Merge pull request #1 from Brazilian-Institute-of-Robotics/feat-code-…

…improvements

Feat code improvements

.github/CODEOWNERS

@@ -0,0 +1,3 @@
+# CODEOWNERS info: https://help.github.com/en/articles/about-code-owners
+# Owners are automatically requested for review for PRs that changes code
+* @claudiaelizabete

.github/ISSUE_TEMPLATE.md

@@ -0,0 +1,39 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+### Configuration
+
+- Operating system: \<Ubuntu 00.00.0 LTS\>
+
+- Package version: \<0.0.0\>
+
+### Description of problem
+
+- \<Currently it is possible to build ...\>
+
+### Steps to Reproduce
+
+1. step
+2. step
+
+### Actual Results
+
+- \<API internal error\>
+
+### Expected Results
+
+- \<Successful build\>
+
+### Related Package/PR
+
+- N/A.
+
+### Notes
+
+- N/A.

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,45 @@
+
+#### **Overview**
+
+- \<Overview for request or description for added feature.\>
+- \<Briefly describe the feature, a short description of the requested feature.
+        Images can be included to improve the understanding of the functionality.\>
+
+#### **Use the following settings in the overrides file for docker testing**
+
+- Use these settings to compile and run the module using `autoproj`.
+- The contents of the files manifest and `overrides.yaml` must be changed according to the `templates` below.
+- Additional packages may be needed to test this module.
+
+  e.g.,
+
+- _overrides.yaml_
+
+  ```yaml
+    overrides:
+      - <package_name>:
+        branch: <branch>
+  ```
+
+- _manifest_
+
+  ```yaml
+    layout:
+    - <package_name>
+  ```
+
+#### **What was added/changed in this update**
+
+- \<Use the commit messages to describe what was included.\>
+
+#### **Depends On:**
+
+- \<Inform if there is a dependency on other pull requests.\>
+
+#### **Related Issues:**
+
+- \<Inform if the pull request is associated with issues.\>
+
+#### **Notes:**
+
+- Include notes and notes specific to this pull request here, if not, include the expression N/A. (Not Applicable)

.github/workflows/autoproj-ci-runner.yaml

@@ -0,0 +1,61 @@
+# runner-ci-autoproj provides commands useful to build in CI environments
+# run ci clean cache
+
+name: autoproj-ci-runner
+
+on: [pull_request]
+
+jobs:
+  job-autoproj-test:
+    runs-on: [self-hosted, cimatec-host, linux, x64]
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [jammy]
+    name: "runner-ci-autoproj"
+    steps:
+      - name: Setup Checkout Code Quality
+        uses: actions/checkout@v3
+        with:
+          repository: Brazilian-Institute-of-Robotics/action-code-quality
+          token: ${{ secrets.PAT_ACTION_USER_CIBOT }}
+          ref: main
+      - name: Extract overrides from Pull Request Body
+        uses: ./
+        id: code_quality
+        with:
+          pull_request_body: ${{ github.event.pull_request.body }}
+          local_repository: '- ${{ github.event.repository.name }}:'
+          local_branch: 'branch: ${{ github.head_ref }}'
+      - name: Setup Checkout autoproj CI
+        uses: actions/checkout@v3
+        with:
+          repository: Brazilian-Institute-of-Robotics/bir-autoproj-action
+          token: ${{ secrets.PAT_ACTION_USER_CIBOT }}
+          ref: feat-colcon-suport-humble
+      - uses: ./
+        with:
+          distro: ${{ matrix.distro }}
+          buildconf-url: [email protected]:Brazilian-Institute-of-Robotics/cbr_build_conf.git
+          buildconf-branch: main
+          seed-config: |
+                    ---
+                    apt_dpkg_update: true
+                    osdeps_mode: all
+                    GITORIOUS: ssh
+                    GITHUB: ssh
+                    GITHUB_ROOT: '[email protected]:'
+                    GITHUB_PUSH_ROOT: '[email protected]:'
+                    GITHUB_PRIVATE_ROOT: '[email protected]:'
+                    USE_PYTHON: true
+                    python_executable: "/usr/bin/python3"
+                    ros_version: 2
+                    ros_distro: 'humble'
+                    user_shells:
+                    - bash
+          project: 'cbr_build_conf'
+          packages: '${{ github.event.repository.name }}'
+          overrides: |
+            ${{ steps.code_quality.outputs.overrides }}
+          manifest: |
+            ${{ steps.code_quality.outputs.manifest }}

.github/workflows/runner-ci-lint.yml

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+# This file configures a set of analyzers, which statically check code and configuration files
+# using the following tools copyright, cppcheck, cpplint, gtest, lint_cmake, linter, uncrustify,
+# xmllint. These tools look for formation errors, patterns and other warnings.
+#
+# Checkout This action checks-out your repository under $GITHUB_WORKSPACE,
+# so your workflow can access it.
+# https://github.com/actions/checkout
+# https://github.com/marketplace/actions/checkout
+#
+# ROS 2 Tooling Working Group
+# Github action to run linters on ROS 2 packages
+# https://github.com/ros-tooling/action-ros-lint
+# rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-desktop-latest
+# https://github.com/ros-tooling/setup-ros-docker
+# https://hub.docker.com/r/rostooling/setup-ros-docker/tags
+
+name: lint-runner
+
+on:
+  push:
+    branches: ['main']
+  pull_request:
+
+env:
+  AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true
+
+jobs:
+  ament_lint_general:
+    name: ament_${{ matrix.linter }}
+    strategy:
+      fail-fast: false
+      matrix:
+        linter:  [cppcheck, cpplint, copyright, flake8, lint_cmake, pep257, uncrustify, xmllint]
+        distro:  [humble]
+        ubuntu:  [jammy]
+        package: [gazebo_ros_link_attacher]
+    runs-on: [self-hosted, colcon-hosted, linux, x64]
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.ubuntu }}-latest
+    steps:
+    -
+      if: ${{ matrix.linter == 'cpplint' }}
+      name: Set env ${{ matrix.linter }}
+      run: |
+          echo "LINT_ARGUMENTS=--linelength=120" >> $GITHUB_ENV
+
+    - uses: actions/checkout@v3
+    - uses: ros-tooling/[email protected]
+    - uses: ros-tooling/action-ros-lint@master
+      with:
+        linter: ${{ matrix.linter }}
+        distribution: ${{ matrix.distro }}
+        package-name: ${{ matrix.package }}
+        arguments: ${{ env.LINT_ARGUMENTS }}

