[EK-49] Organize ros_utilities for release (#133)

Signed-off-by: Michel Hidalgo <[email protected]>

configs/mypy.ini → .configs/mypy.ini

@@ -10,6 +10,6 @@ warn_unreachable = True
 warn_redundant_casts = True
 no_implicit_optional = True
 files =
-    bdai_ros2_wrappers/bdai_ros2_wrappers,
-    bdai_ros2_wrappers/test
-exclude = "^(docker|.*external|.*thirdparty|.*install|.*build|.*_experimental|.*conversions.py)/"
+    synchros2/synchros2,
+    synchros2/test
+exclude = "^(docker|.*external|.*thirdparty|.*install|.*build|.*_experimental)/"

configs/ruff.toml → .configs/ruff.toml

@@ -47,9 +47,7 @@ target-version = "py38"
 # We don't require docstrings in tests
 "**/conftest.py" = ["D"]
 "**/test_*.py" = ["D"]
-"proto2ros_tests/*" = ["D"]
-
-"bdai_ros2_wrappers/examples/*" = ["D"]
+"**/examples/*" = ["D"]
 
 [mccabe]
 # Unlike Flake8, default to a complexity level of 10.

.devcontainer/Dockerfile

@@ -1,22 +1,11 @@
-FROM ros:humble-ros-base-jammy
+ARG ROS_DISTRO=humble
+FROM ros:${ROS_DISTRO}-ros-base
 
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+ENV ROS_DISTRO=${ROS_DISTRO}
 SHELL ["/bin/bash", "-c"]
 
-# setup environment
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
-
-# install packages
-RUN apt-get update \
-    && apt-get install -q -y --no-install-recommends \
-    curl \
-    && rm -rf /var/lib/apt/lists/*
-
-ARG ROS_DISTRO=humble
-ENV ROS_DISTRO $ROS_DISTRO
-ARG INSTALL_PACKAGE=base
-
-SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 RUN DEBIAN_FRONTEND=noninteractive apt-get update -q && \
     apt-get update -q && \
     apt-get install -yq --no-install-recommends \
@@ -27,31 +16,14 @@ RUN DEBIAN_FRONTEND=noninteractive apt-get update -q && \
     python3-colcon-mixin \
     python3-pytest-cov \
     python3-rosdep \
-    libpython3-dev \
     python3-vcstool && \
     rm -rf /var/lib/apt/lists/*
 
-# I added this
 RUN source "/opt/ros/${ROS_DISTRO}/setup.bash"
 
-# Ros Example Packages
-RUN apt-get update -q && \
-    apt-get install -y --no-install-recommends \
-    ros-${ROS_DISTRO}-action-tutorials-interfaces \
-    ros-${ROS_DISTRO}-example-interfaces && \
-    rm -rf /var/lib/apt/lists/*
-
-# Install packages inside the new environment
-RUN python -m pip install --no-cache-dir --upgrade pip==22.3.1 \
-    && pip install --root-user-action=ignore --no-cache-dir --default-timeout=900 \
-    numpy==1.24.1 \
-    && pip cache purge
-
-# Install dependencies for repository packages
 RUN --mount=type=bind,source=.,target=/tmp/context \
     apt-get update -q && rosdep update && \
     rosdep install -y -i --from-paths /tmp/context && \
     rm -rf /var/lib/apt/lists/*
 
-# ROS doesn't recognize the docker shells as terminals so force colored output
 ENV RCUTILS_COLORIZED_OUTPUT=1

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,29 @@
+---
+name: Bug report
+about: Create a report to help us improve.
+title: ''
+labels: bug
+---
+
+## Bug description
+
+**Platform**:
+- OS [e.g. Ubuntu Jammy]: 
+- ROS [e.g. Humble]: 
+- `proto2ros` version [e.g. ag, commit sha]:
+
+### How to reproduce
+
+<!-- 
+  A step-by-step procedure to reproduce this bug
+  i.e. the associated minimum reproducible example
+  (https://stackoverflow.com/help/minimal-reproducible-example).
+-->
+
+**Expected behavior**: <!-- A concise description of what you would have expected to see. -->
+
+**Actual behavior**:  <!-- Evidence of what the actual behavior turned out to be. -->
+
+## Additional context
+
+<!-- Anything else worth mentioning. -->

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,14 @@
+---
+name: Feature request
+about: Suggest an idea for a new feature.
+title: ''
+labels: enhancement
+---
+
+## Feature description
+
+<!-- A clear description of the feature as well as the motivation behind it. -->
+
+## Additional considerations
+
+<!-- Anything else worth considering when implementing feature. -->

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,19 @@
+## Proposed changes
+
+<!-- 
+    A brief description of the changes you are making. 
+    Make sure to refer to the issue that explains and
+    motivates this patch.
+-->
+
+### Checklist
+
+<!-- Mark each checkbox as you make progress in your contribution. -->
+
+- [ ] Lint and unit tests pass locally
+- [ ] I have added tests that prove my changes are effective
+- [ ] I have added necessary documentation to communicate the changes
+
+### Additional comments
+
+<!-- Anything else worth mentioning. -->

