Prepare for ROS 2 release

.devcontainer/Dockerfile

@@ -0,0 +1,29 @@
+ARG ROS_DISTRO=humble
+FROM ros:${ROS_DISTRO}-ros-base
+
+# setup environment
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+ENV ROS_DISTRO=${ROS_DISTRO}
+
+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 \
+    python3-pip \
+    python-is-python3 \
+    python3-argcomplete \
+    python3-colcon-common-extensions \
+    python3-colcon-mixin \
+    python3-pytest-cov \
+    python3-rosdep && \
+    rm -rf /var/lib/apt/lists/*
+
+# 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

.devcontainer/devcontainer.json

@@ -0,0 +1,7 @@
+{
+  "name": "spot-cpp-sdk dev container",
+  "build": {
+    "dockerfile": "Dockerfile",
+    "context": ".."
+  }
+}

.github/workflows/ci.yml

@@ -0,0 +1,38 @@
+name: Spot C++ SDK CI
+
+on:
+  pull_request:
+    branches:
+      - ros2
+  push:
+    branches:
+      - ros2 
+
+defaults:
+  run:
+    shell: bash
+
+concurrency:
+  group: ${{ github.repository }}-${{ github.workflow }}-${{ github.ref }}-${{ github.ref == 'refs/heads/ros2' && github.sha || ''}}
+  cancel-in-progress: true
+
+jobs:
+  build:
+    name: Build Spot C++ SDK package
+    runs-on: ubuntu-latest
+    container:
+      image: ros:humble-ros-base
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Install dependencies
+        run: |
+          apt-get update
+          rosdep update
+          rosdep install -i -y --from-path cpp
+
+      - name: Build package
+        run: |
+          source /opt/ros/humble/setup.bash
+          colcon build --symlink-install

README.md

@@ -6,25 +6,27 @@ is subject to the terms and conditions of the Boston Dynamics Software
 Development Kit License (20191101-BDSDK-SL).
 -->
 
-# Spot C++ SDK (BETA)
+# Spot C++ SDK (BETA) in ROS 2
+
+**This is fork of [`boston-dynamics/spot-cpp-sdk`](https://github.com/boston-dynamics/spot-cpp-sdk) patched for ROS 2 release. Proceed upstream for any inquiry or request.**
 
 Develop applications and payloads for Spot using the Boston Dynamics Spot C++ SDK. The Spot C++ SDK is a **beta** release.
 
 The C++ SDK consists of:
 
-- [C++ client library](docs/cpp/README.md). Applications using the C++ library can control Spot and read sensor and health information from Spot. A variety of example programs and a QuickStart guide are also included.
-- [Spot C++ SDK Repository](https://github.com/boston-dynamics/spot-cpp-sdk). The GitHub repo where all of the Spot C++ SDK code is hosted.
+- [C++ client library](https://github.com/bdaiinstitute/spot-cpp-sdk/tree/ros2/docs/cpp). Applications using the C++ library can control Spot and read sensor and health information from Spot. A variety of example programs and a QuickStart guide are also included.
+- [Spot C++ SDK repository **fork***](https://github.com/bdaiinstitute/spot-cpp-sdk/tree/ros2). The GitHub repository where all of the Spot C++ SDK code patched for ROS 2 release is hosted.
 
 The official Spot SDK documentation also contains information relevant to the C++ SDK:
 
 - [Conceptual documentation](https://dev.bostondynamics.com/docs/concepts/readme). These documents explain the key abstractions used by the Spot API.
 - [Payload developer documentation](https://dev.bostondynamics.com/docs/payload/readme). Payloads add additional sensing, communication, and control capabilities beyond what the base platform provides. The Payload ICD covers the mechanical, electrical, and software interfaces that Spot supports.
 - [Spot API protocol definition](https://dev.bostondynamics.com/docs/protos/readme). This reference guide covers the details of the protocol applications used to communicate to Spot. Application developers who wish to use a language other than Python can implement clients that speak the protocol.
 
-This is version 4.1.0 of the C++ SDK. Please review the [Release Notes](docs/cpp_release_notes.md) to see what has changed.
+This is version 4.1.0 of the C++ SDK. Please review the [Release Notes](https://github.com/bdaiinstitute/spot-cpp-sdk/blob/ros2/docs/cpp_release_notes.md) to see what has changed.
 
 ## Contents
 
-- [C++ Library](docs/cpp/README.md)
-- [Release Notes](docs/cpp_release_notes.md)
-- [SDK Repository](https://github.com/boston-dynamics/spot-cpp-sdk)
+- [C++ Library](https://github.com/bdaiinstitute/spot-cpp-sdk/tree/ros2/docs/cpp)
+- [Release Notes](https://github.com/bdaiinstitute/spot-cpp-sdk/blob/ros2/docs/cpp_release_notes.md)
+- [SDK Repository](https://github.com/bdaiinstitute/spot-cpp-sdk)

cpp/README.md

@@ -28,6 +28,6 @@ Library Dependencies:
 
 ## Contents
 
-- [Client](bosdyn/client/README.md)
-- [Common](bosdyn/common/README.md)
-- [Math](bosdyn/math/README.md)
+- [Client](https://github.com/bdaiinstitute/spot-cpp-sdk/tree/ros2/cpp/bosdyn/client)
+- [Common](https://github.com/bdaiinstitute/spot-cpp-sdk/tree/ros2/cpp/bosdyn/common)
+- [Math](https://github.com/bdaiinstitute/spot-cpp-sdk/tree/ros2/cpp/bosdyn/math)