Merge branch 'main' into user/stevenxu27/404-Complete-Boat-State-Class

Author: FireBoyAJ24

.devcontainer/Dockerfile

@@ -1,4 +1,4 @@
-FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:add-pybind11
+FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:deferred-path-variable-evaluation
 
 # Copy configuration files (e.g., .vimrc) from config/ to the container's home directory
 ARG USERNAME=ros

.devcontainer/base-dev/base-dev.Dockerfile

@@ -9,17 +9,6 @@ RUN apt-get update \
     && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 ENV DEBIAN_FRONTEND=
 
-FROM fix-certificates AS ompl-source
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update \
-    && apt-get install -y --no-install-recommends git \
-    && apt-get autoremove -y \
-    && apt-get clean -y \
-    && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
-RUN git clone https://github.com/ompl/ompl.git && cd ompl && git reset --hard 2db81e2
-
-# From https://github.com/athackst/dockerfiles/blob/32a872348af0ad25ec4a6e6184cb803357acb6ab/ros2/humble.Dockerfile
 FROM fix-certificates AS ros-pre-base
 
 ENV DEBIAN_FRONTEND=noninteractive
@@ -63,55 +52,6 @@ ENV ROS_PYTHON_VERSION=3
 ENV ROS_VERSION=2
 ENV DEBIAN_FRONTEND=
 
-# Based on https://github.com/ompl/ompl/blob/2db81e2154cad93f4b823b2afcd3e7c021ea2b2f/scripts/docker/ompl.Dockerfile
-FROM fix-certificates AS ompl-builder
-# avoid interactive configuration dialog from tzdata, which gets pulled in
-# as a dependency
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update \
-    && apt-get install -y --no-install-recommends \
-        build-essential \
-        castxml \
-        cmake \
-        libboost-filesystem-dev \
-        libboost-numpy-dev \
-        libboost-program-options-dev \
-        libboost-python-dev \
-        libboost-serialization-dev \
-        libboost-system-dev \
-        libboost-test-dev \
-        libeigen3-dev \
-        libexpat1 \
-        libflann-dev \
-        libtriangle-dev \
-        ninja-build \
-        pkg-config \
-        python3-dev \
-        python3-numpy \
-        python3-pip \
-        pypy3 \
-        wget \
-    && apt-get autoremove -y \
-    && apt-get clean -y \
-    && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
-RUN pip3 install pygccxml pyplusplus
-COPY --from=ompl-source /ompl /ompl
-WORKDIR /ompl
-RUN cmake \
-        -G Ninja \
-        -B build \
-        -DPYTHON_EXEC=/usr/bin/python3 \
-        -DOMPL_REGISTRATION=OFF \
-        -DCMAKE_INSTALL_PREFIX=/usr \
-    && cmake --build build -t update_bindings \
-    && NPROC=$(nproc) \
-    && HALF_NPROC=$((NPROC / 2)) \
-    && cmake --build build -- -j $HALF_NPROC \
-    && cmake --install build \
-    && cd tests/cmake_export \
-    && cmake -B build -DCMAKE_INSTALL_PREFIX=../../install \
-    && cmake --build build
-
 FROM fix-certificates AS mongo-cxx-driver-builder
 
 ENV DEBIAN_FRONTEND=noninteractive
@@ -120,6 +60,9 @@ RUN apt-get update \
         build-essential \
         cmake \
         git \
+        libbson-dev \
+        libbson-1.0-0 \
+        libmongoc-1.0-0\
         libmongoc-dev \
         ninja-build \
         wget \
@@ -168,7 +111,6 @@ RUN apt-get update \
     && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 ENV DEBIAN_FRONTEND=
 
-COPY --from=ompl-builder /usr /usr
 COPY --from=mongo-cxx-driver-builder /usr/local /usr/local
 
 FROM pre-base as base
@@ -364,6 +306,7 @@ ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update \
     && apt-get install -y --no-install-recommends \
         less \
+        unzip \
         openssh-client \
         tmux \
     && apt-get autoremove -y \
@@ -375,5 +318,3 @@ ENV DEBIAN_FRONTEND=
 RUN pip3 install \
     # for juypter notebooks
     ipykernel \
-    # to generate ompl python bindings
-    pybind11

.devcontainer/base-dev/update-bashrc.sh

@@ -20,3 +20,9 @@ echo "    source $ROS_WORKSPACE/install/local_setup.bash" >> $HOME/.bashrc
 echo "else" >> $HOME/.bashrc
 echo "    echo -e \"\\\e[1;33mWARNING: Can't find the ROS workspace overlay: build then run 'source $ROS_WORKSPACE/install/local_setup.bash'\\\e[0m\"" >> $HOME/.bashrc
 echo "fi" >> $HOME/.bashrc
+
+echo "" >> $HOME/.bashrc
+echo "# Add locations for ROS type support modules to PATH" >> $HOME/.bashrc
+echo 'export LD_LIBRARY_PATH=/workspaces/sailbot_workspace/install/lib:$LD_LIBRARY_PATH' >> $HOME/.bashrc
+echo "# This is required for rosidl_parser to be findable on the RPI" >> $HOME/.bashrc
+echo 'export PYTHONPATH=/opt/ros/humble/local/lib/python3.10/dist-packages:$PYTHONPATH' >> $HOME/.bashrc

