Multibeam Sonar Migration Template

.clang-format

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+---
+Language:        Cpp
+BasedOnStyle:  Google
+
+ColumnLimit: 100
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BreakBeforeBraces: Allman
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeBlocks: Preserve
+InsertBraces: true
+...

.docker/README.md

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+# ROS2 Control Docker Containers
+
+Meant to provide basic docker containers for CI or development purposes. To use them, make sure you have [Docker](https://docs.docker.com/get-docker/) installed. You then can pull the latest source or build image or build any version and run the image by following tag specific commands as described below:
+
+## Source folder and tag
+Downloads and builds daves into a workspace for development use exactly as is found [here](https://control.ros.org/master/doc/getting_started/getting_started.html#building-from-source). This is primarily used for development and CI of dave and related packages.
+
+You can pull a prebuilt image with this docker tag: `ghcr.io/ros-controls/dave_source`.
+
+To build and run the container, execute the following code in a terminal:
+```
+docker build --tag dave:source --file .docker/jazzy.dockerfile .
+docker run -it dave:source
+```
+
+If you are not familiar with docker, you'll want to consider how you want to maintain persistent data across container sessions. The above commands with start a **new** container and that container will persist as long as you don't remove it. If you want to return to it, you'll have to use the `docker start` command with the container id.
+
+A better way to maintain your code changes across coding sessions is to use docker volumes or bind mounts. Web search those terms for more documentation but a simple example is provided below. First, you must build the container as shown in the first command above, then:
+
+Bind mount example:
+```
+docker run -it --mount type=bind,source=/local/path/to/repo,destination=/root/ws_dave/src/<path to repo you want replaced> dave:source
+```
+Note: the above example replaces the containers contents with whatever you mount.
+
+Volume example:
+```
+docker run -it --mount type=volume,source=name-of-volume,destination=/root/ws_dave/src/ dave:source
+```
+Note: this is probably the preferred solution as changes persist across rebuilds of container and doesn't require you to pull all repositories that you want to edit as they'll already be in the container.

.docker/jazzy.amd64.dockerfile

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+ARG ROS_DISTRO="jazzy"
+FROM osrf/ros:$ROS_DISTRO-desktop-full
+ARG BRANCH="ros2"
+
+# Install Utilities
+# hadolint ignore=DL3008
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    sudo xterm init systemd snapd vim net-tools \
+    curl wget git build-essential cmake cppcheck \
+    gnupg libeigen3-dev libgles2-mesa-dev \
+    lsb-release pkg-config protobuf-compiler \
+    python3-dbg python3-pip python3-venv \
+    qtbase5-dev ruby dirmngr gnupg2 nano xauth \
+    software-properties-common htop libtool \
+    x11-apps mesa-utils bison flex automake && \
+    rm -rf /var/lib/apt/lists/
+
+# Locale for UTF-8
+RUN truncate -s0 /tmp/preseed.cfg && \
+   (echo "tzdata tzdata/Areas select Etc" >> /tmp/preseed.cfg) && \
+   (echo "tzdata tzdata/Zones/Etc select UTC" >> /tmp/preseed.cfg) && \
+   debconf-set-selections /tmp/preseed.cfg && \
+   rm -f /etc/timezone && \
+   dpkg-reconfigure -f noninteractive tzdata
+# hadolint ignore=DL3008
+RUN apt-get update && \
+    apt-get -y install --no-install-recommends locales tzdata \
+    && rm -rf /tmp/*
+RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
+    export LANG=en_US.UTF-8
+
+# Make user (assume host user has 1000:1000 permission)
+ARG USER=docker
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+RUN adduser --shell /bin/bash --disabled-password --gecos '' $USER \
+    && echo "$USER:$USER" | chpasswd && adduser $USER sudo \
+    && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+
+# Install ROS-Gazebo framework
+ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/ros-jazzy-binary-gz-harmonic-source-install.sh install.sh
+RUN bash install.sh
+
+# Set up Dave workspace
+ENV DAVE_WS=/opt/ws_dave
+WORKDIR $DAVE_WS/src
+
+ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/repos/dave.$ROS_DISTRO.repos $DAVE_WS/dave.repos
+RUN vcs import --shallow --input $DAVE_WS/dave.repos
+
+# Install dave dependencies
+RUN apt-get update && rosdep update && \
+    rosdep install -iy --from-paths . && \
+    rm -rf /var/lib/apt/lists/
+
+# Compile Dave
+WORKDIR $DAVE_WS
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
+    colcon build
+
+# source entrypoint setup
+RUN touch /ros_entrypoint.sh && sed --in-place --expression \
+    '$i source "/opt/ws_dave/install/setup.bash"' /ros_entrypoint.sh
+
+# Source ROS and Gazebo
+RUN sed --in-place --expression \
+'$i source "/opt/ros/jazzy/setup.bash"' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i source "/opt/gazebo/install/setup.bash"' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export PYTHONPATH=$PYTHONPATH:/opt/gazebo/install/lib/python' /ros_entrypoint.sh
+
+# Set User as user
+USER $USER
+RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc  && \
+    echo "source /opt/gazebo/install/setup.bash" >> ~/.bashrc

.docker/jazzy.arm64v8.dockerfile

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+# FROM arm64v8/ubuntu:24.04
+# # Set RDP and SSH environments
+# ARG X11Forwarding=true
+# # hadolint ignore=DL3008,DL3015,DL3009
+# RUN DEBIAN_FRONTEND=noninteractive apt-get update && \
+#         apt-get install -y ubuntu-desktop-minimal dbus-x11 xrdp sudo; \
+#     [ $X11Forwarding = 'true' ] && apt-get install -y openssh-server; \
+#     apt-get autoremove --purge; \
+#     apt-get clean; \
+#     rm /run/reboot-required*
+
+# ARG USER=docker
+# ARG PASS=docker
+
+# RUN useradd -s /bin/bash -m $USER -p "$(openssl passwd "$PASS")"; \
+#     usermod -aG sudo $USER; echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers; \
+#     adduser xrdp ssl-cert; \
+#     # Setting the required environment variables
+#     echo 'LANG=en_US.UTF-8' >> /etc/default/locale; \
+#     echo 'export GNOME_SHELL_SESSION_MODE=ubuntu' > /home/$USER/.xsessionrc; \
+#     echo 'export XDG_CURRENT_DESKTOP=ubuntu:GNOME' >> /home/$USER/.xsessionrc; \
+#     echo 'export XDG_SESSION_TYPE=x11' >> /home/$USER/.xsessionrc; \
+#     # Enabling log to the stdout
+#     sed -i "s/#EnableConsole=false/EnableConsole=true/g" /etc/xrdp/xrdp.ini; \
+#     # Disabling system animations and reducing the
+#     # image quality to improve the performance
+#     sed -i 's/max_bpp=32/max_bpp=16/g' /etc/xrdp/xrdp.ini; \
+#     gsettings set org.gnome.desktop.interface enable-animations true; \
+#     # Listening on wildcard address for X forwarding
+#     [ $X11Forwarding = 'true' ] && \
+#         sed -i 's/#X11UseLocalhost yes/X11UseLocalhost no/g' /etc/ssh/sshd_config || \
+#         sed -i 's/#PasswordAuthentication yes/PasswordAuthentication yes/g' /etc/ssh/sshd_config || \
+#         :;
+
+# # Disable initial welcome window
+# RUN echo "X-GNOME-Autostart-enabled=false" >> /etc/xdg/autostart/gnome-initial-setup-first-login.desktop
+
+# # Install basics
+# ENV DEBIAN_FRONTEND noninteractive
+# ENV DEBCONF_NONINTERACTIVE_SEEN=true
+# # hadolint ignore=DL3008
+# RUN apt-get update && \
+#     apt-get install -y --no-install-recommends \
+#     sudo xterm init systemd snapd vim net-tools \
+#     curl wget git build-essential cmake cppcheck \
+#     gnupg libeigen3-dev libgles2-mesa-dev \
+#     lsb-release pkg-config protobuf-compiler \
+#     python3-dbg python3-pip python3-venv \
+#     qtbase5-dev ruby dirmngr gnupg2 nano xauth \
+#     software-properties-common htop libtool \
+#     x11-apps mesa-utils bison flex automake && \
+#     rm -rf /var/lib/apt/lists/
+
+# Locale for UTF-8
+# RUN truncate -s0 /tmp/preseed.cfg && \
+#    (echo "tzdata tzdata/Areas select Etc" >> /tmp/preseed.cfg) && \
+#    (echo "tzdata tzdata/Zones/Etc select UTC" >> /tmp/preseed.cfg) && \
+#    debconf-set-selections /tmp/preseed.cfg && \
+#    rm -f /etc/timezone && \
+#    dpkg-reconfigure -f noninteractive tzdata
+# # hadolint ignore=DL3008
+# RUN apt-get update && \
+#     apt-get -y install --no-install-recommends locales tzdata \
+#     && rm -rf /tmp/*
+# RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
+#     export LANG=en_US.UTF-8
+
+# # Run
+# EXPOSE 3389/tcp
+# EXPOSE 22/tcp
+# # hadolint ignore=DL3025
+# CMD sudo rm -f /var/run/xrdp/xrdp*.pid >/dev/null 2>&1; \
+#     sudo service dbus restart >/dev/null 2>&1; \