.pre-commit-config.yaml

@@ -5,13 +5,13 @@ repos:
   rev: 'v0.0.263'
   hooks:
     - id: ruff
-      args: ['--fix', '--config', 'configs/ruff.toml']
+      args: ['--fix', '--config', '.configs/ruff.toml']
 - repo: https://github.com/psf/black
   rev: 23.3.0
   hooks:
     - id: black
       language_version: python3.10
-      args: ['--config', 'configs/black.toml']
+      args: ['--config', '.configs/black.toml']
       verbose: true
 - repo: https://github.com/pre-commit/pre-commit-hooks
   rev: v4.4.0
@@ -42,7 +42,7 @@ repos:
   rev: v1.2.0
   hooks:
   -   id: mypy
-      args: ['--config-file', 'configs/mypy.ini']
+      args: ['--config-file', '.configs/mypy.ini']
       pass_filenames: false
       additional_dependencies:
       - types-protobuf

CONTRIBUTING.md

@@ -0,0 +1,125 @@
+<!-- omit in toc -->
+# Contributing to `ros_utilities`
+
+First off, thanks for taking the time to contribute! ❤️
+
+All types of contributions are encouraged and valued. See the [Table of Contents](#table-of-contents) for different ways to help and details about how this project handles them. Please make sure to read the relevant section before making your contribution. It will make it a lot easier for us maintainers and smooth out the experience for all involved. The community looks forward to your contributions. 🎉
+
+> And if you like the project, but just don't have time to contribute, that's fine. There are other easy ways to support the project and show your appreciation, which we would also be very happy about:
+> - Star the project
+> - Tweet about it
+> - Refer this project in your project's readme
+> - Mention the project at local meetups and tell your friends/colleagues
+
+<!-- omit in toc -->
+## Table of Contents
+
+- [I Have a Question](#i-have-a-question)
+- [I Want To Contribute](#i-want-to-contribute)
+  - [Reporting Bugs](#reporting-bugs)
+  - [Requesting Features](#requesting-features)
+  - [Your First Code Contribution](#your-first-code-contribution)
+  - [Improving The Documentation](#improving-the-documentation)
+
+## I Have a Question
+
+Before you ask a question, it is best to search for existing [issues](https://github.com/bdaiinstitute/ros_utilities/issues) that might help you. In case you have found a suitable issue and still need clarification, you can write your question in this issue. It is also advisable to search the internet for answers first.
+
+If you then still feel the need to ask a question and need clarification, we recommend the following:
+
+- Open an [issue](https://github.com/utilities/ros_utilities/issues/new).
+- Provide as much context as you can about what you're running into.
+- Provide project and platform versions, depending on what seems relevant.
+
+We will then take care of the issue as soon as possible.
+
+## I Want To Contribute
+
+> [!IMPORTANT] <!-- omit in toc -->
+> When contributing to this project, you must agree that you have authored 100% of the content, that you have the necessary rights to the content, and that the content you contribute may be provided under the project license.
+
+### Reporting Bugs
+
+<!-- omit in toc -->
+#### Before Submitting a Bug Report
+
+A good bug report shouldn't leave others needing to chase you up for more information. Therefore, we ask you to investigate carefully, collect information and describe the issue in detail in your report. Please complete the following steps in advance to help us fix any potential bug as fast as possible.
+
+- Make sure that you are using the latest version.
+- Determine if your bug is really a bug and not an error on your side. If you are looking for support, you might want to check [this section](#i-have-a-question)).
+- To see if other users have experienced (and potentially already solved) the same issue you are having, check if there is not already a bug report existing for your bug or error in the [bug tracker](https://github.com/bdaiinstitute/ros_utilities/issues?q=label%3Abug).
+- Collect information about the bug:
+  - Stack trace (Traceback)
+  - OS, ROS, Platform and Version (Windows, Linux, macOS, x86, ARM)
+  - Package versions, package manager, depending on what seems relevant.
+  - Possibly your input and the output
+  - Can you reliably reproduce the issue? And can you also reproduce it with older versions?
+
+<!-- omit in toc -->
+#### How Do I Submit a Good Bug Report?
+
+We use GitHub issues to track bugs and errors. If you run into an issue with the project:
+
+- Open an [issue](https://github.com/bdaiinstitute/ros_utilities/issues/new).
+- Explain the behavior you would expect and the actual behavior.
+- Please provide as much context as possible and describe the *reproduction steps* that someone else can follow to recreate the issue on their own. This usually includes your code. For good bug reports you should isolate the problem and create a reduced test case.
+- Provide the information you collected in the previous section.
+
+Once it's filed:
+
+- The project team will label the issue accordingly.
+- A team member will try to reproduce the issue with your provided steps. 
+- If the team is able to reproduce the issue, it will be confirmed as a `bug` and the issue will be left to be [addressed by someone](#your-first-code-contribution).
+
+### Requesting Features
+
+<!-- omit in toc -->
+#### Before Submitting a Feature Request
+
+- Make sure that you are using the latest version.
+- Read the documentation carefully and ensure the functionality is indeed missing.
+- Perform a [search](https://github.com/bdaiinstitute/ros_utilities/issues) to see if the feature has already been requested. If it has, add a comment to the existing issue instead of opening a new one.
+- Find out whether your idea fits with the scope and aims of the project. It's up to you to make a strong case to convince the project's developers of the merits of this feature. Keep in mind that we want features that will be useful to the majority of our users and not just a small subset. If you're just targeting a minority of users, consider writing an add-on/plugin library.
+
+<!-- omit in toc -->
+#### How Do I Submit a Good Feature Request?
+
+Feature requests are tracked as [GitHub issues](https://github.com/bdaiinstitute/ros_utilities/issues).
+
+- Use a **clear and descriptive title** for the issue to identify the suggestion.
+- Provide a **step-by-step description of the suggested enhancement** in as many details as possible.
+- **Describe the current behavior** and **explain which behavior you expected to see instead** and why. At this point you can also tell which alternatives do not work for you.
+- **Explain why this enhancement would be useful** to most `ros_utilities` users. You may also want to point out the other projects that solved it better and which could serve as inspiration.
+
+<!-- You might want to create an issue template for enhancement suggestions that can be used as a guide and that defines the structure of the information to be included. If you do so, reference it here in the description. -->
+
+### Your First Code Contribution
+
+- Install a suitable [ROS distribution](https://docs.ros.org/en/humble/Installation.html). 
+
+- [Fork this repository](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/working-with-forks/fork-a-repo) on GitHub.
+
+- Clone your repository fork under a local ROS workspace:
+
+  ```sh
+  mkdir -p path/to/workspace/src
+  cd path/to/workspace/src
+  git clone https://github.com/user-name/ros_utilities.git
+  cd -
+  ```
+
+- Install `pre-commit` hooks for it:
+
+  ```sh
+  cd path/to/workspace/src/ros_utilities
+  pip install pre-commit
+  pre-commit install
+  cd -
+  ```
+
+- Make the intended changes with appropriate tests that validate it.
+- Push these changes and open a pull request against this repository.
+
+<!-- omit in toc -->
+## Attribution
+This guide is based on the **contributing-gen**. [Make your own](https://github.com/bttger/contributing-gen)!

