ci-templates/core.yml

+image: tecnalia-docker-dev.artifact.tecnalia.dev/docker:git
+
+
+workflow:
+  rules:
+    - if: $CI_COMMIT_TAG
+    - if: $CI_COMMIT_BRANCH
+
+variables:
+  TMPDIR: /builds/${CI_PROJECT_NAMESPACE}
+  GIT_LFS_SKIP_SMUDGE: 1 # Avoid fetching the files from LFS when doing git fetch
+
+
+stages:
+  - build
+  - deploy
+
+include:
+  - ci-templates/syntax-check.yml
+  - ci-templates/python.yml
+  - ci-templates/industrial-ci-templates.yml
+
+default:
+  tags:
+    - docker

ci-templates/examples/build_vars.yml

+include:
+  - project: tecnalia_robotics-public/gitlab_templates
+    file: ci-templates/auto-rules/no-default.yml
+
+variables:
+  BUILD_KINETIC: 1
+  BUILD_MELODIC: 1
+  BUILD_NOETIC: 1

ci-templates/examples/include_lfs.yml

+include:
+  - project: tecnalia_robotics-public/gitlab_templates
+    file:
+      - ci-templates/auto-rules/kinetic-default.yml
+      - ci-templates/lfs-pull.yml

ci-templates/examples/manual_job.yml

+include:
+  - project: tecnalia_robotics-public/gitlab_templates
+    file: ci-templates/core.yml
+
+industrial_ci_kinetic:
+  extends: .industrial_ci
+  variables:
+    ROS_DISTRO: kinetic
+    UPSTREAM_WORKSPACE: .rosinstall

ci-templates/examples/simple_include.yml

+include:
+  - project: tecnalia_robotics-public/gitlab_templates
+    file: ci-templates/core.yml