+#     sudo /usr/lib/systemd/systemd-logind >/dev/null 2>&1 & \
+#     [ -f /usr/sbin/sshd ] && sudo /usr/sbin/sshd; \
+#     sudo xrdp-sesman --config /etc/xrdp/sesman.ini; \
+#     sudo xrdp --nodaemon --config /etc/xrdp/xrdp.ini
+
+# Using the pre-built image for above commented out dockerfile code lines
+# hadolint ignore=DL3007
+FROM --platform=linux/arm64 woensugchoi/ubuntu-arm-rdp-base:latest
+ARG USER=docker
+
+# ROS-Gazebo arg
+ARG BRANCH="ros2"
+ARG ROS_DISTRO="jazzy"
+
+# Install ROS-Gazebo framework
+ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/ros-jazzy-binary-gz-harmonic-source-install.sh install.sh
+RUN bash install.sh
+
+# Set up Dave workspace
+ENV ROS_UNDERLAY=/home/$USER/dave_ws/install
+WORKDIR $ROS_UNDERLAY/../src
+
+ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/repos/dave.$ROS_DISTRO.repos /home/$USER/ws_dave/dave.repos
+RUN vcs import --shallow --input "/home/$USER/ws_dave/dave.repos"
+
+RUN rosdep init && \
+  rosdep update --rosdistro $ROS_DISTRO
+
+# hadolint ignore=DL3027
+RUN apt update && apt --fix-broken install && \
+    rosdep update &&  rosdep install -iy --from-paths . && \
+    rm -rf /var/lib/apt/lists/
+
+WORKDIR $ROS_UNDERLAY/..
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
+    colcon build
+
+# Download the background image from GitHub raw content URL
+# hadolint ignore=DL3047
+RUN wget -O /usr/share/backgrounds/custom-background.png -q \
+    https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/background.png && \
+    mv /usr/share/backgrounds/warty-final-ubuntu.png \
+        /usr/share/backgrounds/warty-final-ubuntu.png.bak && \
+    mv /usr/share/backgrounds/custom-background.png \
+        /usr/share/backgrounds/warty-final-ubuntu.png && \
+    cp /usr/share/backgrounds/warty-final-ubuntu.png \
+        /usr/share/backgrounds/ubuntu-wallpaper-d.png
+
+# source entrypoint setup
+RUN touch /ros_entrypoint.sh && sed --in-place --expression \
+    '$i source "$ROS_UNDERLAY/setup.bash"' /ros_entrypoint.sh
+
+# Set User as user
+USER docker
+RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && \
+    echo "source /opt/gazebo/install/setup.bash" >> ~/.bashrc && \
+    echo "export PYTHONPATH=$PYTHONPATH:/opt/gazebo/install/lib/python" >> ~/.bashrc && \
+    echo "if [ -d ~/HOST ]; then chown docker:docker ~/HOST; fi" \
+    >> ~/.bashrc
+
+# Other environment variables
+RUN echo "export XDG_RUNTIME_DIR=~/.xdg_log" >> ~/.bashrc && \
+    echo "unset SESSION_MANAGER" >> ~/.bashrc
+
+# Create and write the welcome message to a new file
+RUN mkdir -p /home/docker/.config/autostart && \
+    printf '\033[1;32m\n =====\n\033[0m' >> ~/.hi && \
+    printf "\\033[1;32m 👋 Hi! This is Docker virtual environment\n\\033[0m" \
+    >> ~/.hi && \
+    printf "\\033[1;33m\tROS2 Jazzy - Gazebo Harmonic\n\n\n\\033[0m" \
+    >> ~/.hi
+
+# Remove sudo message
+RUN touch /home/docker/.sudo_as_admin_successful
+
+# Autostart terminal
+# hadolint ignore=SC3037
+RUN echo "[Desktop Entry]\nType=Application" \
+    > /home/docker/.config/autostart/terminal.desktop && \
+    echo "Exec=gnome-terminal -- bash -c 'cat ~/.hi; cd ~/HOST; exec bash'" \
+    >> /home/docker/.config/autostart/terminal.desktop && \
+    echo -e "X-GNOME-Autostart-enabled=true" \
+    >> /home/docker/.config/autostart/terminal.desktop

