updae

Dockerfile

@@ -53,6 +53,7 @@ RUN apt-get update \
     ros-${ROS_DISTR}-rqt-tf-tree \
     ros-${ROS_DISTR}-apriltag \
     ros-${ROS_DISTR}-plotjuggler-ros \
+    ros-${ROS_DISTR}-tf-transformations \
 #   && rosdep install --from-paths /ros2_underlay/src -y --ignore-src \
 #   && rosdep install --from paths /ros2/src -y --ignore-src \
     && apt-get autoremove -y \
@@ -94,6 +95,7 @@ RUN sh -c "$(wget -O- https://github.com/deluan/zsh-in-docker/releases/download/
     && pip3 install yapf pre-commit ruff \
     && sudo wget https://hippocampusrobotics.github.io/docs/_downloads/6055b3168d4f0a8cd764ebc481280219/ros-iron-px4-msgs_2.0.1-0jammy_amd64.deb \
     && sudo apt-get install ./ros-iron-px4-msgs_2.0.1-0jammy_amd64.deb \
+    && sudo apt install asciinema \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*

entrypoint.sh

@@ -12,5 +12,6 @@ echo 'source $HOME/uuv/ros2/install/local_setup.zsh' >> ~/.zshrc
 echo 'export RCUTILS_COLORIZED_OUTPUT=1' >> ~/.zshrc
 echo 'eval "$(register-python-argcomplete3 ros2)"' >> ~/.zshrc
 echo 'eval "$(register-python-argcomplete3 colcon)"' >> ~/.zshrc
+echo "bindkey '^ ' autosuggest-toggle" >> ~/.zshrc
 
 exec $@

nvim/after/ftplugin/cmake.lua

@@ -0,0 +1,4 @@
+vim.opt.tabstop = 2
+vim.opt.softtabstop = 2
+vim.opt.shiftwidth = 2
+vim.opt.expandtab = true

nvim/after/ftplugin/cpp.lua

@@ -0,0 +1 @@
+vim.opt_local.shiftwidth = 2

nvim/after/ftplugin/rst.lua

@@ -0,0 +1,6 @@
+vim.opt.wrap = true      -- softwrap the text
+vim.opt.linebreak = true -- do not break in the middle of words
+vim.opt.tabstop = 3
+vim.opt.softtabstop = 3
+vim.opt.shiftwidth = 3
+vim.opt.expandtab = true

nvim/after/plugin/color.lua

@@ -1,6 +0,0 @@
-function ColorMyPencils(color)
-	color = color or "rose-pine"
-	vim.cmd.colorscheme(color)
-end
-
-ColorMyPencils()

nvim/after/plugin/lualsp.lua

@@ -0,0 +1,14 @@
+local lspconfig = require('lspconfig')
+
+lspconfig.lua_ls.setup({
+    settings = {
+        Lua = {
+            diagnostics = {
+                globals = {
+                    'vim',
+                    'require',
+                },
+            },
+        },
+    },
+})

nvim/after/plugin/luasnip.lua

@@ -0,0 +1,46 @@
+local ls = require('luasnip')
+local ll = require('luasnip.loaders.from_lua')
+local types = require('luasnip.util.types')
+
+ls.config.set_config({
+    enable_autosnippets = true,
+    store_selection_keys = '<C-s>',
+    history = true,
+    updateevents = 'TextChanged,TextChangedI',
+    delete_check_events = 'TextChanged',
+    ext_opts = {
+        [types.insertNode] = {
+            active = {},
+            unvisited = {
+                virt_text = { { '<- insert', 'DiagnosticVirtualTextHint' } }
+            },
+            visited = {},
+            passive = {},
+            snippet_passive = {},
+        },
+        [types.choiceNode] = {
+            active = {
+                virt_text = { { '<- insert', 'DiagnosticVirtualTextError' } },
+            },
+        }
+    },
+})
+
+ll.load({ paths = { vim.fn.stdpath('config') .. '/snippets' } })
+
+vim.keymap.set({ 'i', 's' }, '<C-j>', function()
+    if ls.expand_or_jumpable() then
+        ls.expand_or_jump()
+    end
+end, { silent = true })
+
+vim.keymap.set({ 'i', 's' }, '<C-k>', function()
+    if ls.jumpable(-1) then
+        ls.jump(-1)
+    end
+end, { silent = true })
+
+vim.keymap.set('n', '<leader><leader>s', function()
+    vim.cmd('source ' .. vim.fn.stdpath('config') .. '/after/plugin/luasnip.lua')
+    vim.notify('Sourced snippets', 'info', { title = 'LuaSnip' })
+end)

nvim/after/plugin/neotree.lua

@@ -0,0 +1,2 @@
+vim.keymap.set('n', '<leader>nf', '<cmd>Neotree<cr>')
+vim.keymap.set('n', '<leader>nb', '<cmd>Neotree source=buffers<cr>')

nvim/after/plugin/telescope.lua

@@ -1,6 +1,6 @@
 local builtin = require('telescope.builtin')
 vim.keymap.set('n', '<leader>pf', builtin.find_files, {})
-vim.keymap.set("n", "C-p", builtin.git_files, {})
-vim.keymap.set("n", "<leader>ps", function()
+vim.keymap.set('n', '<C-p>', builtin.find_files, {})
+vim.keymap.set("n", '<C-s>', function()
 	builtin.grep_string({ search = vim.fn.input("Grep > ") });
 end)

nvim/after/plugin/treesitter.lua

@@ -1,35 +1,35 @@
 require('nvim-treesitter.configs').setup {
-  -- A list of parser names, or "all" (the five listed parsers should always be installed)
-  ensure_installed = { "c", "lua", "vim", "vimdoc", "query", "cpp", "python", "yaml" },
+    -- A list of parser names, or "all" (the five listed parsers should always be installed)
+    ensure_installed = { "c", "lua", "vim", "vimdoc", "query", "cpp", "python", "yaml" },
 
-  -- Install parsers synchronously (only applied to `ensure_installed`)
-  sync_install = false,
+    -- Install parsers synchronously (only applied to `ensure_installed`)
+    sync_install = false,
 
-  -- Automatically install missing parsers when entering buffer
-  -- Recommendation: set to false if you don't have `tree-sitter` CLI installed locally
-  auto_install = true,
+    -- Automatically install missing parsers when entering buffer
+    -- Recommendation: set to false if you don't have `tree-sitter` CLI installed locally
+    auto_install = true,
 
-  -- List of parsers to ignore installing (for "all")
-  ignore_install = { "javascript" },
+    -- List of parsers to ignore installing (for "all")
+    ignore_install = { "javascript" },
 
-  ---- If you need to change the installation directory of the parsers (see -> Advanced Setup)
-  -- parser_install_dir = "/some/path/to/store/parsers", -- Remember to run vim.opt.runtimepath:append("/some/path/to/store/parsers")!
+    ---- If you need to change the installation directory of the parsers (see -> Advanced Setup)
+    -- parser_install_dir = "/some/path/to/store/parsers", -- Remember to run vim.opt.runtimepath:append("/some/path/to/store/parsers")!
 
-  highlight = {
-    enable = true,
-    -- Or use a function for more flexibility, e.g. to disable slow treesitter highlight for large files
-    disable = function(lang, buf)
-        local max_filesize = 100 * 1024 -- 100 KB
-        local ok, stats = pcall(vim.loop.fs_stat, vim.api.nvim_buf_get_name(buf))
-        if ok and stats and stats.size > max_filesize then
-            return true
-        end
-    end,
+    highlight = {
+        enable = true,
+        -- Or use a function for more flexibility, e.g. to disable slow treesitter highlight for large files
+        disable = function(lang, buf)
+            local max_filesize = 100 * 1024 -- 100 KB
+            local ok, stats = pcall(vim.loop.fs_stat, vim.api.nvim_buf_get_name(buf))
+            if ok and stats and stats.size > max_filesize then
+                return true
+            end
+        end,
 
-    -- Setting this to true will run `:h syntax` and tree-sitter at the same time.
-    -- Set this to `true` if you depend on 'syntax' being enabled (like for indentation).
-    -- Using this option may slow down your editor, and you may see some duplicate highlights.
-    -- Instead of true it can also be a list of languages
-    additional_vim_regex_highlighting = false,
-  },
+        -- Setting this to true will run `:h syntax` and tree-sitter at the same time.
+        -- Set this to `true` if you depend on 'syntax' being enabled (like for indentation).
+        -- Using this option may slow down your editor, and you may see some duplicate highlights.
+        -- Instead of true it can also be a list of languages
+        additional_vim_regex_highlighting = false,
+    },
 }

