merge from origin

.clang-format

@@ -0,0 +1,56 @@
+---
+# clang-format documentation
+# http://clang.llvm.org/docs/ClangFormat.html
+# http://clang.llvm.org/docs/ClangFormatStyleOptions.html
+
+# Preexisting formats:
+# LLVM
+# Google
+# Chromium
+# Mozilla
+# WebKit
+
+Language:        Cpp
+BasedOnStyle:  Mozilla
+
+AccessModifierOffset: -4
+AlignAfterOpenBracket: Align
+AlignTrailingComments: false
+AllowShortBlocksOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Inline
+AllowShortIfStatementsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+BinPackArguments: false
+BinPackParameters: true
+BreakBeforeBraces: Custom
+BraceWrapping:
+  AfterClass:      true
+  AfterControlStatement: false
+  AfterEnum:       true
+  AfterFunction:   true
+  AfterNamespace:  true
+  AfterObjCDeclaration: false
+  AfterStruct:     true
+  AfterUnion:      true
+  BeforeCatch:     true
+  BeforeElse:      true
+  IndentBraces:    false
+ContinuationIndentWidth: 4
+ConstructorInitializerIndentWidth: 4
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ColumnLimit: 0
+Cpp11BracedListStyle: false
+IndentWidth: 4
+IndentCaseLabels: false
+# KeepEmptyLinesAtTheStartOfBlocks: false
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: Inner
+ReflowComments: false
+PenaltyBreakBeforeFirstCallParameter: 100000
+PenaltyBreakComment: 100000
+SortIncludes: false
+SpaceAfterTemplateKeyword: true
+# Standard: Cpp11 # Broken
+UseTab: Never
+...

.clang-format-ignore

@@ -0,0 +1,2 @@
+# Skip json.hpp since it is copied directly from external repo
+AirLib/include/common/common_utils/json.hpp

.github/stale.yml

@@ -0,0 +1,25 @@
+limitPerRun: 1
+
+issues:
+  daysUntilStale: 365
+  daysUntilClose: 20
+  exemptProjects: true
+  exemptMilestones: true
+  # Issues with these labels will never be considered stale
+  exemptLabels:
+    - 'bug'
+    - 'feature request'
+  staleLabel: stale
+
+  markComment: >
+    This issue has been automatically marked as stale because
+    it has not had activity from the community in the last year. It will be
+    closed if no further activity occurs within 20 days.
+  closeComment: >
+    This issue has been automatically closed because it is has not had activity
+    from the community in the last year.
+
+pulls:
+  daysUntilStale: 1000
+  daysUntilClose: 10
+  staleLabel: stale

.github/workflows/clang_format.yml

@@ -0,0 +1,14 @@
+name: clang-format Check
+on: [push, pull_request]
+jobs:
+  formatting-check:
+    name: Formatting Check
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - name: Run clang-format style check for C/C++ programs.
+      uses: jidicula/[email protected]
+      with:
+        clang-format-version: '11'
+        check-path: '.'
+        exclude-regex: 'AirLib\/include\/common\/common_utils\/json\.hpp'

.github/workflows/test_docs.yml

@@ -20,7 +20,7 @@ jobs:
         run: |
           python3 -m pip install --upgrade pip
           python3 -m pip install mkdocs pymdown-extensions    # Mkdocs requirements
-
+          
       - name: Build API reference docs
         run: |
           python3 -m venv .env                            # Virtual env to avoid dep. issues 

.github/workflows/test_macos.yml

@@ -5,7 +5,10 @@ on: [push, pull_request, workflow_dispatch]
 
 jobs:
   build:
-    runs-on: macos-latest
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [macos-10.15, macos-11]
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:

.github/workflows/test_ubuntu.yml

@@ -5,7 +5,10 @@ on: [push, pull_request, workflow_dispatch]
 
 jobs:
   build:
-    runs-on: ubuntu-18.04
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-18.04, ubuntu-20.04]
 
     steps:
       - uses: actions/checkout@v2
@@ -28,3 +31,21 @@ jobs:
           source /opt/ros/*/setup.bash
           cd ros
           catkin build -DCMAKE_C_COMPILER=gcc-8 -DCMAKE_CXX_COMPILER=g++-8
+
+      - name: Build ROS2 Wrapper
+        if: matrix.os == 'ubuntu-20.04'
+        run: |
+          chmod +x ./tools/install_ros2_deps.sh
+          ./tools/install_ros2_deps.sh
+          source /opt/ros/*/setup.bash
+          cd ros2
+          colcon build --cmake-args -DCMAKE_C_COMPILER=gcc-8 --cmake-args -DCMAKE_CXX_COMPILER=g++-8
+
+      - name: Build GazeboDrone
+        run: |
+          sudo apt-get install -qq libgazebo9-dev gcc-8 g++-8
+          ./clean.sh && ./build.sh --gcc
+          cd GazeboDrone
+          mkdir build && cd build
+          cmake -DCMAKE_C_COMPILER=gcc-8 -DCMAKE_CXX_COMPILER=g++-8 ..
+          make

.github/workflows/test_windows.yml

@@ -5,14 +5,14 @@ on: [push, pull_request, workflow_dispatch]
 
 jobs:
   build:
-    runs-on: windows-latest
+    runs-on: windows-2022
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
       - uses: actions/checkout@v2
 
       - name: Enable Developer Command Prompt
-        uses: ilammy/msvc-dev-cmd@v1.4.1
+        uses: ilammy/msvc-dev-cmd@v1
 
       - name: Build AirLib
         shell: cmd

.gitignore

@@ -33,6 +33,7 @@ cmake_install.cmake
 CMakeCache.txt
 
 #Unreal Engine
+/UnrealEngine
 StarterContent/
 Saved/
 !DefaultEditorPerProjectUserSettings.ini #contains use less CPU setting
@@ -286,12 +287,14 @@ ModelManifest.xml
 /cmake/MavLinkCom/Makefile
 /cmake/Makefile
 /cmake/HelloDrone/Makefile
+/cmake/HelloSpawnedDrones/Makefile
 /cmake/DroneShell/Makefile
 /cmake/DroneServer/Makefile
 /cmake/AirLib/Makefile
 /cmake/AirLibUnity/Makefile
 /cmake/AirLibUnity/AirLibUnity
 /cmake/HelloDrone/HelloDrone
+/cmake/HelloSpawnedDrones/HelloSpawnedDrones
 /cmake/DroneShell/DroneShell
 /cmake/DroneServer/DroneServer
 cmake/AirLibUnitTests/Makefile
@@ -358,6 +361,10 @@ xcuserdata/
 !*.xcworkspace/contents.xcworkspacedata
 /*.gcno
 
+# Sublime Text
+*.sublime-workspace
+*.sublime-project
+
 # Unity
 /Unity/UnityDemo/Assembly-CSharp.csproj
 /Unity/UnityDemo/UnityDemo.sln
@@ -378,9 +385,20 @@ ros/logs/
 ros/.catkin_workspace
 ros/src/CMakeLists.txt
 
+# ROS2
+ros2/install/
+ros2/log/
+ros2/src/log
+
 # docs
 docs/README.md
 build_docs/
 
 # api docs
 PythonClient/docs/_build
+
+# Docker
+/docker/Blocks/
+
+# clangd generated folder, for e.g. from VSCode clangd extension
+.cache/