README.md

@@ -1,20 +1,22 @@
-# ros_utilities
-Wrappers and other utilities for ROS2
-
-## Usage
-
-See the [`ros_utilities` wiki](https://github.com/bdaiinstitute/ros_utilities/wiki) on how to make the best out of these utilities.
-
-## Contribution
-To contribute, install `pre-commit` via pip, run `pre-commit install` and then run `pre-commit run --all-files` to
-verify that your code will pass inspection.
-```bash
-git clone https://github.com/bdaiinstitute/ros_utilities.git
-cd ros_utilities
-pip3 install pre-commit
-pre-commit install
-pre-commit run --all-files
-```
-
-Now whenever you commit code to this repository, it will be checked against our `pre-commit` hooks. You can also run
-`git commit --no-verify` if you wish you commit without checking against the hooks.
+# `ros_utilities`
+
+![Python Support](https://img.shields.io/badge/python-3.8%20%7C%203.9%20%7C%203.10-blue)
+![ROS Support](https://img.shields.io/badge/ROS-humble-blue)
+
+## Overview
+
+`ros_utilities` enable a different, at times simpler approach to ROS 2 programming, particularly for those that come with a ROS 1 background.
+
+## Packages
+
+This repository contains the following packages:
+
+| Package                             | Description                                                                        |
+|-------------------------------------| -----------------------------------------------------------------------------------|
+| [`synchros2`](synchros2)            | `rclpy` wrappers to ease idiomatic, synchronous ROS 2 programming in Python.       |
+
+**Note**: `proto2ros` packages for Protobuf / ROS 2 interoperability used to live in this repository but now live in https://github.com/bdaiinstitute/proto2ros.
+
+## Next steps
+
+See [contribution guidelines](CONTRIBUTING.md)!

bdai_ros2_wrappers/bdai_ros2_wrappers/__init__.py

@@ -1 +1,5 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute Inc.  All rights reserved.
+# Copyright (c) 2024 Boston Dynamics AI Institute Inc.  All rights reserved.
+
+import sys
+
+sys.modules[__name__] = __import__("synchros2")

bdai_ros2_wrappers/package.xml

@@ -2,17 +2,12 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bdai_ros2_wrappers</name>
-  <version>0.0.1</version>
-  <description>The AI Institute's wrappers for ROS2</description>
-  <maintainer email="engineering@theaiinstitute.com">The AI Institute</maintainer>
+  <version>1.0.0</version>
+  <description>Former AI Institute's wrappers for ROS 2, an alias for synchros2</description>
+  <maintainer email="opensource@theaiinstitute.com">The AI Institute</maintainer>
   <license>MIT</license>
 
-  <exec_depend>action_msgs</exec_depend>
-  <exec_depend>rclpy</exec_depend>
-
-  <test_depend>example_interfaces</test_depend>
-  <test_depend>python3-typing-extensions</test_depend>
-  <test_depend>python3-pytest</test_depend>
+  <exec_depend>synchros2</exec_depend>
 
   <export>
     <build_type>ament_python</build_type>