Documentation, reorganization, and general cleanup

.devcontainer/base_station/Dockerfile

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+FROM ubuntu:22.04
+
+ARG DEBIAN_FRONTEND=noninteractive
+ARG ROS_DISTRO=humble
+ARG USERNAME=loop_dev
+ARG USER_UID=1000
+ARG USER_GID=${USER_UID}
+ARG MACHINE_TYPE=developer
+
+ENV ROS_DISTRO=${ROS_DISTRO}
+ENV LANG=en_US.UTF-8
+ENV LC_ALL=en_US.UTF-8
+ENV SHELL=/bin/bash
+
+SHELL ["/bin/bash", "-c"]
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ca-certificates \
+    curl \
+    gnupg \
+    lsb-release \
+    locales \
+    software-properties-common \
+    sudo \
+  && locale-gen en_US en_US.UTF-8 \
+  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
+  && add-apt-repository universe \
+  && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
+    -o /usr/share/keyrings/ros-archive-keyring.gpg \
+  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo ${UBUNTU_CODENAME}) main" \
+    > /etc/apt/sources.list.d/ros2.list \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    bash-completion \
+    build-essential \
+    can-utils \
+    clang-format \
+    cmake \
+    evtest \
+    geographiclib-tools \
+    git \
+    git-lfs \
+    gdb \
+    htop \
+    iproute2 \
+    iputils-ping \
+    libboost-chrono-dev \
+    libboost-date-time-dev \
+    libboost-filesystem-dev \
+    libboost-program-options-dev \
+    libboost-regex-dev \
+    libboost-serialization-dev \
+    libboost-system-dev \
+    libboost-thread-dev \
+    libboost-timer-dev \
+    libgeographic-dev \
+    libopencv-dev \
+    libpcl-dev \
+    libserial-dev \
+    nano \
+    net-tools \
+    openssh-client \
+    python3-dev \
+    python3-colcon-common-extensions \
+    python3-pip \
+    python3-rosdep \
+    python3-serial \
+    python3-vcstool \
+    python3-venv \
+    ruby \
+    tmux \
+    tmuxinator \
+    udev \
+    unzip \
+    usbutils \
+    vim \
+    wget \
+  && apt-get install -y --no-install-recommends \
+    ros-${ROS_DISTRO}-desktop \
+    ros-${ROS_DISTRO}-moveit \
+    ros-${ROS_DISTRO}-navigation2 \
+    ros-${ROS_DISTRO}-nav2-bringup \
+    ros-${ROS_DISTRO}-ros2-control \
+    ros-${ROS_DISTRO}-ros2-controllers \
+    ros-${ROS_DISTRO}-ros2-control-test-assets \
+    ros-${ROS_DISTRO}-ros2controlcli \
+    ros-${ROS_DISTRO}-control-msgs \
+    ros-${ROS_DISTRO}-controller-manager \
+    ros-${ROS_DISTRO}-cv-bridge \
+    ros-${ROS_DISTRO}-eigen3-cmake-module \
+    ros-${ROS_DISTRO}-generate-parameter-library \
+    ros-${ROS_DISTRO}-geographic-msgs \
+    ros-${ROS_DISTRO}-gps-msgs \
+    ros-${ROS_DISTRO}-gtsam \
+    ros-${ROS_DISTRO}-gz-ros2-control \
+    ros-${ROS_DISTRO}-image-transport-plugins \
+    ros-${ROS_DISTRO}-joint-state-broadcaster \
+    ros-${ROS_DISTRO}-joint-state-publisher \
+    ros-${ROS_DISTRO}-joint-state-publisher-gui \
+    ros-${ROS_DISTRO}-joint-trajectory-controller \
+    ros-${ROS_DISTRO}-kdl-parser \
+    ros-${ROS_DISTRO}-moveit-configs-utils \
+    ros-${ROS_DISTRO}-moveit-kinematics \
+    ros-${ROS_DISTRO}-moveit-planners \
+    ros-${ROS_DISTRO}-moveit-ros-planning-interface \
+    ros-${ROS_DISTRO}-moveit-simple-controller-manager \
+    ros-${ROS_DISTRO}-nmea-msgs \
+    ros-${ROS_DISTRO}-pcl-conversions \
+    ros-${ROS_DISTRO}-position-controllers \
+    ros-${ROS_DISTRO}-realtime-tools \
+    ros-${ROS_DISTRO}-robot-localization \
+    ros-${ROS_DISTRO}-robot-state-publisher \
+    ros-${ROS_DISTRO}-ros-gz \
+    ros-${ROS_DISTRO}-ros-gz-bridge \
+    ros-${ROS_DISTRO}-ros-gz-sim \
+    ros-${ROS_DISTRO}-rosidl-default-generators \
+    ros-${ROS_DISTRO}-tf2-eigen \
+    ros-${ROS_DISTRO}-tf2-geometry-msgs \
+    ros-${ROS_DISTRO}-tf2-ros \
+    ros-${ROS_DISTRO}-tf2-sensor-msgs \
+    ros-${ROS_DISTRO}-topic-tools \
+    ros-${ROS_DISTRO}-velocity-controllers \
+    ros-${ROS_DISTRO}-vision-msgs \
+    ros-${ROS_DISTRO}-xacro \
+  && rm -rf /var/lib/apt/lists/*
+
+COPY requirements.txt /tmp/requirements.txt
+RUN python3 -m pip install --no-cache-dir --upgrade pip \
+  && python3 -m pip install --no-cache-dir -r /tmp/requirements.txt
+
+COPY libmavsdk-dev_3.14.0_ubuntu22.04_amd64.deb /tmp/libmavsdk-dev_3.14.0_ubuntu22.04_amd64.deb
+RUN dpkg -i /tmp/libmavsdk-dev_3.14.0_ubuntu22.04_amd64.deb \
+  || (apt-get update && apt-get install -y --no-install-recommends -f && rm -rf /var/lib/apt/lists/*) \
+  && rm -f /tmp/libmavsdk-dev_3.14.0_ubuntu22.04_amd64.deb
+
+RUN if ! getent group ${USER_GID} >/dev/null; then groupadd --gid ${USER_GID} ${USERNAME}; fi \
+  && if ! id -u ${USERNAME} >/dev/null 2>&1; then useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} -s /bin/bash; fi \
+  && usermod -aG sudo,dialout,video,plugdev ${USERNAME} \
+  && echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} \
+  && chmod 0440 /etc/sudoers.d/${USERNAME}
+
+RUN rosdep init || true
+
+COPY .devcontainer/loop_ascii.txt /etc/loop_ascii.txt
+
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc
+
+USER ${USERNAME}
+RUN touch /home/${USERNAME}/.hushlogin
+RUN printf '\nif [[ $- == *i* ]] && [[ -r /etc/loop_ascii.txt ]]; then\n  printf '"'"'%%b\\n'"'"' "$(cat /etc/loop_ascii.txt)"\nfi\n' \
+    >> /home/${USERNAME}/.bashrc
+
+WORKDIR /athena-code

