Noetic devel

.clang-format

@@ -1,13 +1,13 @@
 ---
-BasedOnStyle:  Google
-ColumnLimit:    105
+BasedOnStyle: Google
+ColumnLimit: 105
 MaxEmptyLinesToKeep: 2
 SortIncludes: false
 
-Standard:        Auto
-IndentWidth:     2
-TabWidth:        2
-UseTab:          Never
+Standard: Auto
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
 AccessModifierOffset: -2
 ConstructorInitializerIndentWidth: 2
 NamespaceIndentation: None
@@ -34,8 +34,8 @@ BreakConstructorInitializersBeforeComma: true
 
 BinPackParameters: false
 ConstructorInitializerAllOnOneLineOrOnePerLine: true
-DerivePointerBinding: false
-PointerBindsToType: true
+DerivePointerAlignment: false
+PointerAlignment: Left
 
 PenaltyExcessCharacter: 50
 PenaltyBreakBeforeFirstCallParameter: 30
@@ -46,7 +46,7 @@ PenaltyReturnTypeOnItsOwnLine: 50
 
 SpacesBeforeTrailingComments: 1
 SpacesInParentheses: false
-SpacesInAngles:  false
+SpacesInAngles: false
 SpaceInEmptyParentheses: false
 SpacesInCStyleCastParentheses: false
 SpaceAfterCStyleCast: false
@@ -58,8 +58,8 @@ BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
 BraceWrapping:
-    AfterClass: true
     AfterCaseLabel: true
+    AfterClass: true
     AfterControlStatement: true
     AfterEnum: true
     AfterFunction: true
@@ -69,4 +69,3 @@ BraceWrapping:
     BeforeCatch: true
     BeforeElse: true
     IndentBraces: false
-...

.clang-tidy

@@ -1,6 +1,5 @@
 ---
-Checks:          '-*,
-                  performance-*,
+Checks:          'performance-*,
                   llvm-namespace-comment,
                   modernize-redundant-void-arg,
                   modernize-use-nullptr,

.github/FUNDING.yml

@@ -0,0 +1 @@
+github: rhaschke

.github/ISSUE_TEMPLATE.md

@@ -6,7 +6,7 @@ For rendering issues, please provide:
 Use [gist.github.com](gist.github.com) to copy-paste the console output or segfault backtrace using gdb.
 
 Note: Due to the lack of active maintainers, currently we can only provide limited support.
-Particularly, we focus on the latest release, Melodic, only.
+Particularly, we focus on the latest releases, Noetic and Melodic, only.
 If you can track the issue down yourself and provide a pull request, that would be a great help.
 Thanks for considering this.
 -->
@@ -15,9 +15,11 @@ Describe your issue here and explain how to reproduce it.
 
 ### Your environment
 * OS Version: e.g. Ubuntu 18.04
-* ROS Distro: [Kinetic | Melodic]
+* ROS Distro: [Kinetic | Melodic | Noetic]
 * RViz, Qt, OGRE, OpenGl version as printed by rviz:
     ```
     paste your console output here
     ```
 * If source build, which git commit?
+* System locale, i.e. the output of `echo "$LANG $LC_NUMERIC"`:
+  Before reporting a rendering issue, try running RViz with `LANG=C rviz`!

.github/dependabot.yml

@@ -0,0 +1,7 @@
+version: 2
+updates:
+  # Maintain dependencies for GitHub Actions
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "weekly"

.github/robostack_env.yaml

@@ -0,0 +1,18 @@
+name: test
+channels:
+  - robostack
+  - conda-forge
+dependencies:
+  - compilers
+  - ninja
+  - cmake
+  - catkin_pkg
+  - pkg-config
+  - rosdep
+  - rosdistro
+  - ros-distro-mutex 0.1 noetic
+  - ros-noetic-catkin
+  - ros-noetic-ros-environment
+  - openssl 1.1.1*
+  # we need the static library of this build
+  - tinyxml2 9.0.0 *_1

.github/workflows/Dockerfile

@@ -0,0 +1,38 @@
+# rhaschke/ici:rviz-noetic-ros
+# Image used for GHA CI builds
+# build with:
+# - DOCKER_BUILDKIT=1 docker build --tag rhaschke/ici:rviz-noetic-ros - < .github/workflows/Dockerfile
+# - DOCKER_BUILDKIT=1 docker build --tag rhaschke/ici:rviz-jammy-ros --build-arg="BASE=ubiagni/ros:jammy-ros-base" --build-arg="ROS_DISTRO=one" - < .github/workflows/Dockerfile
+
+ARG ROS_DISTRO=noetic
+ARG BASE=ros:noetic-ros-base
+FROM ${BASE}
+
+ENV TERM xterm
+
+# Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
+# https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
+RUN --mount=type=bind,target=/tmp/rviz \
+    # Update apt package list as previous containers clear the cache
+    apt-get -q update && \
+    apt-get -q -y dist-upgrade && \
+    #
+    # Install some base dependencies
+    apt-get -q install --no-install-recommends -y \
+        # Some basic requirements
+        wget git sudo \
+        # Qt6 packages for Jammy
+        $(test "$ROS_DISTRO" = "one" && echo "qt6-base-dev qt6-base-dev-tools libqt6opengl6-dev") \
+        # Preferred build tools
+        clang clang-format-12 clang-tidy clang-tools ccache && \
+    #
+    # Download all dependencies for rviz
+    rosdep update $(test "${ROS_DISTRO}" = "melodic" && echo "--include-eol-distros") && \
+    DEBIAN_FRONTEND=noninteractive \
+    rosdep install -y --from-paths /tmp/rviz --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
+    #
+    # Clear apt-cache to reduce image size
+    rm -rf /var/lib/apt/lists/* && \
+    # Globally disable git security
+    # https://github.blog/2022-04-12-git-security-vulnerability-announced
+    git config --global --add safe.directory "*"

