Small improvements

docs/robot/static_transforms/index.md

@@ -0,0 +1,7 @@
+
+## Frame Conventions
+
+Each robot has its own **map** frame that represents the starting position of the robot.
+The **map** frame is expected to be in ENU (East-North-Up) convention. 
+
+The robot is in the **base_link** frame.

robot/docker/.dev/.bash_history_init

@@ -5,4 +5,5 @@ ros2 launch robot_bringup robot.launch.xml
 cws
 bws
 sws
-bws --packages-select robot_bringup
+bws --packages-select robot_bringup
+ros2 run tf2_tools view_frames

robot/ros_ws/.vscode/c_cpp_properties.json

@@ -0,0 +1,38 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "${workspaceFolder}/install/vdb_mapping_interfaces/include/**",
+        "${workspaceFolder}/install/trajectory_library/include/**",
+        "${workspaceFolder}/install/mavros_interface/include/**",
+        "${workspaceFolder}/install/robot_interface/include/**",
+        "${workspaceFolder}/install/px4_msgs/include/**",
+        "${workspaceFolder}/install/mav_system_msgs/include/**",
+        "${workspaceFolder}/install/mav_state_machine_msgs/include/**",
+        "${workspaceFolder}/install/mav_planning_msgs/include/**",
+        "${workspaceFolder}/install/mav_msgs/include/**",
+        "${workspaceFolder}/install/disparity_map_representation/include/**",
+        "${workspaceFolder}/install/map_representation_interface/include/**",
+        "${workspaceFolder}/install/disparity_graph/include/**",
+        "${workspaceFolder}/install/behavior_tree/include/**",
+        "${workspaceFolder}/install/behavior_tree_msgs/include/**",
+        "${workspaceFolder}/install/airstack_common/include/**",
+        "${workspaceFolder}/install/airstack_msgs/include/**",
+        "${workspaceFolder}/src/**",
+        "${workspaceFolder}/install/**",
+        "/opt/ros/humble/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++17"
+    }
+  ],
+  "version": 4
+}

robot/ros_ws/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+    "recommendations": [
+        "ms-python.black-formatter",
+        "ms-iot.vscode-ros",
+        "ms-vscode-remote.remote-ssh",
+        "ms-python.python",
+        "ms-vscode-remote.remote-containers",
+        "redhat.vscode-xml",
+        "dotjoshjohnson.xml",
+        "ms-vscode.cmake-tools",
+        "cschlosser.doxdocgen"
+    ]
+}

robot/ros_ws/.vscode/launch.json

@@ -0,0 +1,12 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "name": "ROS2: Launch robot.launch.xml",
+      "type": "ros",
+      "request": "launch",
+      // "preLaunchTask": "build ros_ws debug",
+      "target": "${workspaceFolder}/install/robot_bringup/share/robot_bringup/launch/robot.launch.xml",
+    }
+  ]
+}

robot/ros_ws/.vscode/tasks.json

@@ -0,0 +1,33 @@
+{
+  "version": "2.0.0",
+  "tasks": [
+    {
+      "label": "build ros_ws debug",
+      "type": "shell",
+      "options": {
+        "cwd": "${workspaceFolder}"
+      },
+      "command": [
+        "source /root/.bashrc &&",
+        "bws --cmake-args '-DCMAKE_BUILD_TYPE=Debug'"
+      ],
+      "problemMatcher": [],
+      "group": {
+        "kind": "build",
+        "isDefault": true
+      }
+    },
+    {
+      "label": "test ros_ws",
+      "type": "shell",
+      "options": {
+        "cwd": "${workspaceFolder}"
+      },
+      "command": [
+        "source /opt/ros/humble/setup.bash;",
+        "source ${workspaceFolder}/install/setup.bash;",
+        "colcon test && colcon test-result"
+      ],
+    }
+  ]
+}