Continuous integration (#29)

Co-authored-by: Darko Lukic <[email protected]>

.github/workflows/ci.yml

@@ -0,0 +1,32 @@
+on:
+  pull_request:
+    types: [opened, synchronize, reopened, labeled, unlabeled]
+
+env:
+  WEBOTS_VERSION: 2021b
+  WEBOTS_OFFSCREEN: 1
+  CI: 1
+  DEBIAN_FRONTEND: noninteractive
+  QTWEBENGINE_DISABLE_SANDBOX: 1
+
+jobs:
+  ros2:
+    name: Build and test ROS 2 packages
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v2
+      - name: Install ROS2
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: foxy
+      - name: Install Webots
+        run: |
+          sudo -E apt-get update
+          sudo -E apt-get install -y wget dialog apt-utils psmisc
+          wget "https://github.com/cyberbotics/webots/releases/download/R$WEBOTS_VERSION/webots_${WEBOTS_VERSION}_amd64.deb"
+          sudo -E apt-get install -y "./webots_${WEBOTS_VERSION}_amd64.deb" xvfb
+      - name: Build packages and run and tests
+        uses: ros-tooling/[email protected]
+        with:
+          target-ros2-distro: foxy

.github/workflows/linter.yml

@@ -0,0 +1,24 @@
+on:
+  pull_request:
+    types: [opened, synchronize, reopened, labeled, unlabeled]
+
+jobs:
+  linter:
+    name: Check code using Ament linter
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        linter: [flake8, pep257, xmllint]
+        package: [mep3_driver, mep3_simulation]
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v2
+      - name: Install ROS2
+        uses: ros-tooling/[email protected]
+      - name: Run ${{ matrix.linter }} linter for ${{ matrix.package }}
+        uses: ros-tooling/[email protected]
+        with:
+          distribution: foxy
+          linter: ${{ matrix.linter }}
+          package-name: ${{ matrix.package }}

.gitignore

@@ -1,2 +1,6 @@
 .vscode/
 .idea/
+build/
+install/
+log/
+**.pyc

README.md

@@ -56,4 +56,13 @@ ros2 run teleop_twist_keyboard teleop_twist_keyboard
 To launch simulation with `rviz` and `nav2` run
 ```sh
 ros2 launch mep3_simulation robot_launch.py rviz:=true nav:=true
-```
+```
+
+## Testing
+
+- Change working directory to `foxy_ws`
+- Run the following command:
+```sh
+source /opt/ros/foxy/local_setup.bash
+colcon test --event-handlers console_cohesion+ --return-code-on-test-failure
+```

mep3_driver/launch/driver_launch.py

@@ -1,19 +1,22 @@
 import os
 import pathlib
-from launch import LaunchDescription
+
 from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
 from launch_ros.actions import Node
 
 
 def generate_launch_description():
     package_dir = get_package_share_directory('mep3_driver')
 
-    robot_description = pathlib.Path(os.path.join(package_dir, 'resource', 'mep3_big_config.urdf')).read_text()
-    ros2_control_params = os.path.join(package_dir, 'resource', 'mep3_big_ros2_control.yaml')
+    robot_description = pathlib.Path(os.path.join(
+        package_dir, 'resource', 'mep3_big_config.urdf')).read_text()
+    ros2_control_params = os.path.join(
+        package_dir, 'resource', 'mep3_big_ros2_control.yaml')
 
     controller_manager_node = Node(
-        package="controller_manager",
-        executable="ros2_control_node",
+        package='controller_manager',
+        executable='ros2_control_node',
         parameters=[
             {'robot_description': robot_description},
             ros2_control_params

mep3_driver/package.xml

@@ -16,6 +16,8 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

mep3_simulation/launch/robot_launch.py

@@ -1,11 +1,12 @@
 import os
 import pathlib
+
+from ament_index_python.packages import get_package_share_directory
 import launch
-from launch_ros.actions import Node
-from launch.substitutions import LaunchConfiguration
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from ament_index_python.packages import get_package_share_directory
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
 from webots_ros2_core.webots_launcher import WebotsLauncher
 
 
@@ -41,11 +42,12 @@ def generate_launch_description():
         arguments=['joint_state_broadcaster'] + controller_manager_timeout,
     )
 
-    # The node which interacts with a robot in the Webots simulation is located in the
-    # `webots_ros2_driver` package under name `driver`.
+    # The node which interacts with a robot in the Webots simulation is located
+    # in the `webots_ros2_driver` package under name `driver`.
     # It is necessary to run such a node for each robot in the simulation.
-    # Typically, we provide it the `robot_description` parameters from a URDF file and
-    # `ros2_control_params` from the `ros2_control` configuration file.
+    # Typically, we provide it the `robot_description` parameters from a URDF
+    # file and `ros2_control_params` from the `ros2_control`
+    # configuration file.
     webots_robot_driver = Node(
         package='webots_ros2_driver',
         executable='driver',
@@ -58,13 +60,13 @@ def generate_launch_description():
         ]
     )
 
-    # Often we want to publish robot transforms, so we use the `robot_state_publisher`
-    # node for that.
-    # If robot model is not specified in the URDF file then Webots can help us with the
-    # URDF exportation feature.
-    # Since the exportation feature is available only once the simulation has started and
-    # the `robot_state_publisher` node requires a `robot_description` parameter before we
-    # have to specify a dummy robot.
+    # Often we want to publish robot transforms, so we use the
+    # `robot_state_publisher` node for that.
+    # If robot model is not specified in the URDF file then Webots can help
+    # us with the URDF exportation feature.
+    # Since the exportation feature is available only once the simulation has
+    # started and the `robot_state_publisher` node requires a
+    # `robot_description` parameter before we have to specify a dummy robot.
     robot_state_publisher = Node(
         package='robot_state_publisher',
         executable='robot_state_publisher',

mep3_simulation/package.xml

@@ -9,7 +9,6 @@
   <depend>webots_ros2_driver</depend>
   <depend>webots_ros2_control</depend>
   <depend>robot_state_publisher</depend>
-  <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>

mep3_simulation/setup.py

@@ -1,7 +1,9 @@
-from setuptools import setup
 from glob import glob
 import os
 
+from setuptools import setup
+
+
 package_name = 'mep3_simulation'
 
 data = {
@@ -18,15 +20,18 @@
 }
 
 
-def files_in_directory(dir, extension=None):
+def files_in_directory(path, extension=None):
     files = []
-    for i in os.listdir(dir):
-        if not os.path.isdir(f'{dir}/{i}') and (extension is None or i.endswith(extension)):
-            files.append(f'{dir}/{i}')
+    for i in os.listdir(path):
+        if not os.path.isdir(f'{path}/{i}') and \
+                (extension is None or i.endswith(extension)):
+            files.append(f'{path}/{i}')
     return files
 
 
 data_files = []
+
+
 data_files.extend([
     ('share/ament_index/resource_index/packages',
         ['resource/' + package_name]),

mep3_simulation/test/test_flake8.py

@@ -1,17 +1,3 @@
-# Copyright 2017 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
 from ament_flake8.main import main_with_errors
 import pytest
 

mep3_simulation/test/test_pep257.py

@@ -1,17 +1,3 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
 from ament_pep257.main import main
 import pytest