.github/workflows/abi.yaml

@@ -0,0 +1,57 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: ABI
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+
+jobs:
+  default:
+    strategy:
+      matrix:
+        distro: [noetic]
+
+    env:
+      UPSTREAM_WORKSPACE: github:rhaschke/python_qt_binding#silent-external-warnings
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: /home/runner/work
+      DOCKER_IMAGE: rhaschke/ici:rviz-${{ matrix.distro }}-${{ matrix.repo || 'ros' }}
+      CACHE_PREFIX: ${{ matrix.distro }}
+      ABICHECK_URL: github:ros-visualization/rviz#1.14.24
+      GHA_CACHE_SAVE: always
+
+    name: "check"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Cache ccache
+        uses: rhaschke/cache@main
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ccache-${{ env.CACHE_PREFIX }}
+
+      - name: Cache ABI workspace
+        uses: rhaschke/cache@main
+        with:
+          path: ${{ env.BASEDIR }}/base_ws
+          key: base_ws-${{ env.CACHE_PREFIX }}-${{ env.ABICHECK_URL }}
+          restore-keys: |
+            base_ws-${{ env.CACHE_PREFIX }}
+
+      - name: industrial_ci
+        uses: rhaschke/industrial_ci@master
+        env: ${{ matrix.env || env }}
+
+      - name: Upload test results (on failure)
+        uses: actions/upload-artifact@v4
+        if: failure()
+        with:
+          name: abi-check
+          path: ${{ env.BASEDIR }}/abicheck/**

.github/workflows/ci.yaml

@@ -0,0 +1,72 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: CI
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+
+jobs:
+  default:
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [noetic, jammy]
+        ogre: ["1.9", "1.12"]
+        include:
+          - qt: 5
+            cxxflags: -Werror
+          - distro: noetic
+            ogre: 1.9
+            env:
+              CLANG_TIDY: true
+          - distro: jammy
+            ogre: 1.12
+            qt: 6
+            cxxflags: -Wno-deprecated-declarations -Werror
+          - distro: noetic
+            ogre: 13.6
+            qt: 5
+
+    env:
+      CXXFLAGS: "-DRVIZ_DEPRECATE_QT4_SLOTS -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-strict-aliasing -Wno-sign-compare ${{ matrix.cxxflags}}"
+      UPSTREAM_WORKSPACE: ${{ matrix.distro != 'jammy' && 'github:rhaschke/python_qt_binding#silent-external-warnings' || '' }}
+      AFTER_INIT: ${{ startsWith(matrix.ogre, '13') && 'apt install -q -y software-properties-common && add-apt-repository ppa:s-schmeisser/ogre-13-focal -y' || ''}}
+      AFTER_INSTALL_TARGET_DEPENDENCIES: apt install -qq -y libogre-${{ matrix.ogre }}-dev
+      CATKIN_LINT: true
+      CMAKE_ARGS: -DRVIZ_QT_VERSIONS="${{ matrix.qt }}"
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: /home/runner/work
+      DOCKER_IMAGE: rhaschke/ici:rviz-${{ matrix.distro }}-ros
+      CACHE_PREFIX: ${{ matrix.distro }}
+      # perform full clang-tidy check only on manual trigger (workflow_dispatch), PRs do check changed files, otherwise nothing
+      CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
+      CLANG_TIDY: ${{ matrix.env.CLANG_TIDY }}
+
+    name: "${{ matrix.distro }} • ogre ${{ matrix.ogre }} • Qt ${{ matrix.qt }}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' • clang-tidy (delta)' || ' • clang-tidy (all)') || '' }}"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Cache ccache
+        uses: rhaschke/cache@main
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ccache-${{ env.CACHE_PREFIX }}
+        env:
+          GHA_CACHE_SAVE: always
+
+      - name: industrial_ci
+        uses: rhaschke/industrial_ci@master
+
+      - name: Upload test artifacts (on failure)
+        uses: actions/upload-artifact@v4
+        if: failure()
+        with:
+          name: test-results
+          path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml

.github/workflows/format.yaml

@@ -0,0 +1,22 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+
+jobs:
+  pre-commit:
+    name: pre-commit
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install clang-format-12
+        run: sudo apt-get install clang-format-12
+      - uses: rhaschke/[email protected]
+        with:
+          distro: noetic
+      - uses: pre-commit/[email protected]

.github/workflows/prerelease.yaml

@@ -0,0 +1,44 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: pre-release
+
+on: [workflow_dispatch]
+
+jobs:
+  default:
+    strategy:
+      matrix:
+        distro: [noetic]
+
+    env:
+      ROS_DISTRO: ${{ matrix.distro }}
+      PRERELEASE: true
+      BASEDIR: /home/runner/work
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}"
+
+    name: "${{ matrix.distro }}"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Cache ccache
+        uses: rhaschke/cache@main
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ccache-${{ env.CACHE_PREFIX }}
+        env:
+          GHA_CACHE_SAVE: always
+
+      - name: industrial_ci
+        uses: rhaschke/industrial_ci@master
+
+      - name: Upload test artifacts (on failure)
+        uses: actions/upload-artifact@v4
+        if: failure()
+        with:
+          name: test-results
+          path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml