upgrade to humble for docker container

.devcontainer/devcontainer.json

@@ -6,9 +6,9 @@
 		// Sets the run context to one level up instead of the .devcontainer folder.
 		"context": "..",
 		// Update the 'dockerFile' property if you aren't using the standard 'Dockerfile' filename.
-		"dockerfile": "../Dockerfile.dev"
+		"dockerfile": "../Dockerfile.jetson"
 	},
-	"containerEnv": { "DISPLAY": "host.docker.internal:0.0" }
+	"containerEnv": { "DISPLAY": "host.docker.internal:0.0" },
 
 	// Features to add to the dev container. More info: https://containers.dev/features.
 	// "features": {},
@@ -21,7 +21,12 @@
 
 	// Configure tool-specific properties.
 	// "customizations": {},
-
+	
 	// Uncomment to connect as an existing user other than the container default. More info: https://aka.ms/dev-containers-non-root.
 	// "remoteUser": "devcontainer"
+
+	// Build arguments to pass to the CLI
+
+	"runArgs":["--runtime=nvidia", "--rm" , "--network=host"]
+
 }

.gitignore

@@ -3,6 +3,7 @@ bin/
 build/
 install/
 log/
+ros_dependencies/
 msg_gen/
 srv_gen/
 msg/*Action.msg

Dockerfile.jetson

@@ -0,0 +1,23 @@
+# Start with the desktop ROS Humble 20.04 image
+FROM dustynv/ros:humble-desktop-l4t-r35.1.0
+# FROM dustynv/ros:galactic-desktop-l4t-r35.1.0
+
+# This dockerfile assumes you'll share your development folder from your computer over to the container,
+# so we don't do `rosdep install` for you, or clone the repository.
+
+# update everything
+RUN sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 42D5A192B819C5DA
+RUN sudo apt purge '*opencv*'
+RUN sudo apt install libopencv-dev
+RUN sudo apt-get update -y && sudo apt-get install -y
+# # Ensure rosinstall and rosdep are installed and up to date
+RUN sudo apt-get install -y python3-rosdep
+
+
+# build via  docker build -f .\Dockerfile.dev -t uwrt_dev_image .
+# run via docker run --name uwrt_dev_container -e DISPLAY=host.docker.internal:0.0 -it -v uwrt_dev_image
+RUN rosdep install --from-paths . -y -r --ignore-src
+
+
+
+

uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/include/uwrt_mars_rover_drivetrain_hw/uwrt_mars_rover_drivetrain_hw_actuator_interface.hpp

@@ -47,10 +47,10 @@ class UWRTMarsRoverDrivetrainHWActuatorInterface : public hardware_interface::Ac
   LifecyleNodeCallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;
 
   UWRT_MARS_ROVER_DRIVETRAIN_HW_PUBLIC
-  hardware_interface::return_type read() override;
+  hardware_interface::return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
   UWRT_MARS_ROVER_DRIVETRAIN_HW_PUBLIC
-  hardware_interface::return_type write() override;
+  hardware_interface::return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
   UWRT_MARS_ROVER_DRIVETRAIN_HW_PUBLIC
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;

uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/src/uwrt_mars_rover_drivetrain_hw_actuator_interface.cpp

@@ -157,7 +157,7 @@ LifecyleNodeCallbackReturn UWRTMarsRoverDrivetrainHWActuatorInterface::on_activa
   return LifecyleNodeCallbackReturn::SUCCESS;
 }
 
-hardware_interface::return_type UWRTMarsRoverDrivetrainHWActuatorInterface::read() {
+hardware_interface::return_type UWRTMarsRoverDrivetrainHWActuatorInterface::read(const rclcpp::Time & time, const rclcpp::Duration & period) {
   RCLCPP_DEBUG(logger_, "Drivetrain Actuator Reading...");
 
   TwoFloats encoder_readings;
@@ -182,7 +182,7 @@ hardware_interface::return_type UWRTMarsRoverDrivetrainHWActuatorInterface::read
   return hardware_interface::return_type::OK;
 }
 
-hardware_interface::return_type UWRTMarsRoverDrivetrainHWActuatorInterface::write() {
+hardware_interface::return_type UWRTMarsRoverDrivetrainHWActuatorInterface::write(const rclcpp::Time & time, const rclcpp::Duration & period) {
   RCLCPP_DEBUG(logger_, "Drivetrain Actuator Writing...");
 
   // RCLCPP_INFO_STREAM(logger_, "Joint Velocity: " << motor_velocity_);