.devcontainer/base_station/build_docker.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+config_dir="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
+repo_root="$(cd -- "${config_dir}/../.." && pwd)"
+machine_type="$(basename -- "${config_dir}")"
+image_name="athena-code:${machine_type}"
+
+docker build \
+  --file "${config_dir}/Dockerfile" \
+  --build-arg "MACHINE_TYPE=${machine_type}" \
+  --build-arg "USER_UID=$(id -u)" \
+  --build-arg "USER_GID=$(id -g)" \
+  --tag "${image_name}" \
+  "${repo_root}"
+
+echo "Built ${image_name}"

.devcontainer/base_station/devcontainer.json

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+{
+  "name": "Athena ROS 2 Humble (Base Station)",
+  "build": {
+    "dockerfile": "Dockerfile",
+    "context": "../..",
+    "args": {
+      "MACHINE_TYPE": "base_station"
+    }
+  },
+  "remoteUser": "loop_dev",
+  "updateRemoteUserUID": true,
+  "workspaceFolder": "/athena-code",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/athena-code,type=bind,consistency=cached",
+  "postCreateCommand": ".devcontainer/base_station/post_create.sh",
+  "runArgs": [
+    "--network=host",
+    "--ipc=host",
+    "--privileged"
+  ],
+  "containerEnv": {
+    "ROS_DISTRO": "humble",
+    "RMW_IMPLEMENTATION": "rmw_fastrtps_cpp",
+    "ATHENA_MACHINE_TYPE": "base_station"
+  },
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-vscode.cpptools",
+        "ms-vscode.cmake-tools",
+        "ms-python.python",
+        "ms-iot.vscode-ros",
+        "openai.chatgpt",
+        "cweijan.vscode-office",
+        "esben.prettier-vscode",
+        "redhat.vscode-xml",
+        "tamasfe.even-better-toml"
+      ]
+    }
+  }
+}

.devcontainer/base_station/post_create.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+set +u
+source "/opt/ros/${ROS_DISTRO}/setup.bash"
+set -u
+
+sudo apt-get update
+sudo rosdep update
+sudo rosdep install -r --from-paths src --ignore-src --rosdistro "$ROS_DISTRO" -y
+
+colcon build --symlink-install

.devcontainer/base_station/run_docker.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+config_dir="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
+repo_root="$(cd -- "${config_dir}/../.." && pwd)"
+machine_type="$(basename -- "${config_dir}")"
+image_name="athena-code:${machine_type}"
+command=("$@")
+if [[ ${#command[@]} -eq 0 ]]; then
+  command=(bash)
+fi
+
+docker_args=(
+  --rm
+  --interactive
+  --tty
+  --network host
+  --ipc host
+  --privileged
+  --env "ROS_DISTRO=humble"
+  --env "RMW_IMPLEMENTATION=rmw_fastrtps_cpp"
+  --volume "${repo_root}:/athena-code"
+  --workdir /athena-code
+)
+
+if [[ -n "${DISPLAY:-}" && -d /tmp/.X11-unix ]]; then
+  docker_args+=(
+    --env "DISPLAY=${DISPLAY}"
+    --volume /tmp/.X11-unix:/tmp/.X11-unix:rw
+  )
+fi
+
+docker run "${docker_args[@]}" "${image_name}" "${command[@]}"