Add devcontainer and local testing

.devcontainer/Dockerfile.devcontainer

@@ -0,0 +1,75 @@
+# Use the official Ubuntu 20.04 as a base image
+FROM ubuntu:20.04
+
+# Set environment variables for non-interactive installation
+ENV DEBIAN_FRONTEND=noninteractive
+
+ARG uid=1002:1002
+ARG gid=1002:1002
+ARG username=local
+
+# Update and install necessary packages
+RUN apt-get update && apt-get install -y \
+    lsb-release \
+    curl \
+    gnupg2 \
+    build-essential \
+    cmake \
+    git \
+    wget \
+    && rm -rf /var/lib/apt/lists/*
+
+# Setup sources for ROS Noetic
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+
+# Install ROS Noetic
+RUN apt-get update && apt-get install -y \
+    ros-noetic-desktop-full \
+    python3-rosdep \
+    python3-rosinstall \
+    python3-rosinstall-generator \
+    python3-wstool \
+    python3-rosdep \
+    python3-catkin-tools \
+    python3-pip \
+    python3-rosbag \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install VIM
+RUN apt-get update && apt-get install -y vim
+
+# Initialize rosdep
+RUN rosdep init && rosdep update
+
+# Install pip requirements
+RUN pip3 install scipy numpy matplotlib rosbags
+
+# Setup environment
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+SHELL ["/bin/bash", "-c"]
+
+# User setup
+RUN useradd -m $username -l -u "$(echo $uid | cut -d: -f1)" \
+    && usermod -u "$(echo $uid | cut -d: -f1)" $username \
+    && groupmod -g "$(echo $gid | cut -d: -f2)" $username \
+    && usermod -aG sudo,video,dialout,plugdev,audio $username \
+    && echo $username ' ALL=(ALL:ALL) NOPASSWD:ALL' >> /etc/sudoers \
+    && mkdir -p /home/$username/.cache /home/$username/.ssh \
+    && ssh-keyscan github.com >> /home/$username/.ssh/known_hosts \
+    && chown -R $username:$username /home/$username
+
+# install ssh
+RUN apt-get update && apt-get install -y openssh-server
+
+# Create a workspace
+USER $username
+RUN mkdir -p /home/local/catkin_ws/src
+WORKDIR /home/local/catkin_ws
+
+# Build the workspace
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && catkin_make"
+RUN rm -rf /home/local/catkin_ws/build /home/local/catkin_ws/devel
+
+# Set the default command to run when starting the container
+CMD ["bash"]

.devcontainer/README.md

@@ -0,0 +1,10 @@
+# How to use a devcontainer for development
+
+1. Install the [Remote - Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension in VSCode
+2. Install Docker on local machine (https://docs.docker.com/desktop/setup/install/linux/ubuntu/)
+3. Open the allan_variance_ros repository in VSCode
+4. Reopen in Container: Use the Command Palette (Ctrl+Shift+P or Cmd+Shift+P on macOS) and select "Remote-Containers: Reopen in Container". This will build the container using the Dockerfile and open your project inside the container
+5. Run `catkin build allan_variance_ros` to build the package
+6. Run `rosrun allan_variance_ros allan_variance /path/to/rosbag.bag /path/to/config.yaml` to run the tool
+
+Once the repository is open in the container, you can develop as normal following the instructions in the [README.md](../README.md) file.

