diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md index 9e3e216e..f84855b9 100644 --- a/.github/pull_request_template.md +++ b/.github/pull_request_template.md @@ -1,3 +1,3 @@ # TODO: specify bump command and remove this description -Bump version workflow is triggered when PR is closed, it bumps version and triggers docker build that will be tagged with version number. To use it you have to specify bump type, available commands: `bump::patch`, `bump::minor` and `bump::major` (simply leave one of them in PR description and remove this description). \ No newline at end of file +Bump version workflow is triggered when PR is closed, it bumps version and triggers docker build that will be tagged with version number. To use it you have to specify bump type, available commands: `bump::patch`, `bump::minor` and `bump::major` (simply leave one of them in PR description and remove this description). diff --git a/.github/workflows/black.yaml b/.github/workflows/black.yaml index a170ee47..ab5e1b3f 100644 --- a/.github/workflows/black.yaml +++ b/.github/workflows/black.yaml @@ -1,3 +1,4 @@ +--- name: Black python lint on: @@ -5,8 +6,10 @@ on: push: jobs: - lint: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v3 - - uses: psf/black@stable + lint: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - uses: psf/black@stable + with: + options: --line-length=99 diff --git a/.github/workflows/bump_version.yaml b/.github/workflows/bump_version.yaml index ba6d3ccc..69d5b39d 100644 --- a/.github/workflows/bump_version.yaml +++ b/.github/workflows/bump_version.yaml @@ -1,64 +1,63 @@ +--- name: Trigger rosbot-docker to build an image and bump version on: - workflow_dispatch: - inputs: - name: - description: "Version to bump (major, minor, patch)" - default: "patch" - required: true - pull_request: - branches: humble - types: [closed] + workflow_dispatch: + inputs: + name: + description: Version to bump (major, minor, patch) + default: patch + required: true + pull_request: + branches: humble + types: [closed] jobs: - 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 - outputs: - bump: ${{ env.BUMP }} - steps: - - if: github.event_name == 'pull_request' && github.event.pull_request.merged == true + get-bump: + if: github.event_name == 'pull_request' && github.event.action == 'closed' && github.event.pull_request.merged == true name: Get version bump - id: get-version-bump - uses: husarion-ci/action-get-version-bump@v0.3.0 - - if: github.event_name == 'pull_request' && github.event.pull_request.merged == true - run: echo "BUMP=${{ steps.get-version-bump.outputs.bump }}" >> $GITHUB_ENV - - if: github.event_name == 'workflow_dispatch' - run: echo "BUMP=${{ github.event.inputs.name }}" >> $GITHUB_ENV + runs-on: ubuntu-22.04 + outputs: + bump: ${{ env.BUMP }} + steps: + - if: github.event_name == 'pull_request' && github.event.pull_request.merged == true + name: Get version bump + id: get-version-bump + uses: husarion-ci/action-get-version-bump@v0.3.0 + - if: github.event_name == 'pull_request' && github.event.pull_request.merged == true + run: echo "BUMP=${{ steps.get-version-bump.outputs.bump }}" >> $GITHUB_ENV + - if: github.event_name == 'workflow_dispatch' + run: echo "BUMP=${{ 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 - needs: get-bump - outputs: - new_version: ${{ steps.catkin-release.outputs.new_version }} - steps: - - - name: Checkout - uses: actions/checkout@v2 - - - name: Catkin release - id: catkin-release - uses: husarion-ci/action-catkin-release@v0.1.4 - with: - bump: ${{ needs.get-bump.outputs.bump }} - github_token: ${{ secrets.GH_PAT }} - git_user: action-bot - git_email: action-bot@action-bot.com + 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 + needs: get-bump + outputs: + new_version: ${{ steps.catkin-release.outputs.new_version }} + steps: + - name: Checkout + uses: actions/checkout@v2 + - name: Catkin release + id: catkin-release + uses: husarion-ci/action-catkin-release@v0.1.4 + with: + bump: ${{ needs.get-bump.outputs.bump }} + github_token: ${{ secrets.GH_PAT }} + git_user: action-bot + git_email: action-bot@action-bot.com - 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 - needs: catkin-release - steps: - - name: trigger the endpoint - run: > - curl -X POST - -H "Accept: application/vnd.github+json" - -H "Authorization: Bearer ${{ secrets.GH_PAT }}" - https://api.github.com/repos/husarion/rosbot-docker/dispatches - -d '{"event_type":"ros-package-update"}' \ No newline at end of file + 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 + needs: catkin-release + steps: + - name: trigger the endpoint + run: > + curl -X POST + -H "Accept: application/vnd.github+json" + -H "Authorization: Bearer ${{ secrets.GH_PAT }}" + https://api.github.com/repos/husarion/rosbot-docker/dispatches + -d '{"event_type":"ros-package-update"}' diff --git a/.github/workflows/industrial_ci.yaml b/.github/workflows/industrial_ci.yaml index c77dad06..a3701751 100644 --- a/.github/workflows/industrial_ci.yaml +++ b/.github/workflows/industrial_ci.yaml @@ -1,22 +1,21 @@ +--- name: Industrial CI on: - workflow_call: - push: + workflow_call: + push: jobs: - industrial_ci: - strategy: - fail-fast: false - matrix: - ROS_DISTRO: [humble] - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v3 - - name: Clone installation requirements - shell: bash - run : python3 -m pip install -U vcstool && - vcs import . < ./rosbot/rosbot_hardware.repos && - vcs import . < ./rosbot/rosbot_simulation.repos - - uses: ros-industrial/industrial_ci@master - env: - ROS_DISTRO: ${{matrix.ROS_DISTRO}} \ No newline at end of file + industrial_ci: + strategy: + fail-fast: false + matrix: + ROS_DISTRO: [humble] + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - name: Clone installation requirements + shell: bash + run: python3 -m pip install -U vcstool && vcs import . < ./rosbot/rosbot_hardware.repos && vcs import . < ./rosbot/rosbot_simulation.repos + - uses: ros-industrial/industrial_ci@master + env: + ROS_DISTRO: ${{matrix.ROS_DISTRO}} diff --git a/.github/workflows/spellcheck.yaml b/.github/workflows/spellcheck.yaml index 77473bdd..36f304fe 100644 --- a/.github/workflows/spellcheck.yaml +++ b/.github/workflows/spellcheck.yaml @@ -1,14 +1,15 @@ +--- name: Spellcheck Action on: - workflow_call: - push: + workflow_call: + push: jobs: - build: - name: Spellcheck - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v3 - - uses: rojopolis/spellcheck-github-actions@0.33.1 - name: Spellcheck \ No newline at end of file + build: + name: Spellcheck + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - uses: rojopolis/spellcheck-github-actions@0.33.1 + name: Spellcheck diff --git a/.gitignore b/.gitignore index 929fbf49..f044df5f 100644 --- a/.gitignore +++ b/.gitignore @@ -1,8 +1,10 @@ .vscode +*.pyc + +# ROS 2 build folders build install log -*.pyc # ROSbots submodules rosbot_hardware_interfaces/ diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 00000000..d3522021 --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,70 @@ +--- +repos: + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v4.5.0 + hooks: + - id: check-merge-conflict + - id: trailing-whitespace + - id: end-of-file-fixer + - id: check-yaml + - id: check-xml + - id: check-added-large-files + - id: check-ast + - id: check-json + - id: name-tests-test + files: ^.*\/test\/.*$ + args: [--pytest-test-first] + + - repo: https://github.com/codespell-project/codespell + rev: v1.16.0 + hooks: + - id: codespell + name: codespell + description: Checks for common misspellings in text files. + entry: codespell * + language: python + types: [text] + + - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt + rev: 0.2.1 + hooks: + - id: yamlfmt + files: ^.github|./\.yaml + + - repo: https://github.com/psf/black + rev: 22.12.0 + hooks: + - id: black + args: ["--line-length=99"] + + - repo: https://github.com/PyCQA/flake8 + rev: 6.1.0 + hooks: + - id: flake8 + args: ["--ignore=E501"] # ignore too long line, black checks it + + - repo: local + hooks: + - id: ament_lint_cmake + name: ament_lint_cmake + description: Check format of CMakeLists.txt files. + entry: ament_lint_cmake + language: system + files: CMakeLists\.txt$ + + - repo: local + hooks: + - id: ament_copyright + name: ament_copyright + description: Check if copyright notice is available in all files. + stages: [commit] + entry: ament_copyright + language: system + + # Docs - RestructuredText hooks + - repo: https://github.com/PyCQA/doc8 + rev: v1.1.1 + hooks: + - id: doc8 + args: ['--max-line-length=100', '--ignore=D001'] + exclude: ^.*\/CHANGELOG\.rst/.