Add AOC Container Base into AOC Refactor

.devcontainer/Dockerfile

@@ -1,26 +1,35 @@
-FROM ros:humble
+ARG BASE_IMAGE=lcas.lincoln.ac.uk/ros:humble-staging
+ARG ROS_DISTRO=humble
+
+FROM ${BASE_IMAGE} AS devcontainer
 
 RUN rm -rf /var/lib/apt/lists/* \
     && apt-get update --fix-missing \
-    && export DEBIAN_FRONTEND=noninteractive \
     && apt-get -y install --no-install-recommends --fix-missing \
-        ros-humble-desktop \
-        bash-completion \
-        python3-colcon-common-extensions \
-        python3-pip \
-        python3-vcstool \
-        python3-rosdep \
-        nano \
-        git \
+    ros-${ROS_DISTRO}-rviz2 \
+    bash-completion \
+    python3-colcon-common-extensions \
+    python3-pip \
+    python3-rosdep \
     && rm -rf /var/lib/apt/lists/*
 
-RUN useradd -rm -d /home/lcas -s /bin/bash -g root -G sudo -u 1001 lcas
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+COPY ./ /workspace
+WORKDIR /workspace
+ENV ROS2_WS=/workspace
+
+RUN sudo rm -rf log/ build/ install/
+
+RUN rosdep update --rosdistro ${ROS_DISTRO} &&\
+    sudo apt-get update && \
+    rosdep install --from-paths ./src --ignore-src -r -y
+
+# Do an initial build to speed up development
+RUN /bin/bash -lc "source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build --continue-on-error"
 
-RUN echo "source /opt/ros/humble/setup.bash" >> /home/lcas/.bashrc
+# ----------------------------------------------------------------------------------------------------
+FROM devcontainer AS final
 
-COPY *.sh /tmp/.devcontainer/
-RUN bash /tmp/.devcontainer/install.sh
+RUN /bin/bash -lc "source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build"
 
-RUN mkdir -p /home/lcas/ws/src && ln -s /workspaces /home/lcas/ws/src/workspaces
-WORKDIR /home/lcas/ws
+ENV MAP_FILE=/home/ros/workspace/src/topological_navigation/config/test_simple_tmap2.yaml 
+CMD ["/bin/bash", "-lc", "source /workspace/install/setup.bash && exec ros2 launch topological_navigation topological_navigation.launch.py map_path:=$MAP_FILE"]

.devcontainer/compose.yaml

@@ -0,0 +1,42 @@
+services:
+  vnc:
+    image: lcas.lincoln.ac.uk/vnc
+    volumes:
+      - x11:/tmp/.X11-unix
+    devices:
+      - /dev/dri:/dev/dri
+    networks:
+      - ros_net
+    shm_size: '2gb'
+    stdin_open: true
+    tty: true
+
+  topo-nav:
+    build:
+      context: ../
+      dockerfile: .devcontainer/Dockerfile
+      target: devcontainer
+    volumes:
+      - x11:/tmp/.X11-unix
+      - ../:/home/ros/workspace
+      - colcon_build:/home/ros/workspace/build
+      - colcon_install:/home/ros/workspace/install
+      - colcon_log:/home/ros/workspace/log
+    stdin_open: true
+    tty: true
+    networks:
+      - ros_net
+    depends_on: 
+      - vnc
+    environment:
+      - DISPLAY=:1.0
+      - ROS_DOMAIN_ID=10
+
+volumes:
+  x11:
+  colcon_build:
+  colcon_install:
+  colcon_log:
+
+networks:
+  ros_net:

