josephduchesne · Sep 25, 2026 · Sep 25, 2026 · Sep 25, 2026
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
@@ -0,0 +1,22 @@
+ARG ROS_DISTRO=humble
+FROM ros:${ROS_DISTRO}
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    bash-completion \
+    ccache \
+    gdb \
+    git \
+    python3-colcon-common-extensions \
+    python3-rosdep \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY . /tmp/flatland
+RUN rosdep update && \
+    apt-get update && \
+    rosdep install --from-paths /tmp/flatland --ignore-src --rosdistro "$ROS_DISTRO" -y && \
+    rm -rf /tmp/flatland /var/lib/apt/lists/*
+
+ENV CCACHE_DIR=/tmp/.ccache
+WORKDIR /opt/overlay_ws
diff --git a/.devcontainer/humble/devcontainer.json b/.devcontainer/humble/devcontainer.json
@@ -0,0 +1,29 @@
+{
+    "name": "Flatland (Humble)",
+    "build": {
+        "dockerfile": "../Dockerfile",
+        "context": "../..",
+        "args": { "ROS_DISTRO": "humble" }
+    },
+    "runArgs": ["--init"],
+    "workspaceFolder": "/opt/overlay_ws/src/flatland",
+    "workspaceMount": "source=${localWorkspaceFolder},target=${containerWorkspaceFolder},type=bind",
+    "mounts": [
+        { "source": "overlay-${devcontainerId}", "target": "/opt/overlay_ws", "type": "volume" },
+        { "source": "ccache-${devcontainerId}", "target": "/tmp/.ccache", "type": "volume" }
+    ],
+    "remoteEnv": { "CCACHE_DIR": "/tmp/.ccache" },
+    "onCreateCommand": "bash .devcontainer/on-create-command.sh",
+    "updateContentCommand": "bash .devcontainer/update-content-command.sh",
+    "postCreateCommand": "bash .devcontainer/post-create-command.sh",
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "althack.ament-task-provider",
+                "eamodio.gitlens",
+                "ms-iot.vscode-ros",
+                "twxs.cmake"
+            ]
+        }
+    }
+}
diff --git a/.devcontainer/jazzy/devcontainer.json b/.devcontainer/jazzy/devcontainer.json
@@ -0,0 +1,29 @@
+{
+    "name": "Flatland (Jazzy)",
+    "build": {
+        "dockerfile": "../Dockerfile",
+        "context": "../..",
+        "args": { "ROS_DISTRO": "jazzy" }
+    },
+    "runArgs": ["--init"],
+    "workspaceFolder": "/opt/overlay_ws/src/flatland",
+    "workspaceMount": "source=${localWorkspaceFolder},target=${containerWorkspaceFolder},type=bind",
+    "mounts": [
+        { "source": "overlay-${devcontainerId}", "target": "/opt/overlay_ws", "type": "volume" },
+        { "source": "ccache-${devcontainerId}", "target": "/tmp/.ccache", "type": "volume" }
+    ],
+    "remoteEnv": { "CCACHE_DIR": "/tmp/.ccache" },
+    "onCreateCommand": "bash .devcontainer/on-create-command.sh",
+    "updateContentCommand": "bash .devcontainer/update-content-command.sh",
+    "postCreateCommand": "bash .devcontainer/post-create-command.sh",
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "althack.ament-task-provider",
+                "eamodio.gitlens",
+                "ms-iot.vscode-ros",
+                "twxs.cmake"
+            ]
+        }
+    }
+}
diff --git a/.devcontainer/kilted/devcontainer.json b/.devcontainer/kilted/devcontainer.json
@@ -0,0 +1,29 @@
+{
+    "name": "Flatland (Kilted)",
+    "build": {
+        "dockerfile": "../Dockerfile",
+        "context": "../..",
+        "args": { "ROS_DISTRO": "kilted" }
+    },
+    "runArgs": ["--init"],
+    "workspaceFolder": "/opt/overlay_ws/src/flatland",
+    "workspaceMount": "source=${localWorkspaceFolder},target=${containerWorkspaceFolder},type=bind",
+    "mounts": [
+        { "source": "overlay-${devcontainerId}", "target": "/opt/overlay_ws", "type": "volume" },
+        { "source": "ccache-${devcontainerId}", "target": "/tmp/.ccache", "type": "volume" }
+    ],
+    "remoteEnv": { "CCACHE_DIR": "/tmp/.ccache" },
+    "onCreateCommand": "bash .devcontainer/on-create-command.sh",
+    "updateContentCommand": "bash .devcontainer/update-content-command.sh",
+    "postCreateCommand": "bash .devcontainer/post-create-command.sh",
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "althack.ament-task-provider",
+                "eamodio.gitlens",
+                "ms-iot.vscode-ros",
+                "twxs.cmake"
+            ]
+        }
+    }
+}
diff --git a/.devcontainer/lyrical/devcontainer.json b/.devcontainer/lyrical/devcontainer.json
@@ -0,0 +1,29 @@
+{
+    "name": "Flatland (Lyrical)",