ci-templates/industrial-ci-templates.yml

+variables:
+  GITLAB_TEMPLATES_BRANCH: master
+
+.industrial_ci:
+  stage: build
+  services:
+    - name: tecnalia-docker-dev.artifact.tecnalia.dev/docker:dind
+      alias: docker
+  before_script:
+    - apk add --update bash coreutils tar
+    - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .ci_config
+    - docker login ${ARTIFACT_DOCKER_URL} -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}
+    - docker login tecnalia-docker-dev.artifact.tecnalia.dev -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}
+  script: .ci_config/gitlab.sh
+  variables:
+    DOCKER_IMAGE: "${ARTIFACT_DOCKER_URL}/flexbotics-base-devel:${ROS_DISTRO}"
+    ADDITIONAL_DEBS: curl
+    PARALLEL_BUILDS: 2 # keep this for now, since there seems to be memory limit issues in the ci VM
+    AFTER_SETUP_TARGET_WORKSPACE: "rosenv && bash <(curl -Ls https://git.code.tecnalia.dev/tecnalia_robotics-public/gitlab_templates/raw/${GITLAB_TEMPLATES_BRANCH}/scripts/ci_run_entry_points.sh) $$current_ws"
+    CMAKE_ARGS: -DCMAKE_CXX_FLAGS=-Wno-ignored-attributes -Wno-int-in-bool-context -Wno-dev
+
+
+.ddeploy:
+  stage: deploy
+  services:
+  - name: tecnalia-docker-dev.artifact.tecnalia.dev/docker:dind
+    alias: docker
+  variables:
+    DOCKER_PUSH_REGISTRY: ${ARTIFACT_DOCKER_URL}
+    DOCKER_PUSH_NAME: ${CI_PROJECT_PATH}
+    DOCKER_PUSH_TAG: ${CI_COMMIT_REF_NAME}
+    DOCKER_PUSH_USER: ${ARTIFACT_CI_USER}
+    DOCKER_PUSH_TOKEN: ${ARTIFACT_CI_TOKEN}
+    DDEPLOY_YAML: ddeploy.yaml
+  before_script:
+    - apk add --update python3 git py3-pip git-lfs bash curl jq
+    # forward the SSH authentication into the Docker executor
+    - "which ssh-agent || ( apk update && apk add openssh-client )"
+    - eval $(ssh-agent -s)
+    - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
+    - mkdir -p ~/.ssh
+    - echo "$SSH_SERVER_HOSTKEYS" > ~/.ssh/known_hosts
+    - chmod 700 ~/.ssh
+    # setup LFS authentication
+    - git lfs install
+    - git config --global credential.helper store
+    - echo https://$ARTIFACT_CI_USER:$ARTIFACT_CI_TOKEN@artifact.tecnalia.dev > ~/.git-credentials
+    - find . -type f -name .lfsconfig -exec sh -c 'cd "$(dirname "{}")" && git lfs pull' \;
+    - find . -type f -name .lfsconfig -exec sh -c 'cd "$(dirname "{}")" && git lfs ls-files' \;
+    # install ddeploy
+    - pip install --break-system-packages git+ssh://git@git.code.tecnalia.dev/tecnalia_robotics/flexbotics/flexbotics_utils/ddeploy.git@v0.2.0
+    - echo "Logging into docker registry ${ARTIFACT_DOCKER_URL} for user ${ARTIFACT_CI_USER}"
+    - docker login ${ARTIFACT_DOCKER_URL} -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}
+    - echo "Logging into docker registry ${DOCKER_PUSH_REGISTRY} for user ${DOCKER_PUSH_USER}"
+    - docker login ${DOCKER_PUSH_REGISTRY} -u ${DOCKER_PUSH_USER} -p ${DOCKER_PUSH_TOKEN}
+  script:
+    # Run ddeploy
+    - GIT_LFS_SKIP_SMUDGE=0 ddeploy --yaml ${DDEPLOY_YAML}
+    # Get the full name of the most recently built image
+    - 'DDEPLOY_IMAGE_NAME=$(docker images --format="{{.Repository}}:{{.Tag}}" | head -1)'
+    - curl -Ls https://git.code.tecnalia.dev/tecnalia_robotics-public/gitlab_templates/raw/${GITLAB_TEMPLATES_BRANCH}/scripts/enforce_labels.bash | bash -s -- ${DDEPLOY_IMAGE_NAME}
+    # Tag and push with the branch or tag name.
+    - echo "Pushing to ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${DOCKER_PUSH_TAG}"
+    - docker tag ${DDEPLOY_IMAGE_NAME} ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${DOCKER_PUSH_TAG}
+    - docker push ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${DOCKER_PUSH_TAG}
+    # Tag and push with commit sha
+    - echo "Pushing to ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${CI_COMMIT_SHA}"
+    - docker tag ${DDEPLOY_IMAGE_NAME} ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${CI_COMMIT_SHA}
+    - docker push ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${CI_COMMIT_SHA}
+    # Tag and push with latest only if it's on the default branch
+    - >
+      if [ "$CI_COMMIT_BRANCH" == "$CI_DEFAULT_BRANCH" ]; then
+        echo "Pushing to ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:latest"
+        docker tag ${DDEPLOY_IMAGE_NAME} ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:latest &&
+        docker push ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:latest;
+      fi
+  rules:
+    - if: $CI_COMMIT_TAG
+      when: always
+    - when: manual
+      allow_failure: true

ci-templates/lfs-pull.yml

+.lfs-pull-script: &lfs-pull-script
+  "find $$current_ws -type f -name .lfsconfig -execdir git lfs pull \\; ;\
+   find $$current_ws -type f -name .lfsconfig -execdir git lfs ls-files \\; ;"
+
+.industrial_ci:
+  variables:
+    AFTER_INIT: "bash <(curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh);\
+                apt install -qq -y git-lfs; \
+                git config --global credential.helper store; \
+                echo https://$ARTIFACT_CI_USER:$ARTIFACT_CI_TOKEN@artifact.tecnalia.dev > ~/.git-credentials ;"
+    BEFORE_INSTALL_UPSTREAM_DEPENDENCIES: *lfs-pull-script
+    BEFORE_INSTALL_TARGET_DEPENDENCIES: *lfs-pull-script
+    BEFORE_INSTALL_DOWNSTREAM_DEPENDENCIES: *lfs-pull-script