.devcontainer/devcontainer.json

@@ -1,27 +1,16 @@
 {
 	"name": "topological_navigation",
-	"build": {
-		"dockerfile": "Dockerfile",
-		"context": "."
-	},
-
-	"features": {
-		"ghcr.io/devcontainers/features/desktop-lite:1": {}
-	},
-
-	"forwardPorts": [6080],
+	"dockerComposeFile": "compose.yaml",
+	"service": "topo-nav",
+	"workspaceFolder": "/home/ros/workspace",
+	"containerUser": "ros",
+	"remoteUser": "ros",
+	"updateRemoteUserUID": true,
+
+	"forwardPorts": ["vnc:5801"],
 	"portsAttributes": {
-		"6080": { "label": "novnc" }
-	},
-
-	"postCreateCommand": "bash .devcontainer/run.sh",
-	"containerUser": "lcas",
-	"runArgs": ["--security-opt", "seccomp=unconfined"],
-
-	"containerEnv": {
-		"ROS_LOCALHOST_ONLY": "0",
-		"LIBGL_ALWAYS_SOFTWARE": "1"
-	},
+		"vnc:5801": { "label": "novnc" }
+	},	
 
 	"customizations": {
 		"vscode": {

.github/workflows/ci.yaml

@@ -6,7 +6,6 @@ on:
     tags:     # Also run CI on tags.
       - '*'
   pull_request:
-    branches: [ humble-dev, aoc ]
 
 jobs:
   # -------------------------------------------------------------------
@@ -32,15 +31,15 @@ jobs:
           pip install pytest pyyaml jsonschema networkx scipy numpy
 
       - name: Run topological_navigation unit tests
-        working-directory: topological_navigation
+        working-directory: src/topological_navigation
         run: |
           python -m pytest test/ \
             --ignore=test/test_navigationcore.py \
             --ignore=test/test_localisation2.py \
             -v --tb=short
 
       - name: Run topological_nav_simulator unit tests
-        working-directory: topological_nav_simulator
+        working-directory: src/topological_nav_simulator
         run: |
           python -m pytest test/ -v --tb=short || true
           # These tests require geometry_msgs (ROS 2); they are
@@ -50,27 +49,34 @@ jobs:
   # Full ROS 2 build + colcon test
   # -------------------------------------------------------------------
   test_docker:
+    name: ROS Testing ${{ matrix.ros_distribution }}
     runs-on: ubuntu-latest
     strategy:
       matrix:
         ros_distribution:
           - humble
+          - jazzy
 
         include:
           # Humble Hawksbill (May 2022 - May 2027)
           - docker_image: ubuntu:jammy
             ros_distribution: humble
             ros_version: 2
 
+          # Jazzy Jalisco (May 2024 - May 2029)
+          - docker_image: ubuntu:noble
+            ros_distribution: jazzy
+            ros_version: 2
+
     container:
       image: ${{ matrix.docker_image }}
     steps:
       - name: setup ROS environment
-        uses: LCAS/setup-ros@master
+        uses: ros-tooling/setup-ros@main
         with:
           required-ros-distributions: ${{ matrix.ros_distribution }}
       - name: build and test ROS 2
         if: ${{ matrix.ros_version == 2 }}
         uses: ros-tooling/action-ros-ci@v0.3
         with:
-          target-ros2-distro: ${{ matrix.ros_distribution }}
+          target-ros2-distro: ${{ matrix.ros_distribution }}

demo.compose.yaml

@@ -0,0 +1,39 @@
+services:
+  vnc:
+    image: lcas.lincoln.ac.uk/vnc:staging
+    ports: 
+    - "5801:5801"
+    volumes:
+      - x11:/tmp/.X11-unix
+    devices:
+      - /dev/dri:/dev/dri
+    networks:
+      - ros_net
+    shm_size: '2gb'
+    stdin_open: true
+    tty: true
+
+  topo-nav:
+    build:
+      context: .
+      dockerfile: .devcontainer/Dockerfile
+      target: final
+    volumes:
+      - x11:/tmp/.X11-unix
+    stdin_open: true
+    tty: true
+    networks:
+      - ros_net
+    depends_on: 
+      - vnc
+    environment:
+      - DISPLAY=:1.0
+      - ROS_DOMAIN_ID=10
+      - MAP_FILE=/home/ros/workspace/src/topological_navigation/config/test_complex_tmap2.yaml
+      - FAKE_ROBOT=true
+
+volumes:
+  x11:
+
+networks:
+  ros_net: