Merge pull request clearpathrobotics#69 from clearpathrobotics/lcamero/continuous-integration

Continuous Integration

Author: tonybaltovski

.github/workflows/ci.yml

@@ -7,16 +7,67 @@ on:
     - cron: "0 0 * * *" # every day at midnight
 
 jobs:
-  build_and_test:
-    name: humble
+  clearpath_common_osrf_industrial_ci:
+    name: Humble OSRF Industrial
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: humble, ROS_REPO: testing}
-          - {ROS_DISTRO: humble, ROS_REPO: main}
+          - {ROS_REPO: testing, ROS_DISTRO: humble}
+          - {ROS_REPO: main, ROS_DISTRO: humble}
       fail-fast: false
     runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v3
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}
+  clearpath_common_cpr_ci:
+    name: Humble Clearpath Release
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: humble
+      - name: clearpath-package-server
+        run: |
+          sudo apt install wget
+          wget https://packages.clearpathrobotics.com/public.key -O - | sudo apt-key add -
+          sudo sh -c 'echo "deb https://packages.clearpathrobotics.com/stable/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/clearpath-latest.list'
+          sudo apt-get update
+      - uses: ros-tooling/[email protected]
+        id: action_ros_ci_step
+        with:
+          target-ros2-distro: humble
+          package-name: |
+            clearpath_common
+            clearpath_control
+            clearpath_customization
+            clearpath_description
+            clearpath_generator_common
+            clearpath_mounts_description
+            clearpath_platform
+            clearpath_platform_description
+            clearpath_sensors_description
+  clearpath_common_src_ci:
+    name: Humble Clearpath Source
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: humble
+      - uses: ros-tooling/[email protected]
+        id: action_ros_ci_step
+        with:
+          target-ros2-distro: humble
+          package-name: |
+            clearpath_common
+            clearpath_control
+            clearpath_customization
+            clearpath_description
+            clearpath_generator_common
+            clearpath_mounts_description
+            clearpath_platform
+            clearpath_platform_description
+            clearpath_sensors_description
+          vcs-repo-file-url: dependencies.repos

clearpath_customization/project_bringup/launch/device.launch.py

@@ -7,13 +7,13 @@
 
 def generate_launch_description():
     # Node Name, Package and Executable
-    name = "device"
-    package = "realsense2_camera"
-    executable = "realsense2_camera_node"
+    name = 'device'
+    package = 'realsense2_camera'
+    executable = 'realsense2_camera_node'
 
     # Namespace from Clearpath Config
     namespace = ClearpathConfig('/etc/clearpath/robot.yaml').system.namespace
-    extra_namespace = "/extras/device/"
+    extra_namespace = '/extras/device/'
 
     # Project Directory
     pkg_project_bringup = FindPackageShare('project_bringup')

clearpath_generator_common/CMakeLists.txt

@@ -28,6 +28,21 @@ if(BUILD_TESTING)
   # a copyright and license is added to all source files
   set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
+  # pytest
+  find_package(ament_cmake_pytest REQUIRED)
+  set(_pytest_tests
+    test/test_generator_bash.py
+    test/test_generator_description.py
+    test/test_generator_discovery_server.py
+  )
+  foreach(_test_path ${_pytest_tests})
+    get_filename_component(_test_name ${_test_path} NAME_WE)
+    ament_add_pytest_test(${_test_name} ${_test_path}
+      APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+      TIMEOUT 60
+      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+    )
+  endforeach()
 endif()
 
 ament_package()

clearpath_generator_common/clearpath_generator_common/bash/generator.py

@@ -34,7 +34,7 @@
 
 from clearpath_config.common.types.discovery import Discovery
 from clearpath_generator_common.bash.writer import BashWriter
-from clearpath_generator_common.common import BashFile, BaseGenerator
+from clearpath_generator_common.common import BaseGenerator, BashFile
 
 
 class BashGenerator(BaseGenerator):

clearpath_generator_common/clearpath_generator_common/common.py

@@ -25,21 +25,21 @@
 # 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.
-
-from typing import List
-
 import getopt
 import os
 import sys
 
+from typing import List
+
 from ament_index_python.packages import get_package_share_directory
 
+from clearpath_config.clearpath_config import ClearpathConfig
 from clearpath_config.common.utils.dictionary import flatten_dict
 from clearpath_config.common.utils.yaml import read_yaml
-from clearpath_config.clearpath_config import ClearpathConfig
 
 
 class Package():
+
     def __init__(self,
                  name: str
                  ) -> None:
@@ -50,15 +50,17 @@ def get_name(self) -> str:
         return self.name
 
     def find_package_share(self) -> str:
-        return '{0} = FindPackageShare(\'{1}\')'.format(self.declaration, self.name)
+        return "{0} = FindPackageShare('{1}')".format(self.declaration, self.name)
 
 
 class LaunchFile():
     class LaunchComponent():
+
         def __init__(self, name: str) -> None:
             self.name = name
 
     class Process(LaunchComponent):
+
         def __init__(self,
                      name: str,
                      cmd: List[list] | List[str]) -> None:
@@ -67,17 +69,20 @@ def __init__(self,
             self.cmd = cmd
 
     class LaunchArg(LaunchComponent):
+
         def __init__(self, name: str, default_value: str = '', description: str = '') -> None:
             super().__init__(name)
             self.default_value = default_value
             self.description = description
             self.declaration = 'launch_arg_' + self.name
 
     class Variable(LaunchComponent):
+
         def __init__(self, name: str) -> None:
             super().__init__(name)
 
     class Node(LaunchComponent):
+
         def __init__(self,
                      name: str,
                      package: Package,
@@ -143,6 +148,7 @@ def get_full_path(self):
 
 
 class ParamFile():
+
     def __init__(self,
                  name: str,
                  namespace: str = '',
@@ -193,6 +199,7 @@ def update(self, parameters: dict) -> None:
 
 
 class BashFile():
+
     def __init__(self,
                  filename: str,
                  path: str,

clearpath_generator_common/clearpath_generator_common/description/attachments.py

@@ -29,15 +29,14 @@
 # Redistribution and use in source and binary forms, with or without
 # modification, is not permitted without the express permission
 # of Clearpath Robotics.
+from typing import List
 
 from clearpath_config.platform.attachments.a200 import A200Attachment
 from clearpath_config.platform.attachments.config import BaseAttachment
 from clearpath_config.platform.attachments.j100 import J100Attachment
 from clearpath_config.platform.attachments.w200 import W200Attachment
 from clearpath_config.platform.types.bumper import Bumper
 
-from typing import List
-
 
 class AttachmentsDescription():
     class BaseDescription():

clearpath_generator_common/clearpath_generator_common/description/generator.py

@@ -36,12 +36,12 @@
 
 from clearpath_config.common.types.package_path import PackagePath
 from clearpath_generator_common.common import BaseGenerator
-from clearpath_generator_common.description.writer import XacroWriter
+from clearpath_generator_common.description.attachments import AttachmentsDescription
+from clearpath_generator_common.description.links import LinkDescription
 from clearpath_generator_common.description.mounts import MountDescription
 from clearpath_generator_common.description.platform import PlatformDescription
-from clearpath_generator_common.description.links import LinkDescription
-from clearpath_generator_common.description.attachments import AttachmentsDescription
 from clearpath_generator_common.description.sensors import SensorDescription
+from clearpath_generator_common.description.writer import XacroWriter
 
 
 class DescriptionGenerator(BaseGenerator):

clearpath_generator_common/clearpath_generator_common/description/links.py

@@ -31,16 +31,16 @@
 # of Clearpath Robotics.
 import os
 
+from typing import List
+
 from clearpath_config.common.types.file import File
 from clearpath_config.links.links import Link
-from clearpath_config.links.types.link import BaseLink
 from clearpath_config.links.types.box import Box
 from clearpath_config.links.types.cylinder import Cylinder
+from clearpath_config.links.types.link import BaseLink
 from clearpath_config.links.types.mesh import Mesh
 from clearpath_config.links.types.sphere import Sphere
 
-from typing import List
-
 
 class LinkDescription():
     class BaseDescription():
@@ -104,12 +104,12 @@ def __init__(self, link: Mesh) -> None:
             super().__init__(link)
             if (link.visual.package):
                 self.parameters.update({
-                    self.VISUAL: os.path.join("package://" + link.visual.package,
+                    self.VISUAL: os.path.join('package://' + link.visual.package,
                                               File.clean(link.visual.path, make_abs=False))
                 })
             else:
                 self.parameters.update({
-                    self.VISUAL: "file://" + File.clean(link.visual.path, make_abs=False)
+                    self.VISUAL: 'file://' + File.clean(link.visual.path, make_abs=False)
                 })
 
     MODEL = {

clearpath_generator_common/clearpath_generator_common/description/mounts.py

@@ -29,15 +29,14 @@
 # Redistribution and use in source and binary forms, with or without
 # modification, is not permitted without the express permission
 # of Clearpath Robotics.
+from typing import List
 
-from clearpath_config.mounts.types.mount import BaseMount
 from clearpath_config.mounts.types.fath_pivot import FathPivot
+from clearpath_config.mounts.types.mount import BaseMount
 from clearpath_config.mounts.types.pacs import PACS
 from clearpath_config.mounts.types.post import Post
 from clearpath_config.mounts.types.sick import SICKStand
 
-from typing import List
-
 
 class MountDescription():
     class BaseDescription():

clearpath_generator_common/clearpath_generator_common/description/platform.py

@@ -29,11 +29,11 @@
 # Redistribution and use in source and binary forms, with or without
 # modification, is not permitted without the express permission
 # of Clearpath Robotics.
+import os
 
-from clearpath_config.common.types.platform import Platform
 from clearpath_config.clearpath_config import ClearpathConfig
+from clearpath_config.common.types.platform import Platform
 from clearpath_config.platform.platform import DescriptionPackagePath
-import os
 
 
 class PlatformDescription():
@@ -67,6 +67,7 @@ def __init__(self, config: ClearpathConfig) -> None:
             )
 
     class GenericPlatform(BasePlatform):
+
         def __init__(self, config: ClearpathConfig) -> None:
             description = config.platform.description
             package = description[DescriptionPackagePath.PACKAGE]
@@ -75,7 +76,7 @@ def __init__(self, config: ClearpathConfig) -> None:
             super().__init__(
                 package=package,
                 file=os.path.basename(path),
-                path=os.path.dirname(path)+"/",
+                path=os.path.dirname(path)+'/',
                 macro=macro,
                 parameters=None
             )