ci-templates/python.yml

+.flake8_template:
+  stage: build
+  before_script: ${PYTHON_VERSION} -m pip -q install flake8
+  script:
+    - find . -type f -executable ! -name "*.*" -exec awk ' /^#!.*python/{print FILENAME}  {nextfile}' {} + > /tmp/python_files # python files with no extension but with shebang
+    - find . -type f -name "*.py" >> /tmp/python_files
+    - sort /tmp/python_files | uniq | xargs ${PYTHON_VERSION} -m flake8 --max-line-length 120 --statistics --show-source
+
+.flake8_extended_template:
+  extends: .flake8_template
+  stage: .post
+  before_script:
+    - ${PYTHON_VERSION} -m pip install flake8 flake8-isort flake8-builtins flake8-eradicate flake8-functions-names flake8-return flake8-functions
+  allow_failure: true
+
+.security_template:
+  stage: .post
+  before_script:
+    - ${PYTHON_VERSION} -m pip install bandit
+  script:
+    - bandit -r .
+  allow_failure: true
+
+.py3_template:
+  image: python:3-alpine
+  variables:
+    PYTHON_VERSION: python3
+
+.py2_template:
+  image: python:2-alpine
+  variables:
+    PYTHON_VERSION: python2
+
+.py3-flake8:
+  extends:
+    - .flake8_template
+    - .py3_template
+
+.py2-flake8:
+  extends:
+    - .flake8_template
+    - .py2_template
+
+.py3-flake8_extended:
+  extends:
+    - .flake8_extended_template
+    - .py3_template
+
+.py3-security:
+  extends:
+    - .security_template
+    - .py3_template

ci-templates/syntax-check.yml

+variables:
+  GITLAB_TEMPLATES_BRANCH: master
+
+##########################################################
+## Check formating of C and C++ files using clang-format
+##########################################################
+clang_format:
+  stage: .post
+  services:
+    - name: tecnalia-docker-dev.artifact.tecnalia.dev/docker:dind
+      alias: docker
+  before_script:
+    - apk add --update bash coreutils tar wget
+    - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .ci_config
+    - wget https://git.code.tecnalia.dev/tecnalia_robotics-public/gitlab_templates/raw/${GITLAB_TEMPLATES_BRANCH}/clang-format -O .clang-format
+  script: .ci_config/gitlab.sh
+  variables:
+    ROS_DISTRO: noetic
+    CLANG_FORMAT_CHECK: file
+    CLANG_FORMAT_VERSION: 10
+  when: always
+
+##########################################################
+## Check for errors in bash/sh scripts
+## Uses https://github.com/koalaman/shellcheck
+##########################################################
+bash_syntax:
+  before_script:
+    - apk add --update shellcheck
+  stage: .post
+  script:
+    - RET=0
+    - find . -type f -name '*.sh' -exec shellcheck -s sh {} + || RET=1
+    - find . -type f -name '*.bash' -exec shellcheck -s bash {} + || RET=1
+    - exit $RET
+  when: always
+
+##########################################################
+## Check for errors in markdown files
+## Uses https://github.com/cytopia/awesome-ci
+## Disables the line length rule with --custom="-r ..."
+## See other rules that can be configured in
+## https://github.com/markdownlint/markdownlint/blob/master/docs/RULES.md
+##########################################################
+markdown_syntax:
+  stage: .post
+  image: tecnalia-docker-dev.artifact.tecnalia.dev/cytopia/awesome-ci
+  script:
+    - syntax-markdown --path=${PWD} --extension=md --ignore=.ci_config --custom="-r ~MD013,~MD014"
+  when: always
+
+##########################################################
+## Check for various syntax issues in files; currently
+##  trailing white spaces
+##  utf8 formatting
+## Uses https://github.com/cytopia/awesome-ci
+##########################################################
+file_syntax:
+  stage: .post
+  image: tecnalia-docker-dev.artifact.tecnalia.dev/cytopia/awesome-ci
+  script:
+    - RET=0
+    - file-trailing-space --path=${PWD} --extension=py,txt,cpp,h,md,sh,bash,xml,launch --ignore=.ci_config || RET=1
+    - file-utf8 --path=${PWD} --extension=py,txt,cpp,h,md,sh,bash,xml,launch --ignore=.ci_config || RET=1
+    - exit $RET
+  when: always
+
+##########################################################
+## Check for errors in Asciidoctor files
+## Could not find a proper linter for Asciidoctor format,
+## so this is a custom-made "dirty" script
+##########################################################
+adoc_syntax:
+  stage: .post
+  image: tecnalia-docker-dev.artifact.tecnalia.dev/alpine
+  before_script:
+    - apk add --update curl asciidoctor bash
+  script:
+    - curl -Ls https://git.code.tecnalia.dev/tecnalia_robotics-public/gitlab_templates/raw/${GITLAB_TEMPLATES_BRANCH}/scripts/asciidoctor_syntax_check.bash | bash -s -- .
+  when: always