nvim/lua/lennartalff/init.lua

@@ -1,5 +1,4 @@
 require('lennartalff.remap')
 require('lennartalff.set')
--- vim.cmd('colorscheme rose-pine')
 vim.o.termguicolors = true
 vim.cmd.colorscheme 'catppuccin-frappe'

nvim/lua/lennartalff/packer.lua

@@ -1,65 +0,0 @@
--- packer bootstrapping
-local ensure_packer = function()
-    local fn = vim.fn
-    local install_path = fn.stdpath('data') .. '/site/pack/packer/start/packer.nvim'
-    if fn.empty(fn.glob(install_path)) > 0 then
-        fn.system({ 'git', 'clone', '--depth', '1', 'https://github.com/wbthomason/packer.nvim', install_path })
-        vim.cmd [[packadd packer.nvim]]
-        return true
-    end
-    return false
-end
-
-local packer_bootstrap = ensure_packer()
-
-return require('packer').startup(function(use)
-    -- Packer can manage itself
-    use 'wbthomason/packer.nvim'
-    use 'lewis6991/gitsigns.nvim'
-    use {
-        'nvim-telescope/telescope.nvim', tag = '0.1.1',
-        -- or                            , branch = '0.1.x',
-        requires = { { 'nvim-lua/plenary.nvim' } }
-    }
-    use({ 'rose-pine/neovim', as = 'rose-pine' })
-
-    use {
-        'nvim-treesitter/nvim-treesitter',
-        run = function()
-            local ts_update = require('nvim-treesitter.install').update({ with_sync = true })
-            ts_update()
-        end,
-    }
-    use 'tpope/vim-fugitive'
-    use {
-        'VonHeikemen/lsp-zero.nvim',
-        branch = 'v2.x',
-        requires = {
-            -- LSP Support
-            { 'neovim/nvim-lspconfig' }, -- Required
-            {                            -- Optional
-                'williamboman/mason.nvim',
-                run = function()
-                    pcall(vim.cmd, 'MasonUpdate')
-                end,
-            },
-            { 'williamboman/mason-lspconfig.nvim' }, -- Optional
-
-            -- Autocompletion
-            { 'hrsh7th/nvim-cmp' },     -- Required
-            { 'hrsh7th/cmp-nvim-lsp' }, -- Required
-            { 'L3MON4D3/LuaSnip' },     -- Required
-            { 'mhartington/formatter.nvim' },
-        }
-    }
-    use {
-        "ThePrimeagen/refactoring.nvim",
-        requires = {
-            { "nvim-lua/plenary.nvim" },
-            { "nvim-treesitter/nvim-treesitter" }
-        }
-    }
-    if packer_bootstrap then
-        require('packer').sync()
-    end
-end)

nvim/lua/lennartalff/remap.lua

@@ -42,3 +42,12 @@ local function quickfix()
 end
 vim.keymap.set('n', '<leader>qf', quickfix)
 
+vim.keymap.set('v', '<leader>dgh', "<cmd>diffget LOCAL<cr>")
+vim.keymap.set('v', '<leader>dgl', "<cmd>diffget REMOTE<cr>")
+
+vim.keymap.set('n', '<leader>dgh', "<cmd>diffget LOCAL<cr>")
+vim.keymap.set('n', '<leader>dgl', "<cmd>diffget REMOTE<cr>")
+
+-- stay in visual mode after indenting/dedenting
+vim.keymap.set('v', '<', '<gv')
+vim.keymap.set('v', '>', '>gv')

nvim/lua/lennartalff/set.lua

@@ -1,9 +1,13 @@
 -- vim.opt.guicursor = ''
+vim.notify = require('notify')
 
 -- line numbers
 vim.opt.nu = true
 vim.opt.relativenumber = true
 
+-- highlight current line
+vim.opt.cursorline = true
+
 vim.opt.breakindent = true
 
 -- default indentation
@@ -16,11 +20,10 @@ vim.opt.smartindent = true
 
 vim.opt.wrap = false
 
-vim.api.nvim_create_autocmd("FileType", {
-    pattern = "cpp",
-    callback = function()
-        vim.opt_local.shiftwidth = 2
-        vim.opt_local.tabstop = 2
+vim.api.nvim_create_autocmd('FileType', {
+    pattern = 'Makefile',
+    callback = function ()
+        vim.opt_local.expandtab = false
     end
 })
 