.github/ISSUE_TEMPLATE/bug_report.md

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+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: bug
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Environment (please complete the following information):**
+ - Machine [e.g. Mac VMWare, Linux Ubuntu]
+ - OS Version: [e.g. Ubuntu 24.04]
+- Anything that may be unusual about your environment
+
+**Additional context**
+Add any other context about the problem here, especially include any modifications to the project that relate to this issue.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: enhancement
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/ISSUE_TEMPLATE/good-first-issue.md

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+---
+name: Good first issue
+about: Create an issue to welcome a new contributor into the community.
+title: ''
+labels: good-first-issue
+assignees: ''
+
+---
+
+## Background
+
+Overview of your issue here.
+
+## Instructions
+Hi, this is a `good-first-issue` issue. This means we've worked to make it more legible to people who either **haven't contributed to our codebase before, or even folks who haven't contributed to open source before**.
+
+We're interested in helping you take the first step, and can answer questions and help you out along the way. Note that we're especially interested in contributions from underrepresented groups!
+
+We know that creating a pull request is the biggest barrier for new contributors. This issue is for you 💝
+
+If you have contributed before, **consider leaving this PR for someone new**, and looking through our general issues. Thanks!
+
+### 🤔 What you will need to know.
+
+Nothing. This issue is meant to welcome you to Open Source :) We are happy to walk you through the process.
+
+### 📋 Step by Step
+
+- [ ] 🙋 **Claim this issue**: Comment below. If someone else has claimed it, ask if they've opened a pull request already and if they're stuck -- maybe you can help them solve a problem or move it along!
+
+- [ ] 🗄️ **Create a local workspace** for making your changes and testing [following these instructions](https://docs.ros.org/en/jazzy/Tutorials/Workspace/Creating-A-Workspace.html)
+
+- [ ] 🍴 **Fork the repository** using the handy button at the top of the repository page and **clone** it into `~/ros2_ws/src/dave`, [here is a guide that you can follow](https://guides.github.com/activities/forking/) (You will have to remove or empty the existing `dave` folder before cloning your own fork)
+
+- [ ] **Checkout a new branch** using `git checkout -b <branch_name>`
+
+- [ ] 🤖 **Apply `pre-commit`** auto formatting, by running `pip3 install pre-commit` and running `pre-commit install` in the dave repo.
+
+- [ ] 💾 **Commit and Push** your changes
+
+- [ ] 🔀 **Start a Pull Request** to request to merge your code into `master`. There are two ways that you can start a pull request:
+1. If you are not familiar with GitHub or how to create a pull request, [here is a guide you can follow](https://guides.github.com/activities/hello-world/) on how GitHub works.
+
+- [ ] 🏁 **Done** Ask in comments for a review :)
+
+### Is someone else already working on this?
+
+🔗- We encourage contributors to link to the original issue in their pull request so all users can easily see if someone's already started on it.
+
+👥- **If someone seems stuck, offer them some help!**
+
+**Good luck with your first issue!**