sunny

Development system requirements

• Ubuntu 20.04 desktop
• Git
• Docker CE/EE 18.06+ and Docker Compose 1.21+.
• Visual Studio Code
• Visual Studio Code extension: Remote - Containers (ms-vscode-remote.remote-containers)

Embedded system requirements

• Raspberry Pi 4 Model B (4GB or 8GB)
• Micro-SD card (16GB)
• MobaXterm (SSH)
• VMware (Player or Workstation)
• Raspberry Pi Imager
• Ubuntu Server 20.04.4 LTS ARM64
• Docker CE/EE 18.06+ and Docker Compose 1.21+.

GUI application requirements

• Ubuntu 20.04 desktop
• Docker CE/EE 18.06+ and Docker Compose 1.21+.

Prepare development system

1. Clone this repository itself: git clone https://github.com/zhuoqiw/sunny.git
2. CD into local repository and start vscode: code .
3. Install Remote-Containers extension
4. In Menu->View->Command Palette, find Remote-Container: Open Folder in Container...
5. Follow the instructions

Prepare embedded system

1. Install ubuntu to a microSD card.
2. SSH into ubuntu. (user: ubuntu, password: ubuntu)
3. Install Docker Engine on Ubuntu.
4. Install docker-compose.
5. Pull deploy image: docker pull zhuoqiw/sunny-tis:deploy
6. Pull tiscamera image: docker pull zhuoqiw/ros-tis:0.14.0
7. Install udev rules for tiscamera:

   docker run --name tis zhuoqiw/ros-tis:0.14.0
   sudo docker cp tis:setup/etc /
   sudo docker cp tis:setup/usr /
   sudo udevadm control --reload-rules
   docker rm tis

8. Reboot
9. Download docker-compose.yml
10. Boot up system: docker-compose up

Prepare GUI application

1. Pull desktop image: docker pull zhuoqiw/sunny-tis:desktop
2. Start X Authentication: xhost +local:root
3. Start the container: docker run --rm --network=host --env=DISPLAY -v /tmp/.X11-unix zhuoqiw/sunny-tis:desktop
4. Stop X Authentication: xhost -local:root

System optimization

• Turn off apt-daily service (/etc/apt/apt.conf.d/20auto-upgrades)
• Remove snap
• Remove cloud-init sudo touch /etc/cloud/cloud-init.disabled

Name convention

Context	Syntax	Example
ROS2 package name	abc_def	intra_process_demo
ROS2 node name	abc_def_node	camera_mvs_node
ROS2 node header(c++)	abc_def.hpp	camera_mvs.hpp
ROS2 node source(c++)	abc_def.cpp	camera_mvs.cpp
ROS2 node namespace(c++)	abc_def	namespace camera_mvs
ROS2 node class(c++)	AbcDef	class CameraMvs
ROS2 node header include guard(c++)	ABC_DEF__ABC_DEF_HPP_	PACKAGE_NAME__CLASS_NAME_HPP_
ROS2 service name	abc_def	set_parameters, get_parameters
ROS2 service type	AbcDef	SetParameters, GetParameters
ROS2 srv file name	AbcDef.srv	SetParameters.srv, GetParameters.srv
ROS2 topic name	abc_def	parameter_events
ROS2 topic type	AbcDef	ParameterEvent
ROS2 msg file name	AbcDef.msg	ParameterEvent.msg
ROS2 launch file name	main.launch.py
Var in srv or msg	abc_def	new_parameters

Coding style

// derived.hpp
namespace derived_space
{

class Derived : public Base
{
}

}  // namespace derived_space

// derived.cpp
namespace derived_space
{

Derived::Derived()
: Base()
{
}

}  // namespace derived_space

if (true) {
  // Todo
} else {
  // Todo
}

if (
  a ||
  b ||
  c)
{
  // Todo
} else {
  // Todo
}