clang-format

+---
+# Format file from: https://github.com/PickNikRobotics/roscpp_code_format (75a84b075d648828b7aa64094699e5ab5cc7adb7)
+BasedOnStyle: Google
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: true
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+BinPackParameters: true
+ColumnLimit: 120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 1
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 90
+SpacesBeforeTrailingComments: 2
+Cpp11BracedListStyle: false
+Standard: Auto
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
+IndentFunctionDeclarationAfterType: false
+SpacesInParentheses: false
+SpacesInAngles: false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+ContinuationIndentWidth: 4
+SortIncludes: false
+SpaceAfterCStyleCast: false
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping: {
+    AfterClass: 'true'
+    AfterControlStatement: 'true'
+    AfterEnum : 'true'
+    AfterFunction : 'true'
+    AfterNamespace : 'true'
+    AfterStruct : 'true'
+    AfterUnion : 'true'
+    BeforeCatch : 'true'
+    BeforeElse : 'true'
+    IndentBraces : 'false'
+}
+...

rosdistro/rosdep_tecnalia.yaml

 apriltag:
-  ubuntu: [apriltag]
+  ubuntu:
+    xenial: [apriltag]
 
 cvkit:
-  ubuntu: [cvkit]
+  ubuntu:
+    xenial: [cvkit]
 
 dynamixel:
   ubuntu: [libdynamixel-dev]
 
+k4a-tools:
+  ubuntu:
+    focal: [k4a-tools]
+
 libhalcon-dev:
   ubuntu: [libhalcon-dev]
 
+libk4a1.3:
+  ubuntu:
+    focal: [libk4a1.3]
+
+libk4a1.3-dev:
+  ubuntu:
+    focal: [libk4a1.3-dev]
+
+libopenvdb_fork_dev:
+  ubuntu:
+    focal: [libopenvdb-fork-dev]
+
+libpcl-1.8.1:
+  ubuntu:
+    xenial: [libpcl1.8.1]
+
+libsoundio1:
+  ubuntu: [libsoundio1]
+
+libvdbfusion_dev:
+  ubuntu:
+    focal: [libvdbfusion-dev]
+
+open3d-ros-helper-pip:
+  ubuntu:
+    pip:
+      packages: [open3d_ros_helper]
+
 peak:
   ubuntu: [libpeak-dev]
 
+phoxicontrol:
+  ubuntu:
+    bionic: [phoxicontrol]
+    focal: [phoxicontrol]
+
+rc_apps_msgs:
+  ubuntu:
+    xenial: [ros-kinetic-rc-apps-msgs]
+
+rc_bagthrottler:
+  ubuntu:
+    xenial: [ros-kinetic-rc-bagthrottler]
+
+rc_comm_utils:
+  ubuntu:
+    xenial: [ros-kinetic-rc-comm-utils]
+
+rc_cv_utils:
+  ubuntu:
+    xenial: [ros-kinetic-rc-cv-utils]
+
+rc_diagnostic:
+  ubuntu:
+    xenial: [ros-kinetic-rc-diagnostic]
+
+rc_dynamics_api:
+  ubuntu:
+    xenial: [ros-kinetic-rc-dynamics-api]
+
+rc_genicam_api:
+  ubuntu:
+    xenial: [ros-kinetic-rc-genicam-api]
+
+rc_imagesync:
+  ubuntu:
+    xenial: [ros-kinetic-rc-imagesync]
+
+rc_parameter_collection_ros_proxy:
+  ubuntu:
+    xenial: [ros-kinetic-rc-parameter-collection-ros-proxy]
+
+rc_statemachine:
+  ubuntu:
+    xenial: [ros-kinetic-rc-statemachine]
+
+rc_visard_driver:
+  ubuntu:
+    xenial: [ros-kinetic-rc-visard-driver]
+
 rcapps_msgs:
-  ubuntu: [rcapps_msgs]
+  ubuntu:
+    xenial: [rcapps-msgs]
 
