Migrated Voxblox to ROS2

.devcontainer/Dockerfile

@@ -0,0 +1,38 @@
+FROM docker.io/osrf/ros:humble-desktop-full
+
+ENV SHELL /bin/bash
+
+# Create a non-root user
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid $USER_GID ${USERNAME} \
+    && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m ${USERNAME} \
+    && mkdir /home/${USERNAME}/.config && chown $USER_UID:$USER_GID /home/${USERNAME}/.config
+
+# Set up sudo
+RUN apt-get update \
+    && apt-get install -y sudo \
+    && echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME}\
+    && chmod 0440 /etc/sudoers.d/${USERNAME} \
+    && rm -rf /var/lib/apt/lists/*
+
+# Dependencies
+RUN apt-get update \
+    && apt-get install -y \
+        nano \
+        protobuf-compiler \
+        autoconf \
+        rsync \
+        libtool \
+        libgoogle-glog-dev \
+        gdb \
+    && rm -rf /var/lib/apt/lists/*
+
+USER $USERNAME
+
+RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+RUN echo "source /home/ws/install/setup.bash" >> ~/.bashrc
+
+CMD ["/bin/bash"]

.devcontainer/devcontainer.json

@@ -0,0 +1,38 @@
+{
+    "name": "ROS Development Container",
+    "remoteUser": "vscode",
+    "build": {
+        "dockerfile": "Dockerfile",
+        "args": {
+            "USERNAME": "vscode"
+        }
+    },
+    "workspaceFolder": "/home/ws",
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/ws/,type=bind",
+    "customizations": {
+        "vscode": {
+            "extensions":[
+                "ms-vscode.cpptools",
+                "ms-vscode.cpptools-themes",
+                "ms-vscode.cpptools-extension-pack",
+                "donjayamanne.python-extension-pack",
+                "eamodio.gitlens",
+                "ms-iot.vscode-ros"
+            ]
+        }
+    },
+    "containerEnv": {
+        "DISPLAY": "unix:0",
+        "ROS_AUTOMATIC_DISCOVERY_RANGE": "LOCALHOST",
+        "ROS_DOMAIN_ID": "42"
+    },
+    "runArgs": [
+        "--net=host",
+        "-e", "DISPLAY=${env:DISPLAY}"
+    ],
+    "mounts": [
+        "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached", // For using GUI apps like Rviz2
+        "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached" // hardware-accelerated graphics rendering
+    ],
+    "postCreateCommand": "rosdep update && rosdep install --from-paths . -y --ignore-src" // Install other dependencies with rosdep
+}

.gitignore

@@ -52,3 +52,12 @@ autolintc
 docs/_build
 docs/doxyoutput
 docs/api
+
+install/
+log/
+devel/
+logs/
+build/
+
+# Large ros bag files
+data/

.vscode/c_cpp_properties.json

@@ -0,0 +1,25 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/opt/ros/humble/include/**",
+        "/home/ws/src/minkindr/minkindr/include/**",
+        "/home/ws/src/minkindr_ros/minkindr_conversions/include/**",
+        "/home/ws/src/voxblox/voxblox/include/**",
+        "/home/ws/src/voxblox/voxblox_ros/include/**",
+        "/home/ws/src/voxblox/voxblox_rviz_plugin/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}

.vscode/launch.json

@@ -0,0 +1,44 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "ROS basement_dataset",
+            "type": "ros",
+            "request": "launch",
+            "target": "${workspaceFolder}/voxblox_ros/launch/basement_dataset.launch.py",
+            "launch": [
+                "rviz2"
+            ],
+        },
+        {
+            "name": "ROS local basement_dataset",
+            "type": "ros",
+            "request": "launch",
+            "target": "${workspaceFolder}/voxblox_ros/launch/basement_dataset.launch.py",
+            "launch": [
+                "rviz2"
+            ],
+        },
+        {
+            "name": "ROS local voyager",
+            "type": "ros",
+            "request": "launch",
+            "target": "${workspaceFolder}/voxblox_ros/launch/voyager.launch.py",
+            "launch": [
+                "rviz2"
+            ],
+        },
+        {
+            "name": "ROS local cow_and_lady_dataset",
+            "type": "ros",
+            "request": "launch",
+            "target": "${workspaceFolder}/voxblox_ros/launch/cow_and_lady_dataset.launch.py",
+            "launch": [
+                "rviz2"
+            ],
+        },
+    ]
+}

.vscode/settings.json

@@ -0,0 +1,94 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ],
+    "files.associations": {
+        "functional": "cpp",
+        "random": "cpp",
+        "any": "cpp",
+        "bitset": "cpp",
+        "memory": "cpp",
+        "future": "cpp",
+        "optional": "cpp",
+        "chrono": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "strstream": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "codecvt": "cpp",
+        "compare": "cpp",
+        "complex": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "iterator": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "ratio": "cpp",
+        "regex": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "hash_map": "cpp",
+        "hash_set": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "semaphore": "cpp",
+        "shared_mutex": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cfenv": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "variant": "cpp",
+        "geometry": "cpp"
+    },
+    "ros.distro": "humble",
+    "ros.rosSetupScript": "ros_setup.bash",
+    "cmake.configureOnOpen": false,
+    "C_Cpp.clang_format_fallbackStyle": "Google"
+}

.vscode/tasks.json

@@ -0,0 +1,29 @@
+{
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "colcon build debug voxblox_ros",
+            "type": "shell",
+            "command": "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug --packages-select voxblox_ros",
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "problemMatcher": [
+                "$gcc"
+            ]
+        },
+        {
+            "label": "colcon build debug",
+            "type": "shell",
+            "command": "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug",
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "problemMatcher": [
+                "$gcc"
+            ]
+        }
+    ]
+}