@@ -28,16 +31,3 @@ vim.opt.scrolloff = 8
 vim.opt.signcolumn = 'yes'
 vim.opt.updatetime = 500
 vim.opt.colorcolumn = '80'
-
-vim.api.nvim_create_autocmd('FileType', {
-    pattern = 'rst',
-    callback = function()
-        vim.opt.wrap = true      -- softwrap the text
-        vim.opt.linebreak = true -- do not break in the middle of words
-        -- rst uses 3 space indents
-        vim.opt.tabstop = 3
-        vim.opt.softtabstop = 3
-        vim.opt.shiftwidth = 3
-        vim.opt.expandtab = true
-    end
-})

nvim/lua/plugins/cmp.lua

@@ -16,6 +16,7 @@ return {
             sources = {
                 { name = 'nvim_lsp' },
                 { name = 'nvim_lua' },
+                { name = 'luasnip' },
             },
             mapping = cmp.mapping.preset.insert({
                 ['<Tab>'] = cmp.mapping(function(fallback)

nvim/lua/plugins/config-local.lua

@@ -0,0 +1,11 @@
+return {
+    'klen/nvim-config-local',
+    opts = {
+        config_files = { '.nvim.lua' },
+        hasfile = vim.fn.stdpath('data') .. '/config-local',
+        autocommands_create = true,
+        commands_create = true,
+        lookup_parents = true,
+        silent = false,
+    },
+}

nvim/lua/plugins/ibl.lua

@@ -0,0 +1,2 @@
+require('ibl').setup()
+return {}

nvim/lua/plugins/init.lua

@@ -2,18 +2,25 @@ return {
     { 'nvim-treesitter/nvim-treesitter', build = ':TSUpdate' },
     {
         'L3MON4D3/LuaSnip',
-        tag = 'v2.*',
+        version = "v2.*",
         build = 'make install_jsregexp',
     },
+    { 'saadparwaiz1/cmp_luasnip' },
     'lewis6991/gitsigns.nvim',
     {
         'nvim-telescope/telescope.nvim',
         dependencies = {
             { 'nvim-lua/plenary.nvim' } }
     },
-    { 'rose-pine/neovim',                name = 'rose-pine' },
-    { 'catppuccin/nvim',                 name = 'catppuccin', priority = 1000 },
-    { 'tpope/vim-fugitive',              name = 'fugitive' },
+    {
+        'catppuccin/nvim',
+        name = 'catppuccin',
+        priority = 1000
+    },
+    {
+        'tpope/vim-fugitive',
+        name = 'fugitive'
+    },
     {
         'ThePrimeagen/harpoon',
         dependencies = {
@@ -32,4 +39,12 @@ return {
         dependencies = 'nvim-treesitter/nvim-treesitter',
         config = true,
     },
+    {
+        'lukas-reineke/indent-blankline.nvim',
+        main = 'ibl',
+        opts = {},
+    },
+    {
+        'jiangmiao/auto-pairs',
+    },
 }

nvim/lua/plugins/lsp/init.lua

@@ -7,6 +7,13 @@
 --    require('cmp_nvim_lsp').default_capabilities()
 --)
 
+--vim.api.nvim_create_autocmd('FileType', {
+--    pattern = 'tex',
+--    callback = function()
+--        require('cmp').setup.buffer { sources = {{ name = 'omni' }} }
+--    end,
+--})
+
 vim.api.nvim_create_autocmd('LspAttach', {
     desc = 'LSP actions',
     callback = function(event)
@@ -58,6 +65,29 @@ local handlers = {
             end,
         })
     end,
+    texlab = function()
+        require('lspconfig').texlab.setup({
+            settings = {
+                texlab = {
+                    build = {
+                        onSave = false,
+                        forwardSearchAfter = true,
+                    },
+                    chktex = {
+                        onOpenAndSave = true,
+                    },
+                    forwardSearch = {
+                        executable = 'zathura',
+                        args = {
+                            '--synctex-forward',
+                            '%l:1:%f',
+                            '%p',
+                        },
+                    },
+                },
+            },
+        })
+    end,
 }
 
 return {
@@ -80,7 +110,7 @@ return {
         opts = {
             handlers = handlers,
             ensure_installed = {
-                'lua_ls', 'clangd', 'pylsp', 'yamlls', 'esbonio', 'ruff_lsp',
+                'lua_ls', 'clangd', 'pylsp', 'yamlls', 'esbonio', 'ruff_lsp', 'lemminx',
             },
         },
     },