CHANGELOG.md

@@ -0,0 +1,16 @@
+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+## [Unreleased]
+
+
+### Added
+
+
+## [0.1.0] - 2024-01-16
+
+### Changed
+
+### Fixed
+

CMakeLists.txt

@@ -1,86 +1,122 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(gazebo_ros_link_attacher)
 
-#####################################
-## Check c++11 / c++0x support ######
-#####################################
-include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-if(COMPILER_SUPPORTS_CXX11)
-  set(CMAKE_CXX_FLAGS "-std=c++11")
-elseif(COMPILER_SUPPORTS_CXX0X)
-  set(CMAKE_CXX_FLAGS "-std=c++0x")
-else()
-  message(FATAL_ERROR "Compiler ${CMAKE_CXX_COMPILER} has no C++11 support.")
+##########################
+## Set compiler options ##
+##########################
+add_compile_options(-std=c++17)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
-#####################################
-
-# Load catkin and all dependencies required for this package
-find_package(catkin REQUIRED COMPONENTS 
-  roscpp 
-  gazebo_ros
-  std_msgs
-  message_generation
-)
 
-# Depend on system install of Gazebo
-find_package(gazebo REQUIRED)
+set(CMAKE_CXX_FLAGS "-std=c++17 ${CMAKE_CXX_FLAGS}")
 
-add_service_files(
-  FILES
-  Attach.srv
-)
+########################
+
+# Load dependencies required for this package
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(gazebo_ros REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(gazebo REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(rmw_implementation_cmake REQUIRED)
 
 
 ## Generate added messages and services with any dependencies listed here
-generate_messages(
-  DEPENDENCIES
-  std_msgs
+rosidl_generate_interfaces(${PROJECT_NAME}
+  srv/Attach.srv
+  DEPENDENCIES builtin_interfaces std_msgs
 )
 
-###################################
-## catkin specific configuration ##
-###################################
-catkin_package(CATKIN_DEPENDS message_runtime)
+ament_export_dependencies(rosidl_default_runtime)
+
 
 ###########
 ## Build ##
 ###########
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(include)
-link_directories(${GAZEBO_LIBRARY_DIRS})
-include_directories(${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS})
+include_directories(include
+  ${gazebo_ros_INCLUDE_DIRS}
+  ${rclcpp_INCLUDE_DIRS}
+  ${std_msgs_INCLUDE_DIRS}
+  ${CMAKE_CURRENT_BINARY_DIR}/srv
+)
 
 ## Declare a cpp library
-add_library(${PROJECT_NAME} src/gazebo_ros_link_attacher.cpp)
+add_library(${PROJECT_NAME}_plugin SHARED src/gazebo_ros_link_attacher.cpp)
+
 
+# Connect targets with locally defined messages
+get_available_rmw_implementations(rmw_implementations2)
+foreach(rmw_implementation ${rmw_implementations2})
+  find_package("${rmw_implementation}" REQUIRED)
+  get_rmw_typesupport(typesupport_impls "${rmw_implementation}" LANGUAGE "cpp")
+  foreach(typesupport_impl ${typesupport_impls})
+    rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
+  endforeach()
+endforeach()
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
-add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})
+target_link_libraries(${PROJECT_NAME}_plugin
+  ${ament_cmake_LIBRARIES}
+  ${gazebo_ros_LIBRARIES}
+  ${rclcpp_LIBRARIES}
+  ${std_msgs_LIBRARIES}
+  "${cpp_typesupport_target}")
 
 
 #############
 ## Install ##
 #############
 
-install(PROGRAMS
-  scripts/demo.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+install(TARGETS ${PROJECT_NAME}_plugin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
 
-## Mark executables and/or libraries for installation
-install(TARGETS ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# List of scripts to install
+set(SCRIPTS
+  demo.py
+  demo_multiple.py
+  spawn_models.py
+  attach.py
+  detach.py
 )
 
+# Install each script
+foreach(SCRIPT ${SCRIPTS})
+  install(PROGRAMS
+    examples/${SCRIPT}
+    DESTINATION lib/${PROJECT_NAME}
+  )
+endforeach()
 
-foreach (dir launch)
+foreach(dir launch worlds)
   install(DIRECTORY ${dir}/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
-endforeach(dir)
+    DESTINATION share/${PROJECT_NAME}/${dir})
+endforeach()
+
+if(BUILD_DOCS)
+  find_package(ament_cmake_doxygen REQUIRED)
+  ament_doxygen(DOC_TITLE ${PROJECT_NAME})
+endif()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS True)
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE
+    ament_cmake_cpplint
+  )
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_cpplint REQUIRED)
+  ament_cpplint(MAX_LINE_LENGTH "120")
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()