*$ diff --git a/.pyspelling.yaml b/.pyspelling.yaml index 92205887..df8259ca 100644 --- a/.pyspelling.yaml +++ b/.pyspelling.yaml @@ -50,4 +50,4 @@ matrix: - .wordlist.txt pipeline: - - pyspelling.filters.xml \ No newline at end of file + - pyspelling.filters.xml diff --git a/.wordlist.txt b/.wordlist.txt index a0da9633..5a21da62 100644 --- a/.wordlist.txt +++ b/.wordlist.txt @@ -117,4 +117,6 @@ Delicat Jakub Bence Palacios -env \ No newline at end of file +env +pids +pgrep diff --git a/README.md b/README.md index b9ed442e..419f5fef 100644 --- a/README.md +++ b/README.md @@ -108,12 +108,28 @@ ros2 launch rosbot_gazebo simulation.launch.py ## Testing package +### pre-commit +[pre-commit configuration](.pre-commit-config.yaml) prepares plenty of tests helping for developing and contributing. Usage: + +```bash +# install pre-commit +pip install pre-commit + +# initialize pre-commit workspace +pre-commit install + +# manually run tests +pre-commit run -a +``` + +After initialization [pre-commit configuration](.pre-commit-config.yaml) will applied on every commit. + ### Industrial CI ``` colcon test ``` -> [!NOTE] +> [!NOTE] > Command `colcon test` does not build the code. Remember to build your code after changes. If tests finish with errors print logs: diff --git a/rosbot/CMakeLists.txt b/rosbot/CMakeLists.txt index 39350741..a6c2f3cf 100644 --- a/rosbot/CMakeLists.txt +++ b/rosbot/CMakeLists.txt @@ -3,4 +3,4 @@ project(rosbot) find_package(ament_cmake REQUIRED) -ament_package() \ No newline at end of file +ament_package() diff --git a/rosbot/rosbot_hardware.repos b/rosbot/rosbot_hardware.repos index b63efad9..27f4a344 100644 --- a/rosbot/rosbot_hardware.repos +++ b/rosbot/rosbot_hardware.repos @@ -10,4 +10,4 @@ repositories: rosbot_controllers: type: git url: https://github.com/husarion/rosbot_controllers - version: main \ No newline at end of file + version: main diff --git a/rosbot/rosbot_simulation.repos b/rosbot/rosbot_simulation.repos index 4c6dcf5a..a4014f93 100644 --- a/rosbot/rosbot_simulation.repos +++ b/rosbot/rosbot_simulation.repos @@ -3,7 +3,7 @@ repositories: type: git url: https://github.com/ros-controls/gz_ros2_control.git # on branch humble hardware isn't activated - # recently on master API breaking change was introduced, it is necessay to use commit before this change + # recently on master API breaking change was introduced, it is necessary to use commit before this change version: b296ff2f5c3758b637a70bd496fe6ed875ab03ce husarion/husarion_office_gz: diff --git a/rosbot_bringup/launch/bringup.launch.py b/rosbot_bringup/launch/bringup.launch.py index d1c8114b..30b85f65 100644 --- a/rosbot_bringup/launch/bringup.launch.py +++ b/rosbot_bringup/launch/bringup.launch.py @@ -51,8 +51,7 @@ def generate_launch_description(): "mecanum", default_value="False", description=( - "Whether to use mecanum drive controller " - "(otherwise diff drive controller is used)" + "Whether to use mecanum drive controller (otherwise diff drive controller is used)" ), ) diff --git a/rosbot_bringup/setup.py b/rosbot_bringup/setup.py index b31703b9..bf5e8ba5 100644 --- a/rosbot_bringup/setup.py +++ b/rosbot_bringup/setup.py @@ -1,3 +1,17 @@ +# Copyright 2023 Husarion +# +# 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. + import os from glob import glob from setuptools import find_packages, setup diff --git a/rosbot_bringup/test/test_diff_drive_ekf.py b/rosbot_bringup/test/test_diff_drive_ekf.py index aef6d8e7..c9b1bea8 100644 --- a/rosbot_bringup/test/test_diff_drive_ekf.py +++ b/rosbot_bringup/test/test_diff_drive_ekf.py @@ -23,7 +23,7 @@ from launch.actions import IncludeLaunchDescription from launch.substitutions import PathJoinSubstitution from launch.launch_description_sources import PythonLaunchDescriptionSource -from bringup_test_node import BringupTestNode +from test_utils import BringupTestNode @launch_pytest.fixture diff --git a/rosbot_bringup/test/test_flake8.py b/rosbot_bringup/test/test_flake8.py index ee79f31a..49c1644f 100644 --- a/rosbot_bringup/test/test_flake8.py +++ b/rosbot_bringup/test/test_flake8.py @@ -20,6 +20,4 @@ @pytest.mark.linter def test_flake8(): rc, errors = main_with_errors(argv=[]) - assert rc == 0, "Found %d code style errors / warnings:\n" % len( - errors - ) + "\n".join(errors) + assert rc == 0, "Found %d code style errors / warnings:\n" % len(errors) + "\n".join(errors) diff --git a/rosbot_bringup/test/test_mecanum_ekf.py b/rosbot_bringup/test/test_mecanum_ekf.py index ab473e08..d46b29cc 100644 --- a/rosbot_bringup/test/test_mecanum_ekf.py +++ b/rosbot_bringup/test/test_mecanum_ekf.py @@ -23,7 +23,7 @@ from launch.actions import IncludeLaunchDescription from launch.substitutions import PathJoinSubstