Autonomous-droneProject · Syndric · Oct 1, 2025 · Sep 17, 2025 · Sep 17, 2025 · Sep 17, 2025
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
@@ -0,0 +1,10 @@
+# Use the public base image so the devcontainer build is intentionally minimal.
+# If you later need to add extra layers (tools, caches, deps), add them below.
+FROM kestreldev/l4t-ros2-docker:jazzy
+
+# Keep the devcontainer image minimal; runtime apt/source configuration is performed
+# by the repository-level installer script `scripts/rosdep_install.sh` so the
+# devcontainer image doesn't force package installation at build-time.
+
+# Example of adding small, local dev-only tooling later:
+# RUN apt-get update && apt-get install -y --no-install-recommends vim less && rm -rf /var/lib/apt/lists/*
diff --git a/.devcontainer/README.md b/.devcontainer/README.md
@@ -0,0 +1,18 @@
+This devcontainer builds the `l4t-ros2:jazzy` image using the provided `Dockerfile` and starts a container with the same runtime options used by the project's documentation.
+
+Before opening the folder in the devcontainer, allow X connections from the host by running on your host machine:
+
+```
+xhost +
+```
+
+Then open the repository in VS Code and choose "Reopen in Container". The container is built from `.devcontainer/Dockerfile` and is started with GPU support, host networking, DISPLAY forwarded, and the host's `$HOME` bind-mounted so GUI and ROS tooling work similarly to the manual `docker run` command.
+
+The devcontainer will now run `scripts/rosdep_install.sh` once after the container is created to install ROS package dependencies from the workspace `src/` directory using `rosdep`.
+
+To re-run the installer manually inside the container:
+
+```bash
+# from inside the container or via 'devcontainer exec'
+bash $HOME/Kestrel/scripts/rosdep_install.sh
+```
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -0,0 +1,24 @@
+{
+  "name": "Kestrel l4t-ros2:jazzy",
+  "build": {
+    "dockerfile": "Dockerfile",
+    "context": ".."
+  },
+  "runArgs": [
+    "--net=host",
+    "--runtime=nvidia",
+    "-e",
+    "DISPLAY=${localEnv:DISPLAY}",
+    "-v",
+    "/tmp/.X11-unix/:/tmp/.X11-unix:rw",
+    "-v",
+    "${localEnv:HOME}:${localEnv:HOME}:rw"
+  ],
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}"
+  },
+  "workspaceFolder": "${localEnv:HOME}/Kestrel",
+  "postCreateCommand": "bash -lc 'set -euo pipefail; if [ -f \"${containerWorkspaceFolder}/scripts/rosdep_install.sh\" ]; then echo \"Running scripts/rosdep_install.sh\"; bash \"${containerWorkspaceFolder}/scripts/rosdep_install.sh\"; else echo \"No scripts/rosdep_install.sh found; skipping rosdep install.\"; fi'",
+  "postStartCommand": "echo \"If GUI apps fail to open, run 'xhost +' on the host to allow X connections.\"",
+  "remoteUser": "jetson"
+}
diff --git a/.github/workflows/base_image.yaml b/.github/workflows/base_image.yaml
@@ -0,0 +1,43 @@
+# Process for building and pushing the full Jetson Orin Nano docker image
+
+name: Docker Build Base image
+
+on:
+  workflow_dispatch:
+
+jobs:
+  build-base:
+    name: Build Base Image
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout Repo
+        uses: actions/checkout@v4
+        with:
+          submodules: 'recursive'
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v2
+        with:
+          platforms: arm64,amd64
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to DockerHub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Build and Push Base Image
+        uses: docker/build-push-action@v5
+        with:
+          context: ./docker/l4t-ros2-docker/jazzy
+          file: ./docker/l4t-ros2-docker/jazzy/Dockerfile
+          push: true
+          platforms: linux/arm64
+          tags: kestreldev/l4t-ros2-docker:jazzy
+          cache-from: |
+            type=registry,ref=kestreldev/l4t-ros2-docker:cache-jazzy
+          cache-to: |
+            type=registry,ref=kestreldev/l4t-ros2-docker:cache-jazzy,mode=max
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
@@ -1,10 +1,7 @@
 name: docker-build-and-push
 
 on:
-  push:
-    branches:
-      - main
-      - pathing_and_workflows
+  workflow_dispatch:
 
 jobs:
   docker-build-and-push:

diff --git a/.gitmodules b/.gitmodules
@@ -1,9 +1,3 @@
-[submodule "src/libraries/mavlink"]
-	path = src/libraries/mavlink
-	url = https://github.com/mavlink/mavlink
-[submodule "src/libraries/mavros"]
-	path = src/libraries/mavros
-	url = https://github.com/mavlink/mavros
 [submodule "src/driver/vl53l1x"]
 	path = src/driver/vl53l1x
 	url = https://github.com/Autonomous-droneProject/ROS2-VL53L1X.git
@@ -19,6 +13,6 @@
 [submodule "docs/KestrelAssembly"]
 	path = docs/KestrelAssembly
 	url = https://github.com/Autonomous-droneProject/KestrelAssembly.git
-[submodule "src/libraries/geographiclib"]
-	path = src/libraries/geographiclib
-	url = https://github.com/geographiclib/geographiclib.git
+[submodule "docker/l4t-ros2-docker"]
+	path = docker/l4t-ros2-docker
+	url = https://github.com/atinfinity/l4t-ros2-docker.git
diff --git a/docker/l4t-ros2-docker b/docker/l4t-ros2-docker
diff --git a/docker/Dockerfile → docker/old/Dockerfile b/docker/Dockerfile → docker/old/Dockerfile
diff --git a/docker/ros_entrypoint.sh b/docker/ros_entrypoint.sh
diff --git a/scripts/rosdep_install.sh b/scripts/rosdep_install.sh
@@ -0,0 +1,139 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# Simplified, robust rosdep install script
+# Implements the requested sequence:
+# 1) install software-properties-common and enable 'universe'
+# 2) install curl
+# 3) download and install ros2-apt-source .deb from latest GitHub release
+# 4) ensure only 'ros2.sources' remains under /etc/apt/sources.list.d/
+# 5) run rosdep install --from-paths src --ignore-src -r -y
+
+WORKSPACE_ROOT="$(pwd)"
+SRC_DIR="$WORKSPACE_ROOT/src"
+
+echo "[rosdep_install] workspace root: $WORKSPACE_ROOT"
+
+command_exists() { command -v "$1" >/dev/null 2>&1; }
+
+require_sudo() {
+  if ! command_exists sudo; then
+    echo "[rosdep_install] ERROR: sudo is required to run this script." >&2
+    exit 1
+  fi
+}
+
+backup_file() {
+  local f="$1"
+  if [ -e "$f" ]; then
+    sudo cp -a "$f" "${f}.bak-rosdep" || true
+    echo "[rosdep_install] Backed up $f -> ${f}.bak-rosdep"
+  fi
+}
+
+echo "[rosdep_install] Ensuring apt helpers and universe repository are available..."
+require_sudo
+sudo env DEBIAN_FRONTEND=noninteractive apt-get update -qq
+sudo env DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends software-properties-common || true
+sudo add-apt-repository -y universe || true
+
+echo "[rosdep_install] Updating apt and installing curl..."
+sudo env DEBIAN_FRONTEND=noninteractive apt-get update -qq
+sudo env DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends curl ca-certificates gnupg lsb-release dpkg || true
+
+# determine latest ros-apt-source release tag
+echo "[rosdep_install] Determining latest ros-apt-source release from GitHub..."
+ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F '"tag_name"' | awk -F'"' '{print $4}' || true)
+if [ -z "${ROS_APT_SOURCE_VERSION:-}" ]; then
+  echo "[rosdep_install] ERROR: could not determine ros-apt-source release tag from GitHub." >&2
+  echo "[rosdep_install] Aborting. You can add the ROS apt source manually or retry later." >&2
+  exit 1
+fi
+
+# compute UBUNTU codename
+CODENAME=$(. /etc/os-release && echo "${UBUNTU_CODENAME:-${VERSION_CODENAME}}")
+if [ -z "${CODENAME:-}" ]; then
+  # fallback to lsb_release
+  if command_exists lsb_release; then
+    CODENAME=$(lsb_release -cs)
+  else
+    echo "[rosdep_install] ERROR: cannot determine Ubuntu codename." >&2
+    exit 1
+  fi
+fi
+
+DEBNAME="ros2-apt-source_${ROS_APT_SOURCE_VERSION}.${CODENAME}_all.deb"
+TMP_DEB="/tmp/ros2-apt-source.deb"
+DOWNLOAD_URL="https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/${DEBNAME}"
+
+echo "[rosdep_install] Downloading ros-apt-source package: $DOWNLOAD_URL"
+if ! curl -L -o "$TMP_DEB" "$DOWNLOAD_URL" --fail -s; then
+  echo "[rosdep_install] ERROR: failed to download $DOWNLOAD_URL" >&2
+  exit 1
+fi
+
+echo "[rosdep_install] Installing $TMP_DEB"
+if ! sudo dpkg -i "$TMP_DEB"; then
+  echo "[rosdep_install] dpkg reported problems, attempting to fix with apt-get -f install..."
+  sudo env DEBIAN_FRONTEND=noninteractive apt-get -y -f install
+  sudo dpkg -i "$TMP_DEB" || {
+    echo "[rosdep_install] ERROR: dpkg installation failed after fixing dependencies." >&2
+    rm -f "$TMP_DEB" || true
+    exit 1
+  }
+fi
+rm -f "$TMP_DEB"
+
+echo "[rosdep_install] Ensuring only 'ros2.sources' remains under /etc/apt/sources.list.d/"
+require_sudo
+shopt -s nullglob
+ROSDIR=/etc/apt/sources.list.d
+for f in "$ROSDIR"/ros2*; do
+  [ -e "$f" ] || continue
+  bn=$(basename "$f")
+  if [ "$bn" != "ros2.sources" ]; then
+    backup_file "$f"
+    echo "[rosdep_install] Removing $f"
+    sudo rm -f "$f" || true
+  else
+    echo "[rosdep_install] Keeping $f"
+  fi
+done
+shopt -u nullglob
+
+echo "[rosdep_install] Refreshing apt lists..."
+sudo env DEBIAN_FRONTEND=noninteractive apt-get update -qq
+
+# Ensure rosdep is installed
+if ! command_exists rosdep; then
+  echo "[rosdep_install] rosdep not found. Installing python3-rosdep via apt..."
+  sudo env DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends python3-rosdep || true
+  if ! command_exists rosdep; then
+    echo "[rosdep_install] Attempting pip3 install for rosdep..."
+    if command_exists pip3; then
+      pip3 install --user rosdep
+      export PATH="$HOME/.local/bin:$PATH"
+    else
+      echo "[rosdep_install] ERROR: pip3 not found; please install rosdep manually." >&2
+      exit 1
+    fi
+  fi
+fi
+
+# Initialize rosdep if needed
+if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then
+  echo "[rosdep_install] Initializing rosdep database (sudo may be required)..."
+  sudo rosdep init || true
+fi
+
+echo "[rosdep_install] Updating rosdep database..."
+rosdep update || echo "[rosdep_install] rosdep update failed or already up-to-date"
+
+if [ -d "$SRC_DIR" ]; then
+  echo "[rosdep_install] Running: rosdep install --from-paths $SRC_DIR --ignore-src -r -y"
+  rosdep install --from-paths "$SRC_DIR" --ignore-src -r -y
+else
+  echo "[rosdep_install] No src directory at $SRC_DIR; skipping rosdep install." >&2
+fi
+
+echo "[rosdep_install] Done."
diff --git a/src/kestrel_communication/CMakeLists.txt b/src/kestrel_communication/CMakeLists.txt
@@ -9,9 +9,8 @@ find_package(std_msgs REQUIRED)
 find_package(kestrel_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(rclpy REQUIRED)
-
-set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/share/cmake/mavros_msgs")
 find_package(mavros_msgs REQUIRED)
+
 # Include directory for headers
 include_directories(include)
 

diff --git a/src/kestrel_control/CMakeLists.txt b/src/kestrel_control/CMakeLists.txt
@@ -1,9 +1,6 @@
 cmake_minimum_required(VERSION 3.10)
 project(kestrel_control)
 
-#
-#set(CMAKE_PREFIX_PATH "/opt/ros/${ROS_DISTRO}:${CMAKE_PREFIX_PATH}")
-
 # Core build dependencies
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_gtest REQUIRED)
@@ -12,16 +9,10 @@ find_package(rclpy REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(kestrel_msgs REQUIRED)
-
-set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/share/cmake/geographiclib")
-find_package(GeographicLib REQUIRED)
-
-set(control_toolbox_DIR "${ROS_PREFIX}/share/control_toolbox/cmake") 
 find_package(control_toolbox REQUIRED)
-
-
-set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/share/cmake/mavros_msgs")
 find_package(mavros_msgs REQUIRED)
+set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/share/cmake/geographiclib")
+find_package(GeographicLib REQUIRED)
 
 # Include directory for headers
 include_directories(include)

diff --git a/src/kestrel_control/include/kestrel_control/frame_transformer.hpp b/src/kestrel_control/include/kestrel_control/frame_transformer.hpp
@@ -4,7 +4,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "sensor_msgs/msg/nav_sat_fix.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
-#include "GeographicLib/LocalCartesian.hpp"
+#include <GeographicLib/LocalCartesian.hpp>
 #include <memory>
 
 namespace kestrel_control

diff --git a/src/kestrel_control/package.xml b/src/kestrel_control/package.xml
@@ -14,7 +14,7 @@
   <depend>sensor_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>kestrel_msgs</depend>
-  <depend>GeographicLib</depend>
+  <depend>libgeographiclib-dev</depend>
   <depend>control_toolbox</depend>
   <depend>mavros_msgs</depend>
   <test_depend>ament_cmake_gtest</test_depend>

diff --git a/src/kestrel_description/package.xml b/src/kestrel_description/package.xml
@@ -13,7 +13,7 @@
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>joint_state_publisher_gui</exec_depend>
-  <exec_depend>gazebo_ros</exec_depend>
+  <exec_depend>ros-jazzy-gazebo-ros</exec_depend>
 
   <export>
     <architecture_independent/>

diff --git a/src/libraries/geographiclib b/src/libraries/geographiclib
diff --git a/src/libraries/mavlink b/src/libraries/mavlink
diff --git a/src/libraries/mavros b/src/libraries/mavros