabilities: [gpu]
+    #           count: 1 # limit number of GPUs used by container
+    # Required for ptrace-based debuggers like C++
+    cap_add:
+      - SYS_PTRACE
+    security_opt:
+      - apparmor:unconfined
+      - seccomp:unconfined
+    # Avoid shutting down after process ends
+    command: sleep infinity

.devcontainer/postCreate.sh

@@ -0,0 +1,25 @@
+# @license BSD-3 https://opensource.org/licenses/BSD-3-Clause
+# Copyright (c) 2021, Institute of Automatic Control - RWTH Aachen University
+# All rights reserved. 
+
+# /workspace/src/lbrmed-ros
+cd /workspace
+
+# If it exists: extend workspace from source built MoveIt (which extends /opt/ros/...)
+if [ -d "/moveit_ws/devel" ]; then
+    catkin config --init  --extend /moveit_ws/devel --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=1 #-DCMAKE_CXX_STANDARD=17
+else
+    catkin config --init --extend /opt/ros/$ROS_DISTRO --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=1 #-DCMAKE_CXX_STANDARD=17
+fi
+
+# install workspace dependencies, src is one level above the lbrmed-ros workspace
+wstool init src
+wstool merge -t src src/lbrmed-ros/.rosinstall
+wstool update -t src
+rosdep update && sudo apt-get update
+rosdep install --from-paths src --ignore-src -r -q -y --skip-keys 'gazebo gazebo_dev gazebo_plugins gazebo_ros gazebo_ros_control'
+# install other system dependencies, note that they are not cached for rebuilds of the devcontainer
+# frequently used dependencies should be install in my.Dockerfile 
+
+# Check rendering support
+glxinfo -B

.gitignore

@@ -1 +1,2 @@
+.catkin_tools
 .vscode

README.md

@@ -12,29 +12,43 @@ Please look at the READMEs in the specific hardware packages.
 **When using the real robot, always keep a safe distance and set up your safety configuration as required**.
 
 # Install
-## Create a catkin workspace
+## Devcontainer
+This is the easiest way to get started
+When opening this repository in Visual Studio Code, you should be prompted to reopen it in a container.
+On launch, the container will setup all required dependencies via rosinstall and rosdep.
+
+This repository also ships **VS Code tasks** for:
+- Building the workspace `catkin build workspace`
+- Building the package of the current file only `catkin build package`
+- Clean the catkin build files `catkin clean`
+
+After starting the container, the lbrmed-ros package will be opened as **workspace**.
+The folder structure is `/workspace/src/lbrmed-ros`, so you will want to `cd` to a top-level folder when using low-level catkin commands
+
+## Manual steps
+### Create a catkin workspace
 * Create a catkin workspace folder (e.g. ~/catkin_workspace)
 * Create a src folder in that workspace (e.g. ~/catkin_workspace/src)
 * Initialize the catkin workspace (e.g. `cd ~/catkin_workspace && catkin init`)
 
-## Cloning the repository
+### Cloning the repository
 We use [`git-lfs`](https://packagecloud.io/github/git-lfs/install) which should be installed before cloning.
 Otherwise, you might get errors when the STL files of the robot or the jar files are being loaded.
 
 For the Sunrise Project you have two ways to proceed:
 * (a) Clone the repository into the src folder of the catkin workspace
 * (b) (preferable) Clone the repository into a separate folder (e.g. ~/git-repos) and symlink it (e.g. `ln -s ~/git-repos/kuka_MED_Stack ~/catkin_workspace/src`, the target of the symlink must be an absolute path) 
 
-## Installing Dependencies
+### Installing Dependencies
 In the catkin workspace, run the following commands to install all workspace and system dependencies.
 ```bash
 wstool init src
-wstool merge -t src src/lbrmed-stack/.rosinstall
+wstool merge -t src src/lbrmed-ros/.rosinstall
 wstool update -t src
 rosdep install --from-paths src --ignore-src -r -y
 ``` 
 
-## Building the workspace
+### Building the workspace
 To build the packages in parallel, we use the [catkin_tools](https://catkin-tools.readthedocs.io/en/latest/installing.html). After installing them, run:
 ```bash
 cd ~/catkin_workspace

lbrmed_hw_fri/README.md

@@ -40,9 +40,6 @@ Calls the `set_impedance_fri` service of the `lbrmed_hw_fri_node` to set the sti
 ## Acknowledgment
 Based on [lbr_fri_ros2_stack](https://github.com/KCL-BMEIS/lbr_fri_ros2_stack/tree/noetic) which has a noetic branch.
 
-# Setup
-For the internal irt setup take a look at the [gitlab wiki](https://git-ce.rwth-aachen.de/g-med-irt-robotik/lbrmed-stack/-/wikis/Robot%20Hardware%20Usage) and the [irt wiki](https://wiki.irt.rwth-aachen.de/wiki/KUKA_LBR).
-
 ## Setup the Controller
 The controller (Sunrise Cabinet) receives commands from the ROS machine via the FRI. Therefore, the server application has to be pushed onto the Sunrise Cabinet.
 - Connect an ethernet cable to port X66 on the Sunrise Cabinet