.devcontainer/docker-compose.yml

@@ -5,6 +5,8 @@ services:
     build:
       context: .
       dockerfile: Dockerfile
+    network_mode: host
+    privileged: true
     user: ros
     ports:
       # website
@@ -28,7 +30,7 @@ services:
 
   # URL: mongodb://localhost:27017
   mongodb:
-    image: mongo:${MONGO_TAG:-4.4.18}
+    image: mongo:${MONGO_TAG:-7.0}
     restart: unless-stopped
     volumes:
       - mongodb-data:/data/db:delegated

.env

@@ -1 +1 @@
-PYTHONPATH=src:install/lib/python3.10/site-packages
+PYTHONPATH=src:install/lib/python3.10/site-packages:/workspaces/sailbot_workspace/build/integration_tests:/workspaces/sailbot_workspace/build/controller:/workspaces/sailbot_workspace/build/local_pathfinding:/workspaces/sailbot_workspace/build/boat_simulator:/workspaces/sailbot_workspace/install/local/lib/python3.10/dist-packages:/workspaces/sailbot_workspace/install/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages:/opt/ros/humble/lib/python3.10/site-packages

.github/CODEOWNERS

@@ -25,11 +25,11 @@
 /docs/ @jamenkaye
 
 # local_pathfinding
-/notebooks/local_pathfinding @jamenkaye @FireBoyAJ24
-/src/local_pathfinding @jamenkaye @FireBoyAJ24
+/notebooks/local_pathfinding @jamenkaye @FireBoyAJ24 @SPDonaghy
+/src/local_pathfinding @jamenkaye @FireBoyAJ24 @SPDonaghy
 
 # network_systems
-/src/network_systems @samdai01
+/src/network_systems @Jng468 @vaibhavambastha
 
 # website
 /src/website @JordanChen123

.github/workflows/deployment.yml

@@ -14,7 +14,7 @@ jobs:
     - name: Checkout workspace
       uses: actions/checkout@v4
     - name: Update docker image
-      uses: appleboy/ssh-action@v1.0.3
+      uses: appleboy/ssh-action@v1.2.2
       with:
         host: ${{ secrets.SSH_HOST }}
         username: ${{ secrets.SSH_USERNAME }}

.github/workflows/docs.yml

@@ -1,12 +1,18 @@
 name: Docs Site
 
 on:
-  push:
-    branches:
-      - main
-  pull_request:
-    # default types and closed
-    types: [opened, synchronize, reopened, closed]
+    push:
+      branches:
+        - main
+      paths:
+        - 'docs/**'
+    pull_request:
+      types: [opened, synchronize, reopened, closed]
+      paths:
+        - 'docs/**'
+    schedule:
+      - cron: '0 0 * * 0'  # Runs on main every Sunday at midnight UTC
+
 
 jobs:
   # https://github.com/nosborn/github-action-markdown-cli
@@ -18,7 +24,7 @@ jobs:
       uses: actions/checkout@v4
 
     - name: Run linter
-      uses: nosborn/github-action-markdown-cli@v3.3.0
+      uses: nosborn/github-action-markdown-cli@v3.4.0
       with:
         config_file: .markdownlint.json
         files: .

.github/workflows/tests.yml

@@ -16,6 +16,15 @@ jobs:
     - name: Checkout workspace
       uses: actions/checkout@v4
 
+    - name: Set up Python
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.x'
+
+    - name: show installed python dependencies
+      run: |
+        pip3 list
+
     - name: Test
       uses: ./.github/actions/
       with:

README.md

@@ -34,17 +34,12 @@ The [ament linters](https://github.com/ament/ament_lint/tree/humble) are configu
 containing all our configuration and dependencies.
 Our Dev Container configuration can be found in [`.devcontainer/`](https://github.com/UBCSailbot/sailbot_workspace/blob/main/.devcontainer).
 
-### Multi-Root Workspace
+### VS Code Workspace
 
-[Workspaces](https://code.visualstudio.com/docs/editor/workspaces) are VS Code instances that contain one or more folders.
+[Workspaces](https://code.visualstudio.com/docs) are VS Code instances that contain one or more folders.
 Our workspace configuration file can be found at
 [`sailbot.code-workspace`](https://github.com/UBCSailbot/sailbot_workspace/blob/main/sailbot.code-workspace).
 
-Our software spans many repositories: [software team repositories](https://github.com/orgs/UBCSailbot/teams/software-team/repositories).
-[Multi-root workspaces](https://code.visualstudio.com/docs/editor/multi-root-workspaces)
-make it easy to work with multiple repositories at the same time.
-Our roots are defined in the `folders` section of our workspace file.
-
 ### Debugging
 
 [Launch configurations](https://code.visualstudio.com/docs/editor/debugging#_launch-configurations)
@@ -73,7 +68,7 @@ This repository supports user-specific configuration files. To set this up, see
 
 ### Run Raye's Software
 
-[Raye](https://www.ubcsailbot.org/discover-raye) was our previous project.
+[Raye](https://www.ubcsailbot.org/rayes-story) was our previous project.
 Her software can be run in the [`raye` branch](https://github.com/UBCSailbot/sailbot_workspace/tree/raye)
 following the instructions in [How to run Raye's software](https://ubcsailbot.github.io/sailbot_workspace/main/current/sailbot_workspace/usage/how_to/#run-rayes-software).
 The initial differences between the `main` and `raye` branches are summarized in