nvim/lua/plugins/lualine.lua

@@ -0,0 +1,11 @@
+return {
+    'nvim-lualine/lualine.nvim',
+    dependencies = {
+        { 'nvim-tree/nvim-web-devicons' },
+    },
+    config = function()
+        require('lualine').setup({
+            theme = 'catppuccin-frappe'
+        })
+    end,
+}

nvim/lua/plugins/neotree.lua

@@ -0,0 +1,18 @@
+return {
+    {
+        'nvim-neo-tree/neo-tree.nvim',
+        branch = 'v3.x',
+        dependencies = {
+            'nvim-lua/plenary.nvim',
+            'nvim-tree/nvim-web-devicons',
+            'MunifTanjim/nui.nvim',
+        },
+        opts = {
+            filesystem = {
+                follow_current_file = {
+                    enabled = true,
+                },
+            }
+        },
+    },
+}

nvim/snippets/rst/snippets.lua

@@ -0,0 +1,73 @@
+local ls = require('luasnip')
+local s = ls.snippet
+local sn = ls.snippet_node
+local t = ls.text_node
+local i = ls.insert_node
+local f = ls.function_node
+local d = ls.dynamic_node
+local fmt = require('luasnip.extras.fmt').fmt
+local fmta = require('luasnip.extras.fmt').fmta
+local rep = require('luasnip.extras').rep
+
+return {
+    s(
+        {
+            trig = 'console',
+            name = 'Console Code-Block',
+            dscr = 'Creates a console code block'
+        },
+        fmta(
+            [[
+    .. code-block:: console
+
+       $ <>
+
+    ]],
+            {
+                i(1),
+            }
+        )
+    ),
+    s(
+        {
+            trig = 'shell',
+            name = 'Shell Code-Block',
+            dscr = 'Create a shell code block'
+        },
+        fmta(
+            [[
+    .. code-block:: sh
+       <>
+
+       <>
+
+    ]],
+            {
+                i(1),
+                i(2),
+            }
+        )
+    ),
+    s(
+        {
+            trig = 'python',
+            name = 'Python Code-Block',
+            dscr = 'Create python code block',
+        },
+        fmta(
+            [[
+    .. code-block:: python
+       :linenos:
+       :caption: <>
+       :emphasize-lines: <>
+
+       <>
+    ]],
+            {
+                i(1),
+                i(2),
+                i(3),
+            }
+        )
+    ),
+}

nvim/snippets/tex/environments.lua

@@ -0,0 +1,88 @@
+local ls = require('luasnip')
+local s = ls.snippet
+local sn = ls.snippet_node
+local t = ls.text_node
+local i = ls.insert_node
+local f = ls.function_node
+local d = ls.dynamic_node
+local fmt = require('luasnip.extras.fmt').fmt
+local fmta = require('luasnip.extras.fmt').fmta
+local rep = require('luasnip.extras').rep
+
+return {
+    s(
+        {
+            trig = 'env',
+            name = 'Environment',
+            dscr = 'Creates generic \\begin{} \\end{} environment',
+        },
+        fmta(
+            [[
+            \begin{<>}
+                <>
+            \end{<>}
+            ]],
+            {
+                i(1),
+                i(2),
+                rep(1),
+            }
+        )
+    ),
+    s(
+        {
+            trig = 'frame',
+            name = 'Beamer Frame',
+            dscr = 'Frame environment for beamer slides',
+        },
+        fmta(
+            [[
+            \begin{frame}
+                \frametitle{<>}
+                <>
+            \end{frame}
+            ]],
+            {
+                i(1),
+                i(2),
+            }
+        )
+    ),
+    s(
+        {
+            trig = 'frame-fragile',
+            name = 'Frame Fragile',
+            dscr = 'Required for verbatim content like code listings.',
+        },
+        fmta(
+            [[
+            \begin{frame}[fragile]
+                \frametitle{<>}
+                <>
+            \end{frame}
+            ]],
+            {
+                i(1),
+                i(2),
+            }
+        )
+    ),
+    s(
+        {
+            trig = 'noindent',
+            name = 'No Indent',
+            dscr = 'Add no indent instructin for latexindent. Useful for code-blocks.'
+        },
+        fmta(
+            [[
+            % \begin{noindent}
+                <>
+            % \end{noindent}
+            ]]
+            ,
+            {
+                i(1),
+            }
+        )
+    ),
+}