 rccomm_utils:
-  ubuntu: [rccomm_utils]
+  ubuntu:
+    xenial: [rccomm-utils]
 
 rcconsole:
-  ubuntu: [rcconsole]
+  ubuntu:
+    xenial: [rcconsole]
+
+rcimage:
+  ubuntu:
+    xenial: [rcimage]
+
+rcimage_smoothing:
+  ubuntu:
+    xenial: [rcimage-smoothing]
 
 rcimagesync:
-  ubuntu: [rcimagesync]
+  ubuntu:
+    xenial: [rcimagesync]
 
 rcobjectdetection_common:
-  ubuntu: [rcobjectdetection-common]
+  ubuntu:
+    xenial: [rcobjectdetection-common]
 
 rcobjectdetection_shape_thomas:
-  ubuntu: [rcobjectdetection-shape-thomas]
+  ubuntu:
+    xenial: [rcobjectdetection-shape-thomas]
 
 rcobjectrendering:
-  ubuntu: [rcobjectrendering]
+  ubuntu:
+    xenial: [rcobjectrendering]
 
 rcparameter_collection:
-  ubuntu: [rcparameter-collection]
+  ubuntu:
+    xenial: [rcparameter-collection]
 
 rcstatemachine:
-  ubuntu: [rcstatemachine]
+  ubuntu:
+    xenial: [rcstatemachine]
 
 rcsys_utils:
-  ubuntu: [rcsys-utils]
+  ubuntu:
+    xenial: [rcsys-utils]
 
 rctagdetection:
-  ubuntu: [rctagdetection]
+  ubuntu:
+    xenial: [rctagdetection]
 
 robotnik_base_hw_lib:
   ubuntu: [ros-kinetic-robotnik-base-hw-lib]
 
-ros_kinetic_rc_apps_msgs:
-  ubuntu: [ros-kinetic-rc-apps_msgs]
-
-ros_kinetic_rc_bagthrottler:
-  ubuntu: [ros-kinetic-rc-bagthrottler]
-
-ros_kinetic_rc_comm_utils:
-  ubuntu: [ros-kinetic-rc-comm-utils]
-
-ros_kinetic_rc_cv_utils:
-  ubuntu: [ros-kinetic-rc-cv-utils]
-
-ros_kinetic_rc_diagnostic:
-  ubuntu: [ros-kinetic-rc-diagnostic]
-
-ros_kinetic_rc_imagesync:
-  ubuntu: [ros-kinetic-rc-imagesync]
-
-ros_kinetic_rc_parameter_collection_ros_proxy:
-  ubuntu: [ros-kinetic-rc-parameter-collection-ros-proxy]
-
-ros_kinetic_rc_statemachine:
-  ubuntu: [ros-kinetic-rc-statemachine]
-
-ros_kinetic_rc_tagdetection:
-  ubuntu: [ros-kinetic-rc-tagdetection]
+telicam-1.1.0:
+  ubuntu: [libtelicam-sdk-1.1.0]
 
 telicam-sdk:
   ubuntu: [telicam-sdk]
 
 zivid:
   ubuntu: [zivid]
+
+zivid1.8:
+  ubuntu: [zivid1.8]
+
+zivid_telicam_driver:
+  ubuntu: [zivid-telicam-driver]

scripts/asciidoctor_syntax_check.bash

+#!/bin/bash
+
+if ! [ -x "$(command -v asciidoctor)" ]; then
+    echo "Error: asciidoctor is not installed"
+    exit 1
+fi
+
+if [ -z "$1" ] ; then
+    echo "Error: No argument supplied - path needed"
+    exit 1
+fi
+
+touch output.log # avoid failing if no adoc files exist
+while IFS= read -r -d '' filename; do
+  asciidoctor "$filename" 2>&1 | tee -a output.log
+done < <(find "$1" -name '*.adoc' -type f -print0)
+adoc_errors=0 ; adoc_warnings=0
+adoc_errors=$(grep -c "ERROR" output.log)
+adoc_warnings=$(grep -c "WARNING" output.log)
+echo "AsciiDoc format Found ${adoc_errors} errors and ${adoc_warnings} warnings"
+if [ "${adoc_errors}" -eq 0 ]; then exit 0; else exit 1; fi

scripts/ci_run_entry_points.sh

 #!/bin/bash
 
-find -L $CATKIN_WORKSPACE -name ci_entry_script.bash -exec bash -c 'echo Running entry script from $(basename $(dirname {})) ; {} ' \;
+echo Looking up and executing user entry scripts in: "$1"
+
+find -L "$1" -name ci_entry_script.bash -exec bash -c 'echo Running entry script from $(basename $(dirname $1)) ; $1 ' _ {} \;
 
 echo Finalized running the user entry scripts

scripts/enforce_labels.bash

+#!/bin/bash
+# From a given list of labels, check which of them are already defined in the provided docker image; if any of the labels
+# is not defined, a new image with the same name is generated with the label(s) added.
+# Labels already defined are not modified.
+
+if [ "$#" -ne 1 ]; then
+    echo "Usage: $0 IMAGE_NAME"
+    exit 1
+fi
+
+image_name="$1"
+
+# list of labels to be enforced
+declare -A enforced_labels=( ["com.jfrog.artifactory.retention.maxCount"]="10" ["com.jfrog.artifactory.retention.maxDays"]="7")
+
+if ! docker inspect --type=image "$1" > /dev/null ; then
+    echo "Error: image does not exist"
+    exit 0
+fi
+
+# check if every label is defined
+for label in "${!enforced_labels[@]}" ; do
+    if ! docker inspect -f "{{json .Config.Labels }}" "$image_name" | jq -e '.['\""$label"\"']' > /dev/null ; then
+        echo "Key not found"
+        echo "$label = ${enforced_labels[$label]}"
+        # add missing label to the arguments to be provided to `docker build`
+        label_args+=" --label $label=\"${enforced_labels[$label]}\""
+    fi
+done
+
+# generate new image
+if [ -n "${label_args+x}" ]; then
+    run_command="echo \"FROM $image_name\" | docker build $label_args -t $image_name -"
+    eval "$run_command"
+fi

scripts/pre-deploy-cleanup.bash

+#!/bin/bash
+
+set -e
+
+rm -rf /root/catkin_ws/build /root/catkin_ws/devel /root/catkin_ws/logs /root/catkin_ws/src
+
+# Unset env vars?

scripts/roslaunch_test_generator.sh

 #!/usr/bin/env bash
 
-for foo in $(find $(pwd) -name "package.xml") ; do
-  package_name=$(basename $(realpath $(dirname $foo)))
-  echo Entering package: $package_name
-  cd $(realpath $(dirname $foo))
-  if [[ -n $(grep -i "roslaunch_add_file_check" CMakeLists.txt) ]] ; then
-    echo Package $package_name already has roslaunch_add_file_check - skipping
+# shellcheck disable=SC2044
+for foo in $(find "$(pwd)" -name "package.xml") ; do
+  package_name=$(basename "$(realpath "$(dirname "$foo")")")
+  echo Entering package: "$package_name"
+  cd "$(realpath "$(dirname "$foo")")" || exit
+  if grep -q -i "roslaunch_add_file_check" CMakeLists.txt; then
+    echo Package "$package_name" already has roslaunch_add_file_check - skipping
   else
     if [[ -n $(find . -type f -name "*.launch") ]] ; then
-      echo Adding roslaunch_add_file_check to $package_name
+      echo Adding roslaunch_add_file_check to "$package_name"
 cat <<EOT >> CMakeLists.txt
 
