Migrate node_helpers code from private robot monorepo

.cruft.json

@@ -1,6 +1,6 @@
 {
   "template": "git@github.com:UrbanMachine/create-ros-app.git",
-  "commit": "92da06d68aabc5ba36e559b7fdd83cf7a54a997f",
+  "commit": "5cbe2af623cd536fbb52420e3dc8e3205ff6c86e",
   "checkout": null,
   "context": {
     "cookiecutter": {
@@ -9,13 +9,14 @@
       "dockerhub_username_or_org": "urbanmachine",
       "project_name": "node_helpers",
       "project_description": "An opinionated ROS2 framework that minimizes boilerplate while maximizing reliability. Features intuitive APIs for parameter management, action handling, and error-resilient RPC. Designed by Urban Machine for safe and scalable robotics.",
-      "version": "1.0.0",
+      "version": "0.5.0",
       "license": "MIT",
       "example_package_name": "node_helpers",
       "example_package_description": "An opinionated ROS2 framework that minimizes boilerplate while maximizing reliability. Features intuitive APIs for parameter management, action handling, and error-resilient RPC. Designed by Urban Machine for safe and scalable robotics.",
       "example_node_name": "ExampleNode",
       "example_launch_profile": "node_helpers_showcase",
-      "example_package_version": "0.1.0",
+      "example_package_version": "0.5.0",
+      "__example_messages_package_name": "node_helpers_msgs",
       "_template": "git@github.com:UrbanMachine/create-ros-app.git"
     }
   },

.github/lint/main.py

@@ -21,8 +21,8 @@
 LINTERS = {
     PYTHON_LANGUAGE: [
         # Run linters from fastest to slowest
-        lint_ruff_check,
         lint_ruff_format,
+        lint_ruff_check,
         lint_darglint,
         lint_mypy,
     ],

.github/lint/paths.py

@@ -11,8 +11,8 @@ def required_path(path_str: str) -> Path:
 
 ROS_PATH = required_path("pkgs")
 LINT_PATH = required_path(".github/lint")
-JS_PATH = Path(".")
-FIRMWARE_PATH = Path(".")
+JS_PATH = Path()
+FIRMWARE_PATH = Path()
 LAUNCH_PATH = required_path("launch-profiles")
 
 

README.md

@@ -15,21 +15,32 @@ An opinionated ROS2 framework that minimizes boilerplate while maximizing reliab
 ## Running This Project
 
 For in-depth documentation on the repository features, read the [About Template](docs/about_template.md) documentation.
+This project is a collection of ROS utilities that play nicely together. It's 
+recommended to start by reading the highlights in ``docs/``. For smaller utilities, they 
+will be documented in READMEs in their respective modules. 
 
-### Dependencies
+For example, ``node_helpers.timing`` has a README describing the API's in that module. 
+However ``node_helpers.parameters`` has a page under ``docs/`` that describes the
+philosophy and usage of the module in depth.
 
-This project depends on [Docker](https://docs.docker.com/get-docker/), and can be accelerated using [Nvidia Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html). Install both before proceeding.
+### Dependencies
 
-The linting tooling requires [Poetry](https://python-poetry.org/docs/) to run.
+This project depends on [Docker](https://docs.docker.com/get-docker/). The linting tooling requires [Poetry](https://python-poetry.org/docs/) to run.
 
 ### Running the Project
 
+This project is intended to be used as a library, however there is a showcase 
+launch-profile that demonstrates some of the library's features.
+
 To run the project, use the following command:
 
 ```shell
 docker/launch node_helpers_showcase
 ```
 
+Take a look at the nodes under `pkgs/node_helpers/nodes`, and the launch file under
+`launch-profiles` to get an idea of some of the libraries features.
+
 Then, open http://localhost/ on your browser to view the project logs.
 
