Workflow + pre commit (#76)

* Workflow + pre commit

* Update test_diff_drive_controllers.py

* Update test_mecanum_controllers.py

* Update .github/workflows/industrial_ci.yaml

.github/workflows/bump_version.yaml

@@ -1,6 +1,5 @@
 ---
-name: Trigger rosbot-docker to build an image and bump version
-
+name: Bump version
 on:
     workflow_dispatch:
         inputs:
@@ -13,10 +12,14 @@ on:
         types: [closed]
 
 jobs:
+    industrial_ci:
+        name: Industrial CI
+        uses: ./.github/workflows/industrial_ci.yaml
+
     get-bump:
-        if: github.event_name == 'pull_request' && github.event.action == 'closed' && github.event.pull_request.merged == true
         name: Get version bump
-        runs-on: ubuntu-22.04
+        runs-on: ubuntu-latest
+        needs: industrial_ci
         outputs:
             bump: ${{ env.BUMP }}
         steps:
@@ -30,9 +33,8 @@ jobs:
               run: echo "BUMP=${{ github.event.inputs.name }}" >> $GITHUB_ENV
 
     catkin-release:
-        if: github.event_name == 'pull_request' && github.event.action == 'closed' && github.event.pull_request.merged == true
         name: Bump version
-        runs-on: ubuntu-22.04
+        runs-on: ubuntu-latest
         needs: get-bump
         outputs:
             new_version: ${{ steps.catkin-release.outputs.new_version }}
@@ -49,9 +51,8 @@ jobs:
                   git_email: [email protected]
 
     build-and-push-docker-image:
-        if: github.event_name == 'pull_request' && github.event.action == 'closed' && github.event.pull_request.merged == true
         name: Create new docker image
-        runs-on: ubuntu-22.04
+        runs-on: ubuntu-latest
         needs: catkin-release
         steps:
             - name: trigger the endpoint

.github/workflows/industrial_ci.yaml

@@ -2,10 +2,33 @@
 name: Industrial CI
 on:
     workflow_call:
+    workflow_dispatch:
     push:
 
+
 jobs:
-    industrial_ci:
+    black:
+        name: Black
+        runs-on: ubuntu-latest
+        steps:
+            - uses: actions/checkout@v3
+            - uses: psf/black@stable
+              with:
+                  options: --line-length=99
+
+    spellcheck:
+        name: Spellcheck
+        runs-on: ubuntu-latest
+        steps:
+            - uses: actions/checkout@v3
+            - uses: rojopolis/[email protected]
+              name: Spellcheck
+
+    ros_industrial_ci:
+        name: ROS Industrial CI
+        needs:
+            - black
+            - spellcheck
         strategy:
             fail-fast: false
             matrix:

.pre-commit-config.yaml

@@ -32,16 +32,17 @@ repos:
             files: ^.github|./\.yaml
 
     - repo: https://github.com/psf/black
-      rev: 22.12.0
+      rev: 23.10.1
       hooks:
         - id: black
-          args: ["--line-length=99"]
+          args: ["--line-length=99", "--experimental-string-processing"]
 
     - repo: https://github.com/PyCQA/flake8
       rev: 6.1.0
       hooks:
         - id: flake8
-          args: ["--ignore=E501"] # ignore too long line, black checks it
+          args: ["--ignore=E501,W503"] # ignore too long line and line break before binary operator,
+                                       # black checks it
 
     - repo: local
       hooks:

rosbot_controller/test/test_diff_drive_controllers.py

@@ -58,15 +58,20 @@ def test_controllers_startup_fail():
 
         node.start_node_thread()
         msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
-        assert (
-            not msgs_received_flag
-        ), "Expected JointStates message not received. Check joint_state_broadcaster!"
+        assert not msgs_received_flag, (
+            "Received JointStates message that should not have appeared. Check whether other"
+            " robots are connected to your network.!"
+        )
         msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
-        assert (
-            not msgs_received_flag
-        ), "Expected Odom message not received. Check rosbot_base_controller!"
+        assert not msgs_received_flag, (
+            "Received Odom message that should not have appeared. Check whether other robots are"
+            " connected to your network.!"
+        )
         msgs_received_flag = node.imu_msg_event.wait(timeout=10.0)
-        assert not msgs_received_flag, "Expected Imu message not received. Check imu_broadcaster!"
+        assert not msgs_received_flag, (
+            "Received Imu message that should not have appeared. Check whether other robots are"
+            " connected to your network.!"
+        )
     finally:
         rclpy.shutdown()
 

rosbot_controller/test/test_mecanum_controllers.py

@@ -58,15 +58,20 @@ def test_controllers_startup_fail():
 
         node.start_node_thread()
         msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
-        assert (
-            not msgs_received_flag
-        ), "Expected JointStates message not received. Check joint_state_broadcaster!"
+        assert not msgs_received_flag, (
+            "Received JointStates message that should not have appeared. Check whether other"
+            " robots are connected to your network.!"
+        )
         msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
-        assert (
-            not msgs_received_flag
-        ), "Expected Odom message not received. Check rosbot_base_controller!"
+        assert not msgs_received_flag, (
+            "Received Odom message that should not have appeared. Check whether other robots are"
+            " connected to your network.!"
+        )
         msgs_received_flag = node.imu_msg_event.wait(timeout=10.0)
-        assert not msgs_received_flag, "Expected Imu message not received. Check imu_broadcaster!"
+        assert not msgs_received_flag, (
+            "Received Imu message that should not have appeared. Check whether other robots are"
+            " connected to your network.!"
+        )
     finally:
         rclpy.shutdown()
 

rosbot_gazebo/launch/simulation.launch.py

@@ -50,7 +50,7 @@ def generate_launch_description():
     declare_headless_arg = DeclareLaunchArgument(
         "headless",
         default_value="False",
-        description=("Run Gazebo Ignition in the headless mode"),
+        description="Run Gazebo Ignition in the headless mode",
     )
 
     headless_cfg = PythonExpression(