[cli] rtw workspace create

[muritane]

This PR adds the create verb to the workspace command of rtwcli, enhancing it with the capability to efficiently create ROS workspaces. This new functionality supports not just local and Docker-based environment setups but also integrates directly with version control systems for repository management. It specifically addresses the need to automate the fetching and configuration of ROS packages through .repos files, streamlining the setup process for complex projects.

Enhancements:

• Integration with Docker for isolated workspace environments.
• Direct support for .repos files, enabling the automatic import of ROS packages from specified repository URLs and branches.

Usage:
rtw workspace create --ws-folder <path_to_workspace> --ros-distro <distribution> [options]

Currently targeted options:

• --docker: Create workspace(s) in a docker environment
• --repos-containing-repository-url: URL to the repository containing the repos files
  • Main ws .repos format: {repo_name}.{ros_distro}.repos
  • Upstream ws .repos format: {repo_name}.{ros_distro}.upstream.repos
• --repos-branch: Branch of the repository containing the .repos files

Example usage:

rtw workspace create \
  --ws-folder dummy_ws \
  --ros-distro humble \
  --docker \
  --repos-containing-repository-url git@github.com:StoglRobotics/sr_dummy_packages.git \
  --repos-branch dummy_demo_pkg

• This example demonstrates creating a humble ROS distribution workspace named dummy_ws within a Docker environment, utilizing .repos files from the sr_dummy_packages repository on the dummy_demo_pkg branch.

Example usage with standalone and robot user:

rtw workspace create \
  --ws-folder dummy_ws \
  --ros-distro humble \
  --docker \
  --repos-containing-repository-url git@github.com:StoglRobotics/sr_dummy_packages.git \
  --repos-branch dummy_demo_pkg \
  --standalone \
  --user-override-name robot

Committing the container from the command above for exporting:

docker commit rtw_dummy_ws_final-instance rtw_dummy_ws_export

Importing the image from the command above:

rtw workspace import \
  --ws-name dummy_import_ws \
  --ros-distro humble \
  --standalone-docker-image rtw_dummy_ws_export \
  --user-override-name robot

Extra todo's:

• Add the cookie for xauth under /tmp to reenter docker container after restart
• Add docs for rtw cli

Important

After PC restart, the .xauth cookie file will be removed. Therefore, before attaching VSCode, execute rtw ws <ws-name> and rtw docker enter to create the necessary .xauth cookie file.

[destogl]

@muritane, this PR is missing documentation and also a rocker as a requirement for cli. Can you please extend this?

also when I execute command, then I get error that the <workspace>/src is empty. Shouldn't this command automatically clone repository?

[destogl]

Just a small rename, please.

[destogl]

Please add docs from the descritpion of the PR here. Just to have a small overview.

[destogl]

We have a major bug here. when I restart my computer, I can not open again the same docker container I have create for the workspace.

The error is following:

Starting container instance: rtw_qa_scenario_final-instance
non-network local connections being added to access control list
Error response from daemon: failed to create task for container: failed to create shim task: OCI runtime create failed: runc create failed: unable to start container process: error during container init: error mounting "/tmp/.docker157hdqlh.xauth" to rootfs at "/tmp/.docker157hdqlh.xauth": mount /tmp/.docker157hdqlh.xauth:/tmp/.docker157hdqlh.xauth (via /proc/self/fd/7), flags: 0x5000: not a directory:unknown: Are you trying to mount a directory onto a file (or vice-versa)? Check if the specified host path exists and is the expected type
Error: failed to start containers: rtw_qa_scenario_final-instance
Connecting to container instance as user: rtw_qa_scenario_final-instance
Error response from daemon: container 23110e8bad6b2581b144efb44c6f027cb6c81bd16642c412ca74eb534b6533cf is not running

I think the issue is that temp files that are using on container start get stored somehow and they don't existing the next time.