321 split docker image structure

[geurto]

Description

Restructuring of repository to make it more modular and future-proof. Code and dependencies are split into separate Docker images, with a compose script to create configurations to run.

TO DO:

Platforms:

• rcdt_franka
• rcdt_husarion
• rcdt_realsense
• rcdt_velodyne
• rcdt_zed
• rcdt_ouster
• rcdt_nmea

Real hardware:

• Franka
• Panther
• Lynx
• Realsense
• Velodyne
• Zed
• Ouster
• GPS

Libraries:

• rcdt_gazebo
• rcdt_tools
• rcdt_moveit
• rcdt_nav2

Testing:

• Build new pytest structure
• Franka core
• Panther core
• Lynx core
• Sensors core
• Franka Moveit
• Nav2 Lidar
• Nav2 GPS
• Collision Monitor

Linting:

• Build new linting structure
• Ruff
• Ty
• pydoclint
• clang-format
• doxygen

Others:

• GitHub Workflow
• VScode Dev Container
• Improve compose.py
• expand compose script / create Python CLI tool to deal with configuration options
• distribute pyproject.toml dependencies to relevant containers (instead of all dependencies installed in all containers)
• parameter remaps (such as in nav2) based on namespaces set in compose.py script (if nav2 and panther/lynx --> set namespace_vehicle=panther/lynx)
• Remove old files
• Add pull script
• Build Franka / Husarion separate

Existing problems:

• Cannot launch panther and lynx (two times rcdt_husarion container).

Fixes: #321

Testing

Explain how you tested your changes.

Documentation

• I have updated the documentation (if necessary)

Additional Notes

Any relevant screenshots, logs, or context.

[Jelmerdw]

I think this branch is not correctly rebased from main. It shows changes in many files you didn't do, like images that are removed in the docs folder and removal of the pyflow folder. Can you fix this, so that there is more overview of what you actually changed?

[rosalievanark]

Deze verandering kan weer weg (lijn 43 t/m 49), ik had dit naar bovenin verplaatst.