Implement an interface to manage control of the thrusters

.clang-tidy

@@ -25,8 +25,7 @@ Checks: >
   -bugprone-narrowing-conversions,
   -bugprone-easily-swappable-parameters,
   -bugprone-implicit-widening-of-multiplication-result,
-  -modernize-avoid-bind,
-  -modernize-use-nodiscard
+  -modernize-avoid-bind
 WarningsAsErrors: "*"
 CheckOptions:
   - key: readability-braces-around-statements.ShortStatementLines

.devcontainer.json

@@ -36,6 +36,7 @@
         "files.insertFinalNewline": true,
         "files.trimTrailingWhitespace": true,
         "editor.formatOnSave": true,
+        "editor.tabSize": 2,
         "xml.format.maxLineWidth": 100,
         "json.format.enable": true,
         "python.linting.enabled": true,
@@ -45,14 +46,20 @@
         "python.linting.mypyEnabled": true,
         "python.formatting.provider": "black",
         "autoDocstring.startOnNewLine": false,
-        "autoDocstring.docstringFormat": "google",
+        "autoDocstring.docstringFormat": "google-notypes",
         "isort.args": ["--profile", "black"],
         "isort.check": true,
         "python.autoComplete.extraPaths": [
-          "/opt/ros/humble/lib/python3.10/site-packages/"
+          "/opt/ros/humble/lib/python3.10/site-packages/",
+          "/opt/ros/humble/local/lib/python3.10/dist-packages/",
+          "/opt/ros/rolling/lib/python3.10/site-packages/",
+          "/opt/ros/rolling/local/lib/python3.10/dist-packages/"
         ],
         "python.analysis.extraPaths": [
-          "/opt/ros/humble/lib/python3.10/site-packages/"
+          "/opt/ros/humble/lib/python3.10/site-packages/",
+          "/opt/ros/humble/local/lib/python3.10/dist-packages/",
+          "/opt/ros/rolling/lib/python3.10/site-packages/",
+          "/opt/ros/rolling/local/lib/python3.10/dist-packages/"
         ],
         "C_Cpp.default.intelliSenseMode": "linux-gcc-x86",
         "C_Cpp.clang_format_fallbackStyle": "Google",

.docker/Dockerfile

@@ -4,12 +4,15 @@ FROM ros:$ROS_DISTRO-ros-base as ci
 LABEL maintainer="Evan Palmer"
 LABEL maintainer-email="evanp922@gmail.com"
 
+ENV DEBIAN_FRONTEND=noninteractive
 WORKDIR /root/ws_blue
 
 COPY . src/blue
 
-# Install the core apt packages
-RUN apt-get update && apt-get upgrade -y && apt-get install -y --no-install-recommends \
+# Install apt packages
+RUN apt-get -q update \
+    && apt-get -q -y upgrade \
+    && apt-get -q install --no-install-recommends -y \
     git \
     wget \
     curl \
@@ -30,10 +33,10 @@ RUN [ "/bin/bash" , "-c" , "\
     && sudo ./install_geographiclib_datasets.sh" ]
 
 # Install all ROS dependencies
-RUN apt-get update && apt-get upgrade -y \
+RUN apt-get -q update \
+    && apt-get -q -y upgrade \
     && rosdep update \
-    && DEBIAN_FRONTEND=noninteractive \
-    rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
     && rm -rf src \
     && apt-get autoremove -y \
     && apt-get clean -y \
@@ -42,14 +45,15 @@ RUN apt-get update && apt-get upgrade -y \
 FROM ci as source
 
 ENV ROS_UNDERLAY /root/ws_blue/install
+ENV DEBIAN_FRONTEND=noninteractive
 WORKDIR $ROS_UNDERLAY/..
 
 COPY . src/blue
 
-RUN apt-get update && apt-get upgrade -y \
+RUN apt-get -q update \
+    && apt-get -q -y upgrade \
     && rosdep update \
-    && DEBIAN_FRONTEND=noninteractive \
-    rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
     && apt-get autoremove -y \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
@@ -65,21 +69,24 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
 FROM ci as develop
 
 ENV ROS_UNDERLAY /root/ws_blue/install
+ENV DEBIAN_FRONTEND=noninteractive
 WORKDIR $ROS_UNDERLAY/..
 
 COPY . src/blue
 
-RUN apt-get update && apt-get upgrade -y \
+RUN apt-get -q update \
+    && apt-get -q -y upgrade \
     && rosdep update \
-    && DEBIAN_FRONTEND=noninteractive \
-    rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
     && rm -rf src \
     && apt-get autoremove -y \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
 # Install development tools
-RUN apt-get update && apt-get upgrade -y && apt-get install -y --no-install-recommends \
+RUN apt-get -q update \
+    && apt-get -q -y upgrade \
+    && apt-get -q install --no-install-recommends -y \
     python3-dev \
     python3-pip \
     iputils-ping \
@@ -95,7 +102,8 @@ RUN pip3 install \
     mypy \
     isort \
     flake8 \
-    black
+    black \
+    setuptools==58.2.0
 
 # Configure a new non-root user
 ARG USERNAME=dev

.dockerignore

@@ -2,4 +2,4 @@
 *
 
 # Except the following
-!blue_bridge
+!blue_manager