 

docker-compose.yaml

@@ -26,13 +26,17 @@ services:
       - "./launch-profiles/${LAUNCH_PROFILE:- 'set in docker/_shared'}:/robot/launch-profile/"
       # Necessary for display passthrough
       - "/tmp/.X11-unix:/tmp/.X11-unix:rw"
+      # Necessary for PulseAudio passthrough
+      - "/run/user/${USER_ID:-1000}/pulse/native:/pulse-socket"
       # Build cache, used by `save-build-cache` and `restore-build-cache` docker scripts
       - type: volume
         source: ros-nodes-build-cache
         target: /robot/build
     environment:
       # Necessary for display passthrough
       DISPLAY: $DISPLAY
+      # Necessary for PulseAudio passthrough
+      PULSE_SERVER: "unix:/pulse-socket"
     # Gives the container access to kernel capabilities, useful for most robots
     network_mode: host
     cap_add:

docker/Dockerfile

@@ -108,9 +108,6 @@ RUN echo "/opt/ros/${ROS2_DISTRO}/lib/${PYTHON_VERSION}/site-packages" >> /usr/l
 RUN echo "/opt/ros/${ROS2_DISTRO}/local/lib/${PYTHON_VERSION}/dist-packages" >> /usr/local/lib/${PYTHON_VERSION}/dist-packages/ros2.pth
 RUN make-pth-file-from-workspace "$(pwd)/install" /usr/local/lib/${PYTHON_VERSION}/dist-packages/robot.pth
 
-# Copy in useful runtime scripts
-COPY docker/utils/runtime/* /usr/local/bin/
-
 # Move the build cache from a Docker cache mount to a place where our build
 # system can see it. This helps make `colcon build` faster between runs.
 RUN --mount=type=cache,target="${BUILD_CACHE}" restore-build-cache

docker/utils/environment/make-pth-file-from-workspace

@@ -8,7 +8,7 @@
 #     make-pth-file-from-workspace {workspace install dir} {.pth file destination}
 #
 # Example:
-#     make-pth-file-from-workspace /robot/install /usr/local/lib/python3.8/dist-packages/robot.pth
+#     make-pth-file-from-workspace /robot/install /usr/local/lib/pythonX.XX/dist-packages/robot.pth
 
 set -o errexit
 set -o pipefail

docs/about_template.md

@@ -1,7 +1,7 @@
 # Using `create-ros-app`
 
 This repository was initialized by the [create-ros-app](https://github.com/UrbanMachine/create-ros-app) template.
-This template is a everything-but-the-robot-code starter for ROS projects. It includes a Dockerfile for building ROS packages, a GitHub Actions workflow for linting and autoformatting, and a few other goodies.
+This template is a everything-but-the-robot-code starter for ROS projects. It includes a Dockerfile for building ROS packages, a GitHub Actions workflow for linting and autoformatting, and many other goodies.
 
 This documentation walks through the features of the template, and how to use them.
 
@@ -56,15 +56,15 @@ Here's a quick guide on the features of this template
 
 The packages directory contains all the packages that are used in the project. Each package is added in the `Dockerfile`, and any new packages should be added there as well.
 
-#### Package structure
-Each package is made up of:
+#### Python Package structure
+Each python package is made up of:
 - A `resource` directory, which is a colcon requirement
 - A `package.xml` file, which is a colcon requirement
 - A `pyproject.toml`, because this project uses [colcon-poetry-ros](https://github.com/UrbanMachine/colcon-poetry-ros) to install project dependencies. Most ROS python packages use `setup.py`, but by using this plugin, we can use a modern python tool called [Poetry](https://python-poetry.org/) to manage dependencies.
 - A directory for code
 - A directory for tests
 
-#### Test directories
+##### Test directories
 
 As (arbitrary) best practice, the example node uses a test directory that follows the following structure
 
@@ -84,6 +84,12 @@ package_name/
 
 Essentially, tests exist in a parallel directory to the package, and are split into `unit` and `integration` tests. The directories within `unit` and `integration` mirror the structure of the package itself, except that module names are prefixed with `test_`.
 
+#### Message Package Structure
+
+The template will generate a message package for you with an `ExampleAction`, `ExampleService`, and `ExampleMessage`. You can add more messages by adding them to the `msg` directory and updating the `CMakeLists.txt` and `package.xml` files.
+
+This can be used as a place for you to store your messages used just for this project. It follows standard ROS2 message package structure.
+
 ### `.github/`
 
 This project uses poetry for linting, and has some code for running linting and autoformatting under `.github/lint`.