Add ROS2 Lyrical docker images and CI, bump fixposition-sdk

.devcontainer/.bashrc

@@ -162,7 +162,7 @@ if [ -n "${ROS_DISTRO}" ]; then
     # export RCUTILS_LOGGING_USE_STDOUT=1
     export RCUTILS_COLORIZED_OUTPUT=1
     case "${ROS_DISTRO}" in
-        jazzy|rolling)
+        jazzy|lyrical|rolling)
             export RCUTILS_CONSOLE_OUTPUT_FORMAT="{severity} {date_time_with_ms} {name} - {message}"
             ;;
         *)

.devcontainer/helper.sh

@@ -15,7 +15,7 @@ case ${command} in
                     ${containerWorkspaceFolder}/create_ros_ws.sh -d ros1_ws
                 fi
                 ;;
-            humble|jazzy)
+            humble|jazzy|lyrical|rolling)
                 if [ ! -d ${containerWorkspaceFolder}/ros2_ws ]; then
                     ${containerWorkspaceFolder}/create_ros_ws.sh -d ros2_ws
                 fi

.devcontainer/lyrical/Dockerfile

@@ -0,0 +1,12 @@
+FROM ghcr.io/fixposition/fixposition-sdk:lyrical-dev
+
+# RUN <<EOF
+#     # Install additional packages
+#     set -e
+#     export DEBIAN_FRONTEND=noninteractive
+#     apt-get -y update
+#     apt-get -y --with-new-pkgs upgrade
+#     apt-get -y --no-install-recommends install some-package another-package ...
+#     apt-get -y autoremove
+#     apt-get clean
+# EOF

.devcontainer/lyrical/devcontainer.json

@@ -0,0 +1,52 @@
+// https://aka.ms/devcontainer.json
+{
+    "name": "Fixposition ROS2 driver (Lyrical)",
+    "build": { "dockerfile": "Dockerfile", "context": "../.." },
+    "remoteUser": "fpsdk",
+    "updateRemoteUserUID": true,
+    "capAdd": ["SYS_PTRACE"],
+    "mounts": [
+        // Persistent bash history
+        "source=${localWorkspaceFolder}/.devcontainer/.bashrc,target=/home/fpsdk/.bashrc,type=bind",
+        "source=${localWorkspaceFolder}/.devcontainer/.bash_logout,target=/home/fpsdk/.bash_logout,type=bind",
+        "source=${localWorkspaceFolder}/.devcontainer/.bash_history.d,target=/home/fpsdk/.bash_history.d,type=bind",
+        // Persistent .vscode-server
+        "source=${localWorkspaceFolder}/.devcontainer/.vscode-server,target=/home/fpsdk/.vscode-server,type=bind",
+        // The code we're working on
+        "source=${localWorkspaceFolder},target=/home/fpsdk/fixposition_driver,type=bind",
+    ],
+    "workspaceFolder": "/home/fpsdk/fixposition_driver",
+    "runArgs": [ "--name=fixposition_driver-lyrical-${localEnv:USER}", "--hostname=lyrical" ],
+    "onCreateCommand": "${containerWorkspaceFolder}/.devcontainer/helper.sh onCreateCommand ${containerWorkspaceFolder}",
+    "customizations": {
+        "vscode": {
+            "settings": {
+                "files.exclude": {
+                    "**/.git": true,
+                    ".vscode-cache": true,
+                    "**/*~": true,
+                    ".vstags": true,
+                    "**/build/**": true,
+                    "core": true,
+                    "**/.devcontainer/.vscode-server/**": true,
+                    "**/.vscode-server/**": true
+                },
+                "search.exclude": {
+                    "tmp": true,
+                    "**/ros1_ws/**": true,
+                    "**/ros2_ws/**": true
+                },
+                "files.watcherExclude": {
+                    "**/.git/objects/**": true,
+                    "**/.git/refs/**": true,
+                    "**/.git/logs/**": true,
+                    "**/.git/subtree-cache/**": true,
+                    "**/.git/worktrees/**": true,
+                    "**/.vscode-*/**": true,
+                    "**/ros1_ws/**": true,
+                    "**/ros2_ws/**": true
+                }
+            }
+        }
+    }
+}

.github/workflows/ci.yml

@@ -61,4 +61,21 @@ jobs:
                   git config --global --add safe.directory ${GITHUB_WORKSPACE}
                   ./.github/ci.sh
 
+    ci-lyrical:
+        runs-on: ubuntu-latest
+        container:
+            image: ghcr.io/fixposition/fixposition-sdk:lyrical-ci
+        defaults:
+            run:
+                shell: bash
+        steps:
+            - name: Checkout
+              uses: actions/checkout@v4
+              with:
+                    submodules: 'recursive'
+            - name: Build
+              run: |
+                  git config --global --add safe.directory ${GITHUB_WORKSPACE}
+                  ./.github/ci.sh
+
 # eof

README.md

@@ -2,9 +2,6 @@
 
 [ROS](https://www.ros.org/) (both ROS1 and ROS2) driver for [Fixposition Vision-RTK 2](https://www.fixposition.com/product) for **Linux**.
 
-> [!IMPORTANT]
-> Tags 8.0.0 onward break compatibility with previous versions. For more details on how to migrate to the new version, please refer to [Migration Guide](https://docs.fixposition.com/fd/migration-guide).
-
 [![CI](https://github.com/fixposition/fixposition_driver/actions/workflows/ci.yml/badge.svg)](https://github.com/fixposition/fixposition_driver/actions/workflows/ci.yml)
 
 ## Driver documentation

create_ros_ws.sh

@@ -85,7 +85,7 @@ function main
             noetic)
                 rosver=1
                 ;;
-            humble|jazzy)
+            humble|jazzy|lyrical|rolling)
                 rosver=2
                 ;;
         esac

fixposition_driver.code-workspace

@@ -63,7 +63,7 @@
             "${workspaceFolder}/fixposition_driver_lib/**",
             "${workspaceFolder}/fixposition_driver_ros1/**",
             "${workspaceFolder}/fixposition_driver_ros2/**",
-            "/opt/ros/noetic/include/**", "/opt/ros/humble/include/**", "/opt/ros/jazzy/include/**" ],
+            "/opt/ros/noetic/include/**", "/opt/ros/humble/include/**", "/opt/ros/jazzy/include/**", "/opt/ros/lyrical/include/**" ],
         "C_Cpp.default.defines":               [ "FP_USE_ROS1" ],
         //"C_Cpp.default.compileCommands":       "",
         //"C_Cpp.default.forcedIncludes":      [ ],

setup_ros_ws.sh

@@ -69,7 +69,7 @@ function main
             noetic)
                 rosver=1
                 ;;
-            humble|jazzy)
+            humble|jazzy|lyrical|rolling)
                 rosver=2
                 ;;
         esac