 ## WARNING: automatically generated code; can be (and probably is) very buggy

test/auto_rules_melodic_noetic.yml

+include: ci-templates/auto-rules/no-default.yml
+
+variables:
+  BUILD_MELODIC: 1
+  BUILD_NOETIC: 1

test/core_with_noetic.yml

+include: ci-templates/core.yml
+
+industrial_ci_melodic:
+  extends: .industrial_ci
+  variables:
+    ROS_DISTRO: melodic
+
+industrial_ci_noetic:
+  extends: .industrial_ci
+  variables:
+    ROS_DISTRO: noetic

vscode_devcontainer/.devcontainer/Dockerfile

+#-------------------------------------------------------------------------------------------------------------
+# Copyright (c) Microsoft Corporation. All rights reserved.
+# Licensed under the MIT License. See https://go.microsoft.com/fwlink/?linkid=2090316 for license information.
+#-------------------------------------------------------------------------------------------------------------
+
+FROM tecnalia-robotics-docker.artifact.tecnalia.dev/flexbotics-base-devel:kinetic
+
+# Avoid warnings by switching to noninteractive
+ENV DEBIAN_FRONTEND=noninteractive
+
+# This Dockerfile adds a non-root 'vscode' user with sudo access. However, for Linux,
+# this user's GID/UID must match your local user UID/GID to avoid permission issues
+# with bind mounts. Update USER_UID / USER_GID if yours is not 1000. See
+# https://aka.ms/vscode-remote/containers/non-root-user for details.
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Configure apt and install packages
+RUN apt-get update \
+    && apt-get -y install --no-install-recommends apt-utils dialog 2>&1 \
+    #
+    # Verify git, process tools, lsb-release (common in install instructions for CLIs) installed
+    && apt-get -y install git iproute2 procps lsb-release curl \
+    && apt install -y git openssh-client python-catkin-tools \
+    #
+    # Create a non-root user to use if preferred - see https://aka.ms/vscode-remote/containers/non-root-user.
+    && groupadd --gid $USER_GID $USERNAME \
+    && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    # [Optional] Add sudo support for the non-root user
+    && apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+    && chmod 0440 /etc/sudoers.d/$USERNAME \
+    #
+    && rosdep init || true
+
+USER $USERNAME
+RUN rosdep update \
+    && mkdir -p /home/${USERNAME}/robot_ws/src/
+
+COPY .devcontainer/catkin_ws_init.sh /tmp/
+
+    # Clean up
+    # && apt-get autoremove -y \
+    # && apt-get clean -y \
+    # && rm -rf /var/lib/apt/lists/*
+
+# Switch back to dialog for any ad-hoc use of apt-get
+ENV DEBIAN_FRONTEND=

vscode_devcontainer/.devcontainer/catkin_ws_init.sh

+#!/bin/bash
+
+if [[ -z "${ROS_PACKAGE_PATH}" ]]; then
+   . $(find /opt/ros/ -name "setup.bash")
+fi
+
+if [[ -z "${ROS_DISTRO}" ]]; then
+   export ROS_DISTRO=$(basename $(find /opt/ros/* -maxdepth 0 -type d | head -1))
+fi
+
+pkg_name=$(basename $(find /workspaces/ -maxdepth 1 -mindepth 1 -type d))
+mkdir -p ~/robot_ws/src
+cd ~/robot_ws/src
+ln -s /workspaces/${pkg_name}
+cd ..
+wstool init src
+if [ -f "src/${pkg_name}/.rosinstall" ]; then
+    wstool merge "src/${pkg_name}/.rosinstall" -t src
+fi
+
+mkdir -p ~/.ssh/
+cat << EOF >> ~/.ssh/config
+Host *
+     StrictHostKeyChecking no
+EOF
+wstool update -t src
+find -L src -name ci_entry_script.bash -exec bash -c 'echo Running entry script from $(basename $(dirname $1)) ; $1 ' _ {} \;
+rosdep update
+rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -r -y
+catkin init
+catkin config --cmake-args -DCMAKE_CXX_FLAGS=-w --
+
+echo "source $(find /opt/ros/ -name 'setup.bash')"  >>  ~/.bashrc