Merging master into traj_opt

.clang-format

@@ -0,0 +1,151 @@
+---
+Language:        Cpp
+# BasedOnStyle:  Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Left
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: true
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:   
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     120                           # changed
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 2                     # changed
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false                  # changed
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:   
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Preserve
+IncludeCategories: 
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+  - Regex:           '^<.*'
+    Priority:        2
+  - Regex:           '.*'
+    Priority:        3
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IndentCaseLabels: true
+IndentPPDirectives: None
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Never
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+RawStringFormats: 
+  - Language:        Cpp
+    Delimiters:      
+      - cc
+      - CC
+      - cpp
+      - Cpp
+      - CPP
+      - 'c++'
+      - 'C++'
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+  - Language:        TextProto
+    Delimiters:      
+      - pb
+      - PB
+      - proto
+      - PROTO
+    EnclosingFunctions: 
+      - EqualsProto
+      - EquivToProto
+      - PARSE_PARTIAL_TEXT_PROTO
+      - PARSE_TEST_PROTO
+      - PARSE_TEXT_PROTO
+      - ParseTextOrDie
+      - ParseTextProtoOrDie
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+ReflowComments:  true
+SortIncludes:    false                         # changed
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles:  false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard:        Auto
+StatementMacros: 
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        8
+UseTab:          Never
+...
+

.devcontainer/Dockerfile

@@ -0,0 +1,2 @@
+FROM ghcr.io/nasa/astrobee:latest-ubuntu20.04
+ENV DEBIAN_FRONTEND=dialog

.devcontainer/devcontainer.json

@@ -0,0 +1,44 @@
+{
+	"dockerFile": "Dockerfile",
+	"build": {
+		"args": {
+			"WORKSPACE": "${containerWorkspaceFolder}"
+		}
+	},
+	"remoteUser": "root",
+	"runArgs": [
+		"--network=host",
+		"--cap-add=SYS_PTRACE",
+		"--security-opt=seccomp:unconfined",
+		"--security-opt=apparmor:unconfined",
+		"--volume=/tmp/.X11-unix:/tmp/.X11-unix"
+	],
+	"containerEnv": {
+		"DISPLAY": "${localEnv:DISPLAY}",
+		"LIBGL_ALWAYS_SOFTWARE": "1" // Needed for software rendering of opengl
+	},
+	// Set *default* container specific settings.json values on container create.
+	"settings": {
+		"terminal.integrated.profiles.linux": {
+			"zsh": {
+				"path": "/bin/zsh"
+			}
+		},
+		"terminal.integrated.defaultProfile.linux": "zsh"
+	},
+	"extensions": [
+		// "althack.ament-task-provider",
+		"DotJoshJohnson.xml",
+		"ms-azuretools.vscode-docker",
+		"ms-python.python",
+		"ms-vscode.cpptools",
+		"redhat.vscode-yaml",
+		"smilerobotics.urdf",
+		"streetsidesoftware.code-spell-checker",
+		"twxs.cmake",
+		"yzhang.markdown-all-in-one",
+		"zachflower.uncrustify"
+	],
+	"workspaceMount": "source=${localWorkspaceFolder},target=/src/astrobee/src,type=bind",
+	"workspaceFolder": "/src/astrobee/src"
+}

.dockerignore

@@ -1,2 +1,6 @@
-.git/
-scripts/setup/Dockerfile
+# .git/ This entry was unignored for scripts/docker/astrobee_quick.Dockerfile to retain git history
+scripts/docker/
+submodules/android/
+submodules/avionics/
+submodules/common/
+submodules/platform/

.github/workflows/ci_pr.yml

@@ -0,0 +1,24 @@
+name: Build and Test CI for Pull Requests
+
+on:
+  pull_request:
+    branches: [ 'master', 'develop' ]
+  workflow_dispatch:
+
+jobs:
+
+  build-focal:
+
+    runs-on: ubuntu-20.04
+
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        fetch-depth: 0
+
+    - name: Checkout submodule
+      run: git submodule update --init --depth 1 description/media
+
+    - name: Build, test
+      run: ./scripts/docker/build.sh --focal --remote
+                                     astrobee test_astrobee

.github/workflows/ci_push.yml

@@ -0,0 +1,45 @@
+name: Build, test and push packages CI
+
+on:
+  push:
+    branches-ignore:
+      - gh-pages
+      - ros2
+
+jobs:
+
+  build-focal:
+
+    runs-on: ubuntu-20.04
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Checkout submodule
+      run: git submodule update --init --depth 1 description/media
+
+    - name: Log in to registry
+      run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
+
+    - name: Build, test, push docker
+      run: >
+        revision="latest";
+        build_arg="astrobee";
+        push_arg="";
+        branch=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}};
+        if [ "${{ github.repository_owner }}" == "nasa" ]; then
+          if [ $branch == "develop" ]; then
+            push_arg="push_astrobee";
+          fi;
+          if [ $branch == "master" ]; then
+            export VERSION=`grep -w -m 1 "Release" RELEASE.md | awk '{print $3}'`;
+            revision="v${VERSION}";
+            build_arg="astrobee_base astrobee";
+            push_arg="push_astrobee_base push_astrobee";
+          fi;
+        fi;
+        command="./scripts/docker/build.sh --focal --remote --revision ${revision} \
+                                     --owner ${{ github.repository_owner }} \
+                                     ${build_arg} test_astrobee ${push_arg}";
+        echo "$command";
+        eval "$command";

.github/workflows/docker_push_latest_base.yml

@@ -0,0 +1,27 @@
+# Push the latest-base Docker images without doing a release. Called
+# manually only when needed (basically, when we push a change that
+# affects the base image on the develop branch).
+
+name: Docker push latest base
+
+on: ['workflow_dispatch']
+
+jobs:
+
+  build-focal:
+
+    runs-on: ubuntu-20.04
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Checkout submodule
+      run: git submodule update --init --depth 1 description/media
+
+    - name: Log in to registry
+      run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
+
+    - name: Build base, build, test, push base docker
+      run: ./scripts/docker/build.sh --focal
+                                     --owner ${{ github.repository_owner }}
+                                     astrobee_base astrobee test_astrobee push_astrobee_base