added github shields to the README.md

.gitignore

@@ -16,6 +16,9 @@ msg/_*.py
 build_isolated/
 devel_isolated/
 
+__pycache__/
+.ipynb_checkpoints/
+
 # Generated by dynamic reconfigure
 *.cfgc
 /cfg/cpp/
@@ -55,4 +58,4 @@ frames_*.pdf
 
 nucleus_token.txt
 
-docker/extras/px
+docker/extras/px

.gitmodules

@@ -10,8 +10,8 @@
 	url = [email protected]:PX4/px4_msgs.git
 	branch = main
 [submodule "ros_ws/src/robot/autonomy/world_model/mapping/vdb_mapping"]
-	path = ros_ws/src/robot/autonomy/world_model/mapping/vdb_mapping
+	path = ros_ws/src/robot/autonomy/4_global/a_world_models/vdb_mapping
 	url = https://github.com/fzi-forschungszentrum-informatik/vdb_mapping
 [submodule "ros_ws/src/robot/autonomy/world_model/mapping/vdb_mapping_ros2"]
-	path = ros_ws/src/robot/autonomy/world_model/mapping/vdb_mapping_ros2
+	path = ros_ws/src/robot/autonomy/4_global/a_world_models/vdb_mapping_ros2
 	url = https://github.com/fzi-forschungszentrum-informatik/vdb_mapping_ros2

.vscode/settings.json

@@ -805,8 +805,23 @@
     "__locale": "cpp",
     "codecvt": "cpp",
     "any": "cpp",
-    "future": "cpp"
+    "future": "cpp",
+    "csignal": "cpp",
+    "strstream": "cpp",
+    "compare": "cpp",
+    "concepts": "cpp",
+    "forward_list": "cpp",
+    "unordered_set": "cpp",
+    "regex": "cpp",
+    "numbers": "cpp",
+    "ranges": "cpp",
+    "semaphore": "cpp",
+    "shared_mutex": "cpp",
+    "stop_token": "cpp",
+    "cfenv": "cpp",
+    "typeindex": "cpp",
+    "valarray": "cpp"
   },
   "C_Cpp.clang_format_fallbackStyle": "{ BasedOnStyle: Google, IndentWidth: 4, ColumnLimit: 100 }",
   "editor.formatOnSave": true
-}
+}

docker/airstack-dev.dockerfile

@@ -0,0 +1,83 @@
+# expects context to be the root of the repository, i.e. AirStack/. this is so we can access AirStack/ros_ws/
+FROM osrf/ros:humble-desktop-full
+
+WORKDIR /root/AirStack
+
+RUN apt update
+# Install dev tools
+RUN apt install -y \
+    vim nano wget curl tree \
+    cmake build-essential \
+    less htop jq \
+    python3-pip
+
+# Install ROS2 packages
+
+# Package dependencies
+# perform ROS dependency installation for our workspace.
+COPY ros_ws/src /tmp/ros_ws/src
+RUN rosdep init && rosdep update && \
+    rosdep install --from-paths /tmp/ros_ws/src --ignore-src -r -y && \
+    rm -rf /tmp/ros_ws || echo "Some ROS dependencies installation failed"
+
+# Install any additional ROS2 packages
+RUN apt update -y && apt install -y \
+    ros-dev-tools \
+    ros-humble-mavros \ 
+    ros-humble-tf2* \
+    ros-humble-stereo-image-proc \
+    ros-humble-image-view \
+    ros-humble-topic-tools \
+    ros-humble-grid-map
+
+RUN /opt/ros/humble/lib/mavros/install_geographiclib_datasets.sh
+
+
+# Install Python dependencies
+RUN pip3 install \
+    empy \
+    future \
+    lxml \
+    matplotlib \
+    numpy \
+    pkgconfig \
+    psutil \
+    pygments \
+    wheel \
+    pymavlink \
+    pyyaml \
+    requests \
+    setuptools \
+    six \
+    toml \
+    scipy
+
+
+# Override install newer openvdb 8.2.0 for compatibility with Ubuntu 22.04  https://bugs.launchpad.net/bugs/1970108
+RUN apt remove -y libopenvdb*; \
+    git clone --recurse --branch v8.2.0-debian https://github.com/wyca-robotics/openvdb.git /opt/openvdb && \
+    mkdir /opt/openvdb/build && cd /opt/openvdb/build && \
+    cmake .. && \
+    make -j8 && make install && \
+    cd ..; rm -rf /opt/openvdb/build
+
+# Add ability to SSH
+RUN apt-get update && apt-get install -y openssh-server
+RUN mkdir /var/run/sshd
+
+# Password is airstack
+RUN echo 'root:airstack' | chpasswd
+RUN sed -i 's/#PermitRootLogin prohibit-password/PermitRootLogin yes/' /etc/ssh/sshd_config
+RUN sed -i 's/#PasswordAuthentication yes/PasswordAuthentication yes/' /etc/ssh/sshd_config
+RUN sed 's@session\s*required\s*pam_loginuid.so@session optional pam_loginuid.so@g' -i /etc/pam.d/sshd
+
+EXPOSE 22
+
+
+
+# Cleanup. Prevent people accidentally doing git commits as root in Docker
+RUN apt purge git -y \
+    && apt autoremove -y \
+    && apt clean -y \
+    && rm -rf /var/lib/apt/lists/*
+