.devcontainer/devcontainer.json

@@ -0,0 +1,131 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the README at:
+// https://github.com/microsoft/vscode-dev-containers/tree/v0.241.1/containers/docker-from-docker-compose
+{
+    "name": "ROS Dev Container",
+    "dockerComposeFile": [
+        "${localWorkspaceFolder}/.devcontainer/docker-compose.devcontainer.yaml"
+    ],
+    "service": "devcontainer",
+    "containerUser": "local",
+    "workspaceFolder": "/home/local/catkin_ws/src/${localWorkspaceFolderBasename}",
+
+    // Setup the environment
+    "initializeCommand": "${localWorkspaceFolder}/.devcontainer/setup_base_env.sh",
+
+    "onCreateCommand": "${containerWorkspaceFolder}/.devcontainer/setup_container.sh",
+
+    // Sets or overrides environment variables for the container for supporting services/tools (or sub-processes like terminals)
+    "remoteEnv": {
+        "DISPLAY": "${localEnv:DISPLAY}",
+        "XAUTHORITY": "/home/${containerEnv:USER_DOCKER}/.Xauthority",
+        "XDG_RUNTIME_DIR": "/run/user/${containerEnv:UID}"
+    },
+
+    // Add ptrace capability and configure security to facilitate debugging and display forwarding
+    "capAdd": [
+        "SYS_PTRACE",
+        "NET_ADMIN"
+    ],
+    "securityOpt": [
+        "seccomp=unconfined",
+        "apparmor=unconfined" // This allows RViz and other dbus-based apps to run
+    ],
+
+    // Configure tool-specific properties.
+    "customizations": {
+        // Configure properties specific to VS Code.
+        "vscode": {
+            // Add the IDs of extensions you want installed when the container is created.
+            "extensions": [
+                "[email protected]",
+                "eamodio.gitlens",
+                "hbenl.vscode-test-explorer",
+                "llvm-vs-code-extensions.vscode-clangd",
+                "matepek.vscode-catch2-test-adapter",
+                "ms-python.python",
+                "ms-python.vscode-pylance",
+                "ms-vscode.cpptools",
+                "ms-vscode.cpptools-themes",
+                "ms-vscode-remote.remote-containers",
+                "rioj7.command-variable",
+                "streetsidesoftware.code-spell-checker",
+                "twxs.cmake",
+                "ms-python.debugpy"
+            ],
+            "settings": {
+                "bazel.queriesShareServer": false,
+                "C_Cpp.intelliSenseEngine": "disabled", // Using clangd now!
+                "C_Cpp.default.cppStandard": "c++17",
+                "C_Cpp.default.cStandard": "gnu17",
+                "[cpp]": {
+                    "editor.defaultFormatter": "llvm-vs-code-extensions.vscode-clangd"
+                },
+                "dev.containers.dockerCredentialHelper": false,
+                "files.exclude": {
+                    "**/bazel-*": true,
+                    ".devcontainer/.vscode-server": true
+                },
+                "remote.localPortHost": "allInterfaces",
+                "search.exclude": {
+                    "**/bazel-*": true,
+                    ".devcontainer/.vscode-server": true
+                },
+                "testExplorer.useNativeTesting": true,
+                "testMate.cpp.test.advancedExecutables": [
+                    {
+                        "pattern": "bazel-bin/**/*.runfiles/**/*{test,Test,TEST,tests}",
+                        "cwd": "${absDirpath}",
+                        "executionWrapper": {
+                            "path": "${workspaceFolder}/.vscode/run_unit_test.sh",
+                            "args": [ "${workspaceFolder}", "${cmd}", "${argsFlat}" ]
+                        }
+                    }
+                ],
+                "testMate.cpp.debug.configTemplate": {
+                    "type": "cppvsdbg",
+                    "linux": {
+                        "type": "cppdbg", "MIMode": "gdb",
+                        "setupCommands": [
+                        {
+                            "description": "Enable pretty-printing for gdb",
+                            "text": "-enable-pretty-printing",
+                            "ignoreFailures": true
+                        },
+                        {
+                            "description": "Set Disassembly Flavor to Intel",
+                            "text": "-gdb-set disassembly-flavor intel",
+                            "ignoreFailures": true
+                        }
+                        ]
+                    },
+                    "darwin": { "type": "cppdbg", "MIMode": "lldb" },
+                    "win32": { "type": "cppvsdbg" },
+                    "program": "${exec}",
+                    "args": "${argsArray}",
+                    "cwd": "${absDirpath}",
+                    "env": "${envObj}",
+                    "environment": "${envObjArray}",
+                    "sourceFileMap": {"/proc/self/cwd" : "${workspaceFolder}"}
+                },
+                "terminal.integrated.defaultProfile.linux": "custom-bash",
+                // This setting prevents characters in the terminal from getting jumbled when characters are sent too fast
+                "terminal.integrated.localEchoLatencyThreshold": -1,
+                "terminal.integrated.profiles.linux": {
+                    "custom-bash": {
+                        "path": "bash",
+                        "args": ["--rcfile", "${workspaceFolder}/.vscode/.bashrc"]
+                    }
+                },
+                "clangd.path": "/usr/bin/clangd",
+                "clangd.arguments": [//"--log=verbose", // for debugging, disabled for now
+                                     // "--pretty", // for debugging, disabled for now
+                                     "--background-index",
+                                     //"--query-driver=/bin/arm-buildroot-linux-gnueabihf-g++", //for cross compile usage
+                                     "--clang-tidy",
+                                     "--completion-style=detailed",
+                                     "--header-insertion=never",
+                                     "--compile-commands-dir=${workspaceFolder}/"]
+            }
+        }
+    }
+}

