First isaac github commit

.catkin_tools/README

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+# Catkin Tools Metadata
+
+This directory was generated by catkin_tools and it contains persistent
+configuration information used by the `catkin` command and its sub-commands.
+
+Each subdirectory of the `profiles` directory contains a set of persistent
+configuration options for separate profiles. The default profile is called
+`default`. If another profile is desired, it can be described in the
+`profiles.yaml` file in this directory.
+
+Please see the catkin_tools documentation before editing any files in this
+directory. Most actions can be performed with the `catkin` command-line
+program.

.catkin_tools/VERSION

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+0.6.1

.catkin_tools/profiles/cross/config.yaml

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+blacklist: []
+build_space: build
+catkin_make_args: []
+cmake_args:
+- -DCMAKE_TOOLCHAIN_FILE=$ISAAC_WS/src/scripts/build/astrobee_cross.cmake
+- -DARMHF_CHROOT_DIR=$ISAAC_WS/arm_cross/rootfs
+devel_layout: linked
+devel_space: devel
+extend_path: $ISAAC_WS/arm_cross/rootfs/opt/astrobee
+install: true
+install_space: install
+isolate_install: false
+jobs_args: []
+log_space: logs
+make_args: []
+source_space: src
+use_env_cache: false
+use_internal_make_jobserver: true
+whitelist: []

.catkin_tools/profiles/default/config.yaml

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+blacklist: []
+build_space: build
+catkin_make_args: []
+cmake_args: []
+devel_layout: linked
+devel_space: devel
+extend_path: null
+install: false
+install_space: install
+isolate_install: false
+jobs_args: []
+log_space: logs
+make_args: []
+source_space: src
+use_env_cache: false
+use_internal_make_jobserver: true
+whitelist: []

.clang-format

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+---
+Language:        Cpp
+# BasedOnStyle:  Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Left
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: true
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:   
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     120                           # changed
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 2                     # changed
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false                  # changed
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:   
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Preserve
+IncludeCategories: 
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+  - Regex:           '^<.*'
+    Priority:        2
+  - Regex:           '.*'
+    Priority:        3
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IndentCaseLabels: true
+IndentPPDirectives: None
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Never
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+RawStringFormats: 
+  - Language:        Cpp
+    Delimiters:      
+      - cc
+      - CC
+      - cpp
+      - Cpp
+      - CPP
+      - 'c++'
+      - 'C++'
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+  - Language:        TextProto
+    Delimiters:      
+      - pb
+      - PB
+      - proto
+      - PROTO
+    EnclosingFunctions: 
+      - EqualsProto
+      - EquivToProto
+      - PARSE_PARTIAL_TEXT_PROTO
+      - PARSE_TEST_PROTO
+      - PARSE_TEXT_PROTO
+      - ParseTextOrDie
+      - ParseTextProtoOrDie
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+ReflowComments:  true
+SortIncludes:    false                         # changed
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles:  false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard:        Auto
+StatementMacros: 
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        8
+UseTab:          Never
+...
+

.dockerignore

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+.git/
+scripts/docker/

.github/workflows/ci_pr.yml

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+name: Build and Test CI for Pull Requests
+
+on:
+  pull_request:
+    branches: [ 'master', 'develop' ]
+
+jobs:
+
+  build-xenial:
+
+    runs-on: ubuntu-18.04
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Checkout submodule
+      run: git submodule update --init --depth 1 description/media
+
+    - name: Build code for isaac:astrobee Ubuntu 16
+      run: docker build . -f ./scripts/docker/isaac_astrobee.Dockerfile \
+                          --build-arg UBUNTU_VERSION=16.04 \
+                          --build-arg ROS_VERSION=kinetic \
+                          --build-arg PYTHON='' \
+                          --build-arg REMOTE=ghcr.io/nasa \
+                          -t isaac/isaac:astrobee-ubuntu16.04
+
+    - name: Build code for isaac:latest Ubuntu 16
+      run: docker build . -f ./scripts/docker/isaac.Dockerfile \
+                          --build-arg UBUNTU_VERSION=16.04 \
+                          --build-arg ROS_VERSION=kinetic \
+                          --build-arg PYTHON='' \
+                          -t isaac:latest-ubuntu16.04
+
+  build-bionic:
+
+    runs-on: ubuntu-18.04
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Checkout submodule
+      run: git submodule update --init --depth 1 description/media
+
+    - name: Build code for isaac:astrobee Ubuntu 18
+      run: docker build . -f ./scripts/docker/isaac_astrobee.Dockerfile \
+                          --build-arg UBUNTU_VERSION=18.04 \
+                          --build-arg ROS_VERSION=melodic \
+                          --build-arg PYTHON=3 \
+                          --build-arg REMOTE=ghcr.io/nasa \
+                          -t isaac/isaac:astrobee-ubuntu18.04
+
+    - name: Build code for isaac:latest Ubuntu 18
+      run: docker build . -f ./scripts/docker/isaac.Dockerfile \
+                          --build-arg UBUNTU_VERSION=18.04 \
+                          --build-arg ROS_VERSION=melodic \
+                          --build-arg PYTHON=3 \
+                          -t isaac:latest-ubuntu18.04
+
+  build-focal:
+
+    runs-on: ubuntu-20.04
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Checkout submodule
+      run: git submodule update --init --depth 1 description/media
+
+    - name: Build code for isaac:astrobee Ubuntu 20
+      run: docker build . -f ./scripts/docker/isaac_astrobee.Dockerfile \
+                          --build-arg UBUNTU_VERSION=20.04 \
+                          --build-arg ROS_VERSION=noetic \
+                          --build-arg PYTHON=3 \
+                          --build-arg REMOTE=ghcr.io/nasa \
+                          -t isaac/isaac:astrobee-ubuntu20.04
+
+    - name: Build code for isaac:latest Ubuntu 20
+      run: docker build . -f ./scripts/docker/isaac.Dockerfile \
+                          --build-arg UBUNTU_VERSION=20.04 \
+                          --build-arg ROS_VERSION=noetic \
+                          --build-arg PYTHON=3 \
+                          -t isaac:latest-ubuntu20.04