Feature/19 locate pipeline start

.clang-format

@@ -72,7 +72,7 @@ AllowShortCaseLabelsOnASingleLine: false
 AllowShortCompoundRequirementOnASingleLine: true
 AllowShortEnumsOnASingleLine: true
 AllowShortFunctionsOnASingleLine: Inline
-AllowShortIfStatementsOnASingleLine: Never
+AllowShortIfStatementsOnASingleLine: WithoutElse
 AllowShortLambdasOnASingleLine: All
 AllowShortLoopsOnASingleLine: false
 AlwaysBreakAfterDefinitionReturnType: None
@@ -116,7 +116,7 @@ BreakFunctionDefinitionParameters: false
 BreakInheritanceList: BeforeColon
 BreakStringLiterals: true
 BreakTemplateDeclarations: Yes
-ColumnLimit: 80
+ColumnLimit: 99
 CommentPragmas: "^ IWYU pragma:"
 CompactNamespaces: false
 ConstructorInitializerIndentWidth: 4

.devcontainer/devcontainer.json

@@ -0,0 +1,46 @@
+{
+    "name": "vortex-pipeline-detection-devcontainer",
+    "image": "vortex-pipeline-detection:latest",
+    "customizations": {
+        "vscode": {
+            "settings": {
+                "terminal.integrated.defaultProfile.linux": "bash",
+                // 1. Disable Microsoft IntelliSense to let clangd take over
+                "C_Cpp.intelliSenseEngine": "disabled",
+                "cmake.autoSelectActiveFolder": false,
+                "cmake.configureOnOpen": false,
+                // 2. Tell clangd where to find the compilation database
+                "clangd.arguments": [
+                    "--compile-commands-dir=${workspaceFolder}/build",
+                    "--background-index",
+                    "--completion-style=detailed",
+                    "--header-insertion=never",
+                    "--clang-tidy",
+                    "--query-driver=/usr/bin/g++"
+                ],
+                // 3. Ensure CMake Tools generates the needed file
+                "cmake.copyCompileCommands": "${workspaceFolder}/build/compile_commands.json"
+            },
+            "extensions": [
+                "ms-vscode.cpptools-extension-pack",
+                "llvm-vs-code-extensions.vscode-clangd",
+                "ranch-hand-robotics.rde-pack",
+                "ms-python.python",
+                "ms-python.vscode-pylance",
+                "usernamehw.errorlens",
+                "eamodio.gitlens",
+                "gruntfuggly.todo-tree",
+                "gxl.git-graph-3"
+            ]
+        }
+    },
+    "postCreateCommand": "./scripts/import_dependencies.sh && mkdir -p build && touch build/compile_commands.json",
+    "remoteUser": "devuser",
+    "workspaceFolder": "/ros2_ws",
+    "workspaceMount": "source=${localWorkspaceFolder},target=/ros2_ws,type=bind,consistency=cached",
+    "runArgs": [
+        "--privileged",
+        "--network=host",
+        "--ipc=host"
+    ]
+}

.dockerignore

@@ -0,0 +1,31 @@
+# Ignore build artifacts and large/runtime folders
+build/
+install/
+log/
+*.log
+
+# Docker and local config
+docker/
+.dockerignore
+
+# VCS
+.git
+.gitignore
+
+# VS Code
+.vscode/
+
+# Python
+__pycache__/
+*.pyc
+*.pyo
+*.pyd
+venv/
+.env
+
+# Misc
+*.swp
+*.swo
+node_modules/
+bags/
+rosbags/

.github/workflows/code-coverage.yml

@@ -8,5 +8,7 @@ on:
 jobs:
   code-coverage:
     uses: vortexntnu/vortex-ci/.github/workflows/reusable-code-coverage.yml@main
+    with:
+      vcs-repo-file-url: dependencies.repos
     secrets:
       CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} # Set in the repository secrets

.github/workflows/industrial-ci.yml

@@ -14,3 +14,4 @@ jobs:
     uses: vortexntnu/vortex-ci/.github/workflows/reusable-industrial-ci.yml@main
     with:
       ros_repo: '["testing", "main"]'
+      upstream_workspace: dependencies.repos

.gitignore

@@ -1,6 +1,11 @@
+#VCS DEPENDENCIES
+*/vortex-msgs
+
 devel/
 logs/
 build/
+install/
+log/
 bin/
 lib/
 msg_gen/
@@ -52,3 +57,10 @@ qtcreator-*
 
 # Catkin custom files
 CATKIN_IGNORE
+
+# AI
+.claude
+CLAUDE.MD
+
+# OS specific files
+.DS_Store

.pre-commit-config.yaml

@@ -74,6 +74,7 @@ repos:
     hooks:
       - id: clang-format
         args: [--style=file]
+        types_or: [c, c++, cuda, proto, textproto]
   - repo: local
     hooks:
       - id: ament_cppcheck

README.md

@@ -2,4 +2,3 @@
 [![Industrial CI](https://github.com/vortexntnu/vortex-pipeline-detection/actions/workflows/industrial-ci.yml/badge.svg)](https://github.com/vortexntnu/vortex-pipeline-detection/actions/workflows/industrial-ci.yml)
 [![pre-commit](https://github.com/vortexntnu/vortex-pipeline-detection/actions/workflows/pre-commit.yml/badge.svg)](https://github.com/vortexntnu/vortex-pipeline-detection/actions/workflows/pre-commit.yml)
 [![codecov](https://codecov.io/github/vortexntnu/vortex-pipeline-detection/graph/badge.svg?token=LbazZadssf)](https://codecov.io/github/vortexntnu/vortex-pipeline-detection)
-

dependencies.repos

@@ -0,0 +1,5 @@
+repositories:
+  vortex-msgs:
+    type: git
+    url: https://github.com/vortexntnu/vortex-msgs.git
+    version: feat/Point2DArray-msg

docker/Dockerfile

@@ -0,0 +1,70 @@
+# ----------------------------------------------------------------------------
+# Base Image
+# ----------------------------------------------------------------------------
+ARG BASE_IMAGE=ros:humble
+FROM ${BASE_IMAGE}
+
+# ----------------------------------------------------------------------------
+# Setup Arguments & Environment
+# ----------------------------------------------------------------------------
+USER root
+SHELL ["/bin/bash", "-c"]
+ARG DEBIAN_FRONTEND=noninteractive
+ARG ROS_DISTRO=humble
+
+# Define User Args
+ARG USER_ID=1000
+ARG GROUP_ID=1000
+ARG USERNAME=devuser
+
+ENV WORKSPACE=/ros2_ws
+WORKDIR ${WORKSPACE}
+
+# ----------------------------------------------------------------------------
+# Create non-root user
+# ----------------------------------------------------------------------------
+RUN groupadd --gid ${GROUP_ID} ${USERNAME} || true && \
+    useradd --uid ${USER_ID} --gid ${GROUP_ID} -m -s /bin/bash ${USERNAME} || true && \
+    apt-get update && apt-get install -y sudo && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers && \
+    apt-get clean && rm -rf /var/lib/apt/lists/*
+
+# ----------------------------------------------------------------------------
+# Install System Dependencies
+# ----------------------------------------------------------------------------
+RUN apt-get update && apt-get install -y \
+    git \
+    python3-vcstool \
+    python3-pip \
+    ros-${ROS_DISTRO}-cv-bridge \
+    ros-${ROS_DISTRO}-vision-msgs \
+    ros-${ROS_DISTRO}-pcl-conversions \
+    libopencv-dev \
+    libpcl-dev \
+    python3-colcon-common-extensions \
+    clangd \
+    && apt-get clean && rm -rf /var/lib/apt/lists/*
+
+RUN pip3 install cython
+
+# ----------------------------------------------------------------------------
+# Copy Workspace Files
+# ----------------------------------------------------------------------------
+COPY . ${WORKSPACE}
+RUN chown -R ${USER_ID}:${GROUP_ID} ${WORKSPACE}
+
+# ----------------------------------------------------------------------------
+# Install ROS dependencies
+# ----------------------------------------------------------------------------
+RUN rosdep update && rosdep install --from-paths . --ignore-src -r -y
+
+# ----------------------------------------------------------------------------
+# User Configuration
+# ----------------------------------------------------------------------------
+RUN echo "if [ -f /ros2_ws/scripts/bashrc_extra.sh ]; then source /ros2_ws/scripts/bashrc_extra.sh; fi" >> /home/${USERNAME}/.bashrc
+
+# Switch to the user
+USER ${USERNAME}
+WORKDIR /home/${USERNAME}
+
+CMD ["bash"]

docker/build.sh

@@ -0,0 +1,58 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# ------------------------------------------------------------------------------
+# Environment Variables
+# ------------------------------------------------------------------------------
+IMAGE="vortex-pipeline-detection:latest"   # Docker image name/tag
+BASE_IMAGE="ros:humble"                    # Base image for Docker builds
+
+# ------------------------------------------------------------------------------
+# Platform Detection
+# ------------------------------------------------------------------------------
+ARCHITECTURE="$(uname -m)"
+if [[ "$ARCHITECTURE" == "arm64" || "$ARCHITECTURE" == "aarch64" ]]; then
+    PLATFORM="linux/arm64"
+elif [[ "$ARCHITECTURE" == "x86_64" ]]; then
+    PLATFORM="linux/amd64"
+else
+    echo "Unsupported architecture: $ARCHITECTURE" >&2
+    exit 1
+fi
+
+# ------------------------------------------------------------------------------
+# Locate Script and Workspace Root
+# ------------------------------------------------------------------------------
+SCRIPT_DIR="$(dirname "$(realpath "$0")")"
+WORKSPACE="$(realpath "$SCRIPT_DIR/..")"
+
+# ------------------------------------------------------------------------------
+# Build Start Info
+# ------------------------------------------------------------------------------
+echo "======================================================================"
+echo " Building Docker Image"
+echo "   • PLATFORM:       $PLATFORM"
+echo "   • BASE_IMAGE:     $BASE_IMAGE"
+echo "   • IMAGE:          $IMAGE"
+echo "   • BUILD CONTEXT:  $WORKSPACE"
+echo "======================================================================"
+echo ""
+
+# ------------------------------------------------------------------------------
+# Build Docker Image with Buildx
+# ------------------------------------------------------------------------------
+docker buildx build \
+    --platform "$PLATFORM" \
+    --network=host \
+    --build-arg BASE_IMAGE="$BASE_IMAGE" \
+    --build-arg USER_ID="$(id -u)" \
+    --build-arg GROUP_ID="$(id -g)" \
+    --tag "$IMAGE" \
+    --file "$SCRIPT_DIR/Dockerfile" \
+    --load \
+    "$WORKSPACE"
+
+echo ""
+echo "======================================================================"
+echo " Successfully built image '$IMAGE' for platform '$PLATFORM'"
+echo "======================================================================"

docker/run.sh

@@ -0,0 +1,32 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# ------------------------------------------------------------------------------
+# Image Configuration
+# ------------------------------------------------------------------------------
+IMAGE="vortex-pipeline-detection:latest"  # Default Docker image name/tag
+
+# ------------------------------------------------------------------------------
+# Locate Script Directory and Workspace Root
+# ------------------------------------------------------------------------------
+SCRIPT_DIR="$(dirname "$(realpath "$0")")"
+WORKSPACE="$(realpath "$SCRIPT_DIR/..")"
+
+echo "======================================================================"
+echo " Running Container"
+echo "   • IMAGE:          $IMAGE"
+echo "   • Volume mount:   $WORKSPACE -> /ros2_ws"
+echo "======================================================================"
+echo ""
+
+# ------------------------------------------------------------------------------
+# Run Docker Container (imports dependencies, then starts interactive shell)
+# ------------------------------------------------------------------------------
+docker run -it --rm \
+    --privileged \
+    --network host \
+    --ipc=host \
+    -v "$WORKSPACE":/ros2_ws \
+    -w /ros2_ws \
+    "$IMAGE" \
+    /bin/bash -c "./scripts/import_dependencies.sh && exec bash"