1 add support for realsense cameras

.gitignore

@@ -1,3 +1,5 @@
 
 **/build
+**/install
+**/log
 .vscode/settings.json

.vscode/build.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+set -e
+source /opt/ros/humble/setup.bash
+# Set the default build type
+BUILD_TYPE=RelWithDebInfo
+colcon build \
+        --merge-install \
+        --symlink-install \
+        --cmake-args "-DCMAKE_BUILD_TYPE=$BUILD_TYPE" "-DCMAKE_EXPORT_COMPILE_COMMANDS=On" \
+        -Wall -Wextra -Wpedantic

.vscode/c_cpp_properties.json

@@ -0,0 +1,18 @@
+{
+  "configurations": [
+      {
+          "name": "Linux",
+          "includePath": [
+              "${workspaceFolder}/**",
+              "/opt/ros/humble/include/**"
+          ],
+          "defines": [],
+          "compilerPath": "/usr/bin/gcc",
+          "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+          "cStandard": "c99",
+          "cppStandard": "c++17",
+          "intelliSenseMode": "linux-gcc-x64"
+      }
+  ],
+  "version": 4
+}

.vscode/launch.json

@@ -0,0 +1,90 @@
+{
+    // 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": [
+      // Example launch of a python file
+      {
+        "name": "Python: Current File",
+        "type": "debugpy",
+        "request": "launch",
+        "program": "${file}",
+        "console": "integratedTerminal",
+      },
+      // Example gdb launch of a ros executable
+      {
+        "name": "(gdb) Launch (merge-install)",
+        "type": "cppdbg",
+        "request": "launch",
+        "program": "${workspaceFolder}/install/lib/${input:package}/${input:program}",
+        "args": [],
+        "preLaunchTask": "build",
+        "stopAtEntry": true,
+        "cwd": "${workspaceFolder}",
+        "externalConsole": false,
+        "MIMode": "gdb",
+        "setupCommands": [
+          {
+            "description": "Enable pretty-printing for gdb",
+            "text": "-enable-pretty-printing",
+            "ignoreFailures": true
+          }
+        ]
+      },
+      {
+        "name": "(gdb) Launch (isolated-install)",
+        "type": "cppdbg",
+        "request": "launch",
+        "program": "${workspaceFolder}/install/${input:package}/lib/${input:package}/${input:program}",
+        "args": [],
+        "preLaunchTask": "build",
+        "stopAtEntry": true,
+        "cwd": "${workspaceFolder}",
+        "externalConsole": false,
+        "MIMode": "gdb",
+        "setupCommands": [
+          {
+            "description": "Enable pretty-printing for gdb",
+            "text": "-enable-pretty-printing",
+            "ignoreFailures": true
+          }
+        ]
+      },
+      //Example of a ROS Launch file
+      {
+        "name": "ROS: Launch File (merge-install)",
+        "type": "ros",
+        "request": "launch",
+        "preLaunchTask": "build",
+        "target": "${workspaceFolder}/install/share/${input:package}/launch/${input:ros_launch}",
+      },
+      {
+        "name": "ROS: Launch File (isolated-install)",
+        "type": "ros",
+        "request": "launch",
+        "preLaunchTask": "build",
+        "target": "${workspaceFolder}/install/${input:package}/share/${input:package}/launch/${input:ros_launch}",
+      },
+    ],
+    "inputs": [
+      {
+        "id": "package",
+        "type": "promptString",
+        "description": "Package name",
+        "default": "examples_rclcpp_minimal_publisher"
+      },
+      {
+        "id": "program",
+        "type": "promptString",
+        "description": "Program name",
+        "default": "publisher_member_function"
+      },
+      {
+        "id": "ros_launch",
+        "type": "promptString",
+        "description": "ROS launch name",
+        "default": "file_name_launch.py"
+      }
+    ]
+  }

