fix(macOS): define TCP_KEEPIDLE as TCP_KEEPALIVE

.ci/Dockerfile

@@ -0,0 +1,193 @@
+ARG UBUNTU_VERSION="20.04"
+ARG PYTHON_VERSION="3.10"
+
+# Start with a base image
+FROM ubuntu:${UBUNTU_VERSION}
+ARG UBUNTU_VERSION
+ARG PYTHON_VERSION
+
+# Set non-interactive mode
+ENV DEBIAN_FRONTEND=noninteractive
+
+ARG USER_UID=1001
+ARG USER_GID=1001
+ARG USERNAME=user
+
+WORKDIR /workspaces
+
+# Create a non-root user
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && chown -R $USER_UID:$USER_GID /workspaces \
+    && apt-get update \
+    && apt-get install -y sudo \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/* \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+
+# Add LLVM repository for newer clang versions
+RUN apt-get update && \
+    apt-get install -y wget gnupg lsb-release software-properties-common && \
+    wget https://apt.llvm.org/llvm.sh && \
+    chmod +x llvm.sh && \
+    ./llvm.sh 18 && \
+    apt-get update && \
+    apt-get install -y clang-format-18 clang-tidy-18 \
+    && ln -s $(which clang-tidy-18) /usr/bin/clang-tidy \
+    && ln -s $(which clang-format-18) /usr/bin/clang-format
+
+# Install necessary packages (without Python - we'll install specific version later)
+# Note: pybind11-dev kept for devcontainer users (works with Ubuntu's default Python)
+# For CI wheel builds, pip-installed pybind11 in venv is used for each Python version
+RUN apt-get update \
+    && apt-get install -y \
+    bash-completion \
+    build-essential \
+    curl \
+    doxygen \
+    dpkg \
+    git \
+    graphviz \
+    lcov \
+    libeigen3-dev \
+    libfmt-dev \
+    libpoco-dev \
+    lsb-release \
+    pybind11-dev \
+    rename \
+    valgrind \
+    wget \
+    software-properties-common \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install specific Python version
+# On Ubuntu 22.04, Python 3.10 is the default system Python (packages are python3-dev, python3-venv)
+# For other versions, use deadsnakes PPA (packages are python3.X-dev, python3.X-venv)
+RUN set -ex && \
+    # Check if Python version is already available as system default
+    SYSTEM_PYTHON_VERSION=$(python3 --version 2>/dev/null | grep -oP '\d+\.\d+' || echo "none") && \
+    echo "System Python: $SYSTEM_PYTHON_VERSION, Requested: ${PYTHON_VERSION}" && \
+    if [ "$SYSTEM_PYTHON_VERSION" = "${PYTHON_VERSION}" ]; then \
+        echo "Python ${PYTHON_VERSION} is already the system default, installing dev packages..." && \
+        apt-get update && \
+        apt-get install -y python3-dev python3-venv && \
+        apt-get clean -y && \
+        rm -rf /var/lib/apt/lists/*; \
+    else \
+        echo "Installing Python ${PYTHON_VERSION} from deadsnakes PPA..." && \
+        add-apt-repository ppa:deadsnakes/ppa -y && \
+        apt-get update && \
+        apt-get install -y \
+            python${PYTHON_VERSION} \
+            python${PYTHON_VERSION}-dev \
+            python${PYTHON_VERSION}-venv && \
+        (apt-get install -y python${PYTHON_VERSION}-distutils 2>/dev/null || true) && \
+        apt-get clean -y && \
+        rm -rf /var/lib/apt/lists/* && \
+        update-alternatives --install /usr/bin/python3 python3 /usr/bin/python${PYTHON_VERSION} 1 && \
+        update-alternatives --set python3 /usr/bin/python${PYTHON_VERSION}; \
+    fi && \
+    echo "Installed Python version:" && python3 --version
+
+# Install CMake; use Kitware repo on Ubuntu 20.04 for >=3.22
+RUN if [ "${UBUNTU_VERSION}" = "20.04" ]; then \
+        apt-get update && \
+        apt-get install -y wget gnupg ca-certificates software-properties-common && \
+        wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc | gpg --dearmor | tee /usr/share/keyrings/kitware-archive-keyring.gpg > /dev/null && \
+        echo "deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal main" > /etc/apt/sources.list.d/kitware.list && \
+        apt-get update && \
+        apt-get install -y --no-install-recommends cmake=3.22.2-0kitware1ubuntu20.04.1 cmake-data=3.22.2-0kitware1ubuntu20.04.1; \
+    else \
+        apt-get update && apt-get install -y --no-install-recommends cmake; \
+    fi && \
+    cmake --version && \
+    dpkg --compare-versions "$(cmake --version | head -n1 | awk '{print $3}')" ge 3.22 || (echo "Error: CMake >= 3.22 is required. Got ubuntu version ${UBUNTU_VERSION}" >&2; exit 1)
+
+# Add the necessary 3rd party dependencies for the robot-service
+# Note: the order is important, change at your own risk.
+RUN git clone --depth 1 --recurse-submodules --shallow-submodules --branch boost-1.77.0 https://github.com/boostorg/boost.git \
+    && cd boost \
+    && ./bootstrap.sh --prefix=/usr \
+    && ./b2 install \
+    && cd ../.. \
+    && rm -rf boost
+
+RUN git clone --depth 1 --branch 10.0.0 https://github.com/leethomason/tinyxml2.git \
+    && cd tinyxml2 \
+    && mkdir build && cd build \
+    && cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_INSTALL_LIBDIR=/usr/lib \
+    && make -j4 && make install \
+    && cd ../.. \
+    && rm -rf tinyxml2
+
+RUN git clone --depth 1 --branch 1.0.2 https://github.com/ros/console_bridge.git \
+    && cd console_bridge \
+    && mkdir build && cd build \
+    && cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_INSTALL_LIBDIR=/usr/lib \
+    && make -j4 \
+    && make install \
+    && cd ../.. \
+    && rm -rf console_bridge
+
+RUN git clone --depth 1 --branch 1.0.5 https://github.com/ros/urdfdom_headers.git \
+    && cd urdfdom_headers \
+    && mkdir build && cd build \
+    && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_INSTALL_LIBDIR=/usr/lib \
+    && make -j4 && make install \
+    && cd ../.. \
+    && rm -rf urdfdom_headers
+
+COPY ./urdfdom.patch /tmp/urdfdom.patch
+RUN git clone --depth 1 --branch 4.0.0 https://github.com/ros/urdfdom.git \
+    && cd urdfdom \
+    && git apply  /tmp/urdfdom.patch \
+    && mkdir build && cd build \
+    && cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_INSTALL_LIBDIR=/usr/lib \
+    && make -j4 && make install \
+    && cd ../.. \
+    && rm -rf urdfdom
+
+RUN git clone --depth 1 --recurse-submodules --shallow-submodules --branch v5.4.3 https://github.com/assimp/assimp.git \
+    && cd assimp \
+    && mkdir build && cd build \
+    && cmake .. -DBoost_USE_STATIC_LIBS=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DBUILD_SHARED_LIBS=OFF -DASSIMP_BUILD_TESTS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_INSTALL_LIBDIR=/usr/lib \
+    && make -j4 && make install \
+    && cd ../.. \
+    && rm -rf assimp
+
+COPY ./pinocchio.patch /tmp/pinocchio.patch
+RUN git clone --depth 1 --recurse-submodules --shallow-submodules --branch v3.4.0 https://github.com/stack-of-tasks/pinocchio.git \
+    && cd pinocchio \
+    && git apply /tmp/pinocchio.patch \
+    && mkdir build  && cd build \
+    && cmake .. -DBoost_USE_STATIC_LIBS=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DBUILD_SHARED_LIBS=OFF -DBUILD_PYTHON_INTERFACE=OFF -DBUILD_DOCUMENTATION=OFF -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_INSTALL_LIBDIR=/usr/lib \
+    && make -j4 && make install \
+    && cd ../.. \
+    && rm -rf pinocchio
+
+# Install Python wheel building tools inside a virtualenv to satisfy PEP 668
+# Note: python3 -m venv uses ensurepip to bootstrap pip automatically
+RUN python3 -m venv /opt/venv && \
+        /opt/venv/bin/pip install --upgrade pip setuptools wheel && \
+        /opt/venv/bin/pip install \
+            auditwheel \
+            build \
+            cibuildwheel \
+            twine \
+            patchelf \
+            flake8 \
+            numpy \
+            pybind11 \
+            cmake && \
+    echo "Python version in venv:" && \
+    /opt/venv/bin/python --version && \
+    /opt/venv/bin/pip --version && \
+    chown -R $USER_UID:$USER_GID /opt/venv
+
+# Expose the virtualenv via env var for downstream scripts (e.g., Jenkinsfile)
+ENV VIRTUAL_ENV="/opt/venv"
+ENV PATH="${VIRTUAL_ENV}/bin:${PATH}"
+
+USER $USERNAME