.devcontainer/docker-compose.devcontainer.yaml

@@ -0,0 +1,57 @@
+version: "3.3"
+services:
+  devcontainer:
+    build:
+      context: ./../
+      dockerfile: ./.devcontainer/${DOCKERFILE_BUILD}
+      args:
+        build_apt_deps: ${BUILD_APT_DEPS}
+        username: ${USER_DOCKER}
+        uid: ${CURRENT_UID}
+        ssh_port: ${SSH_PORT}
+    devices:
+      - "/dev/bus/usb:/dev/bus/usb"
+      - "/dev/video*:/dev/video*"
+      - "/dev:/dev"
+    ports:
+      - "9876:9876"
+    privileged: true
+    user: ${USER_DOCKER}
+    volumes:
+      - ${WORKSPACE}:${WORKSPACE_DOCKER}
+      - ${NETRC_FILE:-/dev/null}:${NETRC_FILE_DOCKER:-/home/$USER/.netrc-null}
+      - ${AWS_FILE:-/dev/null}:${AWS_FILE_DOCKER:-/home/$USER/.aws-null}
+      - ${SSH_FILE:-/dev/null}:${SSH_FILE_DOCKER:-/home/$USER/.ssh/ssh.null}
+      - ${DOCKER_DIR:-/dev/null}:${DOCKER_DIR_DOCKER:-/home/$USER/.docker-null}
+      - ${BAZEL_LOCAL_CACHE:-/dev/null}:${BAZEL_LOCAL_CACHE_DOCKER:-/home/$USER/.cache/bazel-null}
+      - ${HOME}:${HOME}
+      - ${HOME}/.config:${HOME_DOCKER}/.config
+      - ${HOME}/.gitconfig:${HOME_DOCKER}/.gitconfig
+      - ${WORKSPACE}/.devcontainer/.vscode-server:${HOME_DOCKER}/.vscode-server
+      - ${SSH_AUTH_SOCK:-/dev/null}:${SSH_AUTH_SOCK:-/home/$USER_DOCKER/.ssh-auth-sock-null}
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - ${XAUTHORITY:-~/.Xauthority}:/home/${USER_DOCKER}/.Xauthority
+      - ${HOME}/.Xauthority:/root/.Xauthority
+    env_file: .env
+    environment:
+      ARCH: ${ARCH:-amd64}
+      VCS_REF: ${VCS_REF:-dirty}
+      VCS_SHORT_REF: ${VCS_SHORT_REF:-dirty}
+      VCS_URL: ${VCS_URL:-dirty}
+      VCS_DESCRIBE: ${GIT_DESCRIBE:-none}
+      BUILD_NUMBER: ${BUILD_NUMBER:-non-ci}
+      BUILD_DATE: ${BUILD_DATE:-non-ci}
+      BRANCH_NAME: ${BRANCH_NAME:-non-ci}
+      DOCKER_TAG: ${DOCKER_TAG:-non-ci}
+      SSH_AUTH_SOCK: ${SSH_AUTH_SOCK}
+      HOST_SSH_AUTH_SOCK: ${SSH_AUTH_SOCK}
+      WORKSPACE_DOCKER: ${WORKSPACE_DOCKER}
+      USER_HOST: ${USER}
+      USER_DOCKER: ${USER_DOCKER}
+      DISPLAY: ${DISPLAY}
+      XAUTHORITY: /home/${USER_DOCKER}/.Xauthority
+    command: /bin/sh -c "while sleep 1000; do :; done"
+    working_dir: ${WORKSPACE_DOCKER}
+    network_mode: host
+    ipc: host
+    pid: host