.vscode/tasks.json

@@ -0,0 +1,254 @@
+{
+    // See https://go.microsoft.com/fwlink/?LinkId=733558
+    // for the documentation about the tasks.json format
+    "version": "2.0.0",
+    "tasks": [
+        // Build tasks
+        {
+            "label": "build",
+            "detail": "Build workspace (default)",
+            "type": "shell",
+            "command": ".vscode/build.sh",
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "problemMatcher": "$gcc"
+        },
+        {
+            "label": "debug",
+            "detail": "Build workspace (debug)",
+            "type": "shell",
+            "command": ".vscode/build.sh",
+            "options": {
+                "env": {
+                    "BUILD_TYPE": "Debug"
+                }
+            },
+            "group": "build",
+            "problemMatcher": "$gcc"
+        },
+        // Test tasks
+        {
+            "label": "test",
+            "detail": "Run all unit tests and show results.",
+            "type": "shell",
+            "command": "./test.sh",
+            "group": {
+                "kind": "test",
+                "isDefault": true
+            }
+        },
+        // Clean
+        {
+            "label": "clean",
+            "detail": "Run the clean target",
+            "type": "shell",
+            "command": "colcon build --cmake-target clean",
+            "problemMatcher": "$gcc"
+        },
+        {
+            "label": "purge",
+            "detail": "Purge workspace by deleting all generated files.",
+            "type": "shell",
+            "command": "sudo rm -fr build install log; sudo py3clean .",
+            "problemMatcher": []
+        },
+        {
+            "label": "source",
+            "detail": "Source workspace",
+            "type": "shell",
+            "command": "source /opt/ros/humble/setup.bash",
+            "problemMatcher": []
+        },
+        // Linting and static code analysis tasks
+        {
+            "label": "fix",
+            "detail": "Reformat files with uncrustify.",
+            "type": "shell",
+            "command": "ament_uncrustify --reformat nk_ros_pkgs/",
+            "problemMatcher": []
+        },
+        {
+            "label": "uncrustify",
+            "detail": "Lint files with uncrustify.",
+            "type": "shell",
+            "command": "ament_uncrustify nk_ros_pkgs/",
+            "presentation": {
+                "panel": "dedicated",
+                "reveal": "silent",
+                "clear": true
+            },
+            "problemMatcher": [
+                {
+                    "owner": "uncrustify",
+                    "source": "uncrustify",
+                    "fileLocation": "relative",
+                    "pattern": [
+                        // just the file name message
+                        {
+                            "regexp": "^(.*)'(.*)':",
+                            "kind": "file",
+                            "file": 2,
+                            "message": 1
+                        }
+                    ]
+                }
+            ]
+        },
+        {
+            "label": "cpplint",
+            "detail": "Lint files with cpplint.",
+            "type": "ament",
+            "task": "cpplint",
+            "path": "nk_ros_pkgs/",
+            "problemMatcher": "$ament_cpplint",
+            "presentation": {
+                "panel": "dedicated",
+                "reveal": "silent",
+                "clear": true
+            },
+        },
+        {
+            "label": "cppcheck",
+            "detail": "Run static code checker cppcheck.",
+            "type": "ament",
+            "task": "cppcheck",
+            "path": "nk_ros_pkgs/",
+            "problemMatcher": "$ament_cppcheck",
+            "presentation": {
+                "panel": "dedicated",
+                "reveal": "silent",
+                "clear": true
+            },
+            "options": {
+                "env": {
+                    "AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS": "1"
+                }
+            }
+        },
+        {
+            "label": "lint_cmake",
+            "detail": "Run lint on cmake files.",
+            "type": "ament",
+            "task": "lint_cmake",
+            "path": "nk_ros_pkgs/",
+            "problemMatcher": "$ament_lint_cmake",
+            "presentation": {
+                "panel": "dedicated",
+                "reveal": "silent",
+                "clear": true
+            }
+        },
+        {
+            "label": "flake8",
+            "detail": "Run flake8 on python files.",
+            "type": "ament",
+            "task": "flake8",
+            "path": "nk_ros_pkgs/",
+            "problemMatcher": "$ament_flake8",
+            "presentation": {
+                "panel": "dedicated",
+                "reveal": "silent",
+                "clear": true
+            }
+        },
+        {
+            "label": "pep257",
+            "detail": "Run pep257 on python files.",
+            "type": "ament",
+            "task": "pep257",
+            "path": "nk_ros_pkgs/",
+            "problemMatcher": "$ament_pep257",
+            "presentation": {
+                "panel": "dedicated",
+                "reveal": "silent",
+                "clear": true
+            }
+        },
+        {
+            "label": "xmllint",
+            "detail": "Run xmllint on xml files.",
+            "type": "ament",
+            "task": "xmllint",
+            "path": "nk_ros_pkgs/",
+            "problemMatcher": "$ament_xmllint",
+            "presentation": {
+                "panel": "dedicated",
+                "reveal": "silent",
+                "clear": true
+            }
+        },
+        {
+            "label": "lint all",
+            "detail": "Run all linters.",
+            "dependsOn": [
+                "cppcheck",
+                "cpplint",
+                "flake8",
+                "lint_cmake",
+                "pep257",
+                "xmllint",
+                "uncrustify"
+            ],
+            "problemMatcher": []
+        },
+        // Workspace editing tasks
+        {
+            "label": "new ament_cmake package",
+            "detail": "Create a new ROS cpp package from a template.",
+            "type": "shell",
+            "command": "ros2 pkg create --destination-directory nk_ros_pkgs --build-type ament_cmake ${input:package}",
+            "problemMatcher": []
+        },
+        {
+            "label": "new ament_python package",
+            "detail": "Create a new ROS python package from a template.",
+            "type": "shell",
+            "command": "ros2 pkg create --destination-directory nk_ros_pkgs --build-type ament_python ${input:package}",
+            "problemMatcher": []
+        },
+        {
+            "label": "import from workspace file",
+            "detail": "Use vcs to import modules specified by a workspace/rosinstall file.",
+            "type": "shell",
+            "command": "vcs import < nk_ros_pkgs/ros2.repos nk_ros_pkgs",
+            "problemMatcher": []
+        },
+        {
+            "label": "update workspace file",
+            "detail": "Use vcs to update repositories in nk_ros_pkgs to workspace file.",
+            "type": "shell",
+            "command": "vcs export nk_ros_pkgs > nk_ros_pkgs/ros2.repos",
+            "problemMatcher": []
+        },
+        {
+            "label": "install dependencies",
+            "detail": "Install all dependencies specified in the workspaces package.xml files.",
+            "type": "shell",
+            "command": "sudo apt-get update && rosdep update && rosdep install --from-paths nk_ros_pkgs --ignore-nk_ros_pkgs -y",
+            "problemMatcher": []
+        },
+        {
+            "label": "setup",
+            "detail": "Set up the workspace",
+            "type": "shell",
+            "command": "./setup.sh",
+            "problemMatcher": []
+        },
+        {
+            "label": "add submodules from .repos",
+            "detail": "Create a git submodule for all repositories in your .repos file",
+            "type": "shell",
+            "command": "python3 .devcontainer/repos_to_submodules.py",
+            "problemMatcher": []
+        }
+    ],
+    "inputs": [
+        {
+            "id": "package",
+            "type": "promptString",
+            "description": "Package name"
+        }
+    ]
+}