+    "build": {
+        "dockerfile": "../Dockerfile",
+        "context": "../..",
+        "args": { "ROS_DISTRO": "lyrical" }
+    },
+    "runArgs": ["--init"],
+    "workspaceFolder": "/opt/overlay_ws/src/flatland",
+    "workspaceMount": "source=${localWorkspaceFolder},target=${containerWorkspaceFolder},type=bind",
+    "mounts": [
+        { "source": "overlay-${devcontainerId}", "target": "/opt/overlay_ws", "type": "volume" },
+        { "source": "ccache-${devcontainerId}", "target": "/tmp/.ccache", "type": "volume" }
+    ],
+    "remoteEnv": { "CCACHE_DIR": "/tmp/.ccache" },
+    "onCreateCommand": "bash .devcontainer/on-create-command.sh",
+    "updateContentCommand": "bash .devcontainer/update-content-command.sh",
+    "postCreateCommand": "bash .devcontainer/post-create-command.sh",
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "althack.ament-task-provider",
+                "eamodio.gitlens",
+                "ms-iot.vscode-ros",
+                "twxs.cmake"
+            ]
+        }
+    }
+}
diff --git a/.devcontainer/on-create-command.sh b/.devcontainer/on-create-command.sh
@@ -0,0 +1,5 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+mkdir -p /opt/overlay_ws/src /tmp/.ccache
+git config --global --add safe.directory /opt/overlay_ws/src/flatland
diff --git a/.devcontainer/post-create-command.sh b/.devcontainer/post-create-command.sh
@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+setup_line='source /opt/overlay_ws/install/setup.bash'
+if ! grep -Fxq "$setup_line" "$HOME/.bashrc"; then
+    printf '\n%s\n' "$setup_line" >> "$HOME/.bashrc"
+fi
diff --git a/.devcontainer/rolling/devcontainer.json b/.devcontainer/rolling/devcontainer.json
@@ -0,0 +1,29 @@
+{
+    "name": "Flatland (Rolling)",
+    "build": {
+        "dockerfile": "../Dockerfile",
+        "context": "../..",
+        "args": { "ROS_DISTRO": "rolling" }
+    },
+    "runArgs": ["--init"],
+    "workspaceFolder": "/opt/overlay_ws/src/flatland",
+    "workspaceMount": "source=${localWorkspaceFolder},target=${containerWorkspaceFolder},type=bind",
+    "mounts": [
+        { "source": "overlay-${devcontainerId}", "target": "/opt/overlay_ws", "type": "volume" },
+        { "source": "ccache-${devcontainerId}", "target": "/tmp/.ccache", "type": "volume" }
+    ],
+    "remoteEnv": { "CCACHE_DIR": "/tmp/.ccache" },
+    "onCreateCommand": "bash .devcontainer/on-create-command.sh",
+    "updateContentCommand": "bash .devcontainer/update-content-command.sh",
+    "postCreateCommand": "bash .devcontainer/post-create-command.sh",
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "althack.ament-task-provider",
+                "eamodio.gitlens",
+                "ms-iot.vscode-ros",
+                "twxs.cmake"
+            ]
+        }
+    }
+}
diff --git a/.devcontainer/update-content-command.sh b/.devcontainer/update-content-command.sh
@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+source "/opt/ros/${ROS_DISTRO}/setup.bash"
+cd /opt/overlay_ws
+colcon build --symlink-install \
+    --cmake-args \
+    -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+    -DCMAKE_C_COMPILER_LAUNCHER=ccache \
+    -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
@@ -11,9 +11,9 @@ jobs:
     strategy:
       matrix:
         env:
-          # - {ROS_DISTRO: humble, ROS_REPO: main, AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true}
+          - {ROS_DISTRO: humble, ROS_REPO: main, AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true}
           # - {ROS_DISTRO: jazzy, ROS_REPO: main, AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true}
-          - {ROS_DISTRO: kilted, ROS_REPO: main, AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true, TARGET_CMAKE_ARGS: '-DCMAKE_COMPILE_WARNING_AS_ERROR=ON'}
+          # - {ROS_DISTRO: kilted, ROS_REPO: main, AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true, TARGET_CMAKE_ARGS: '-DCMAKE_COMPILE_WARNING_AS_ERROR=ON'}
           - {ROS_DISTRO: lyrical, ROS_REPO: main, AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true, TARGET_CMAKE_ARGS: '-DCMAKE_COMPILE_WARNING_AS_ERROR=ON'}
           - {ROS_DISTRO: rolling, ROS_REPO: main, OS_CODE_NAME: noble, AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true, TARGET_CMAKE_ARGS: '-DCMAKE_COMPILE_WARNING_AS_ERROR=ON'}
     runs-on: ubuntu-24.04

diff --git a/.travis.yml b/.travis.yml
diff --git a/README.md b/README.md
@@ -1,19 +1,38 @@
 # README #
 
-![ci test result](https://travis-ci.com/avidbots/flatland.svg?branch=master "CI Test Result")
+### What is Flatland? ###
 
+Flatland is a lightweight 2.5D robot simulator for ROS 1 and ROS 2.
 
-### What is this repository for? ###
+- Simulate 2D motion with a variety of drivetrains.
+- Extend worlds and robots with plugins for dynamic maps, lidar, and drive control.
+- Run faster than real time; connected ROS nodes may encounter timing issues if they cannot keep up.
+- Allows headless execution, with RViz based visualization if needed
 
-* Flatland is a performance centric 2d robot simulator
-* [Roadmap on trello](https://trello.com/b/s9poP2Jg/flatland-2d-simulator)
-* Release Version: None
+### Dev container (recommended) ###
 
-### How do I get set up? ###
+1. Install Docker, VS Code, and the Dev Containers extension.
+2. Open the Flatland repository in VS Code and run **Dev Containers: Reopen in Container**.
+3. Choose Humble, Jazzy, Kilted, Lyrical, or Rolling when prompted.
 
-* Git clone flatland into your catkin workspace's src folder, and catkin build.
-* Optionally check out [turtlebot_flatland](https://github.com/avidbots/turtlebot_flatland) and run the turtlebot nav stack
-* Run `rosdep install --from-paths src --ignore-src` in your catkin workspace to install any missing rosdeps
+Once the container opens, Flatland is ready to use. Run **Dev Containers: Rebuild Container** if you change package dependencies.
+
+### Without a dev container (ROS 2) ###
+
+Install ROS 2 on your host, or in a container, then run the following:
+
+```bash
+mkdir -p ~/flatland_ws/src
+git clone https://github.com/avidbots/flatland.git ~/flatland_ws/src/flatland
+source /opt/ros/*/setup.bash
+cd ~/flatland_ws
+rosdep update
+rosdep install --from-paths src --ignore-src -y
+colcon build --symlink-install
+source install/setup.bash
+```
+
+For older ROS 1 / catkin setups, check out a ROS 1-compatible Flatland version in your catkin workspace's `src` directory. From the workspace root, run `rosdep install --from-paths src --ignore-src -y` and `catkin build`.
 
 ### Who do I talk to? ###
 

diff --git a/flatland_plugins/test/bumper_test.cpp b/flatland_plugins/test/bumper_test.cpp
@@ -221,8 +221,8 @@ TEST_F(BumperPluginTest, collision_test)
   SpinRos(500, 10);  // make sure the messages gets through
 
   // check time is not zero to make sure message is received
-  ASSERT_NE(msg1.header.stamp, rclcpp::Time(0, 0));
-  ASSERT_NE(msg2.header.stamp, rclcpp::Time(0, 0));
+  ASSERT_NE(msg1.header.stamp, builtin_interfaces::msg::Time{});
+  ASSERT_NE(msg2.header.stamp, builtin_interfaces::msg::Time{});
 
   // step 15 time which makes the body move 1.5 meters, will make base_link_1
   // collide, but not base_link_2, not that base_link_1's fixture is a sensor

diff --git a/flatland_rviz_plugins/include/flatland_rviz_plugins/change_rate_dialog.hpp b/flatland_rviz_plugins/include/flatland_rviz_plugins/change_rate_dialog.hpp
@@ -1,43 +1,38 @@
-/*
- * @copyright Copyright 2022 FEUP
- *  Copyright (c) 2022, FEUP
- * @name change_rate_dialog.cpp
- * @brief dialog to change rate
- * @author Ana Barros
- * @author Henrique Ribeiro
- * @author João Costa
- *
- *
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *      copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of the Avidbots Corp. nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
+//  Copyright (c) 2022, FEUP
+//
+//  Redistribution and use in source and binary forms, with or without
+//  modification, are permitted provided that the following conditions
+//  are met:
+//
+//   * Redistributions of source code must retain the above copyright
+//     notice, this list of conditions and the following disclaimer.
+//   * Redistributions in binary form must reproduce the above
+//      copyright notice, this list of conditions and the following
+//     disclaimer in the documentation and/or other materials provided
+//     with the distribution.
+//   * Neither the name of the Avidbots Corp. nor the names of its
+//     contributors may be used to endorse or promote products derived
+//     from this software without specific prior written permission.
+//
+//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+//  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+//  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+//  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+//  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+//  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+//  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+//  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+//  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+//  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+//  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+//  POSSIBILITY OF SUCH DAMAGE.
+//
+// @name change_rate_dialog.cpp
+// @brief dialog to change rate
+// @author Ana Barros
+// @author Henrique Ribeiro
+// @author João Costa
+//  All rights reserved.
 #ifndef FLATLAND_RVIZ_PLUGINS__CHANGE_RATE_DIALOG_HPP_
 #define FLATLAND_RVIZ_PLUGINS__CHANGE_RATE_DIALOG_HPP_