.devcontainer/devcontainer.json

@@ -1,10 +1,10 @@
 {
-    "name": "libfranka_container",
-    "dockerComposeFile": "./docker-compose.yml",
+    "name": "libfranka",
+    "dockerComposeFile": "docker-compose.yml",
     "service": "libfranka_project",
     "workspaceFolder": "/workspaces",
     "remoteUser": "user",
-    "initializeCommand": "echo \"USER_UID=$(id -u $USER)\nUSER_GID=$(id -g $USER)\" > .devcontainer/.env",
+    "initializeCommand": "bash -c 'ENV_FILE=\".devcontainer/.env\"; UBUNTU_VERSION=$(cat devcontainer_distro 2>/dev/null || echo 22.04); if [ ! -f \"$ENV_FILE\" ]; then echo -e \"UBUNTU_VERSION=${UBUNTU_VERSION}\\nUSER_UID=$(id -u)\\nUSER_GID=$(id -g)\" > \"$ENV_FILE\"; else sed -i.bak \"s/^UBUNTU_VERSION=.*/UBUNTU_VERSION=${UBUNTU_VERSION}/\" \"$ENV_FILE\"; sed -i.bak \"s/^USER_UID=.*/USER_UID=$(id -u)/\" \"$ENV_FILE\"; sed -i.bak \"s/^USER_GID=.*/USER_GID=$(id -g)/\" \"$ENV_FILE\"; rm -f \"$ENV_FILE.bak\"; fi'",
     "customizations": {
         "vscode": {
             "extensions": [

.devcontainer/docker-compose.yml

@@ -2,11 +2,12 @@ services:
   libfranka_project:
     build:
       context: ../.ci/
-      dockerfile: ../.ci/Dockerfile.focal
+      dockerfile: Dockerfile
       args:
-        USER_UID: ${USER_UID}
-        USER_GID: ${USER_GID}
-    container_name: libfranka
+        USER_UID: ${USER_UID:-1000}
+        USER_GID: ${USER_GID:-1000}
+        UBUNTU_VERSION: ${UBUNTU_VERSION:-22.04}
+    container_name: libfranka-${UBUNTU_VERSION:-22.04}
     network_mode: "host"
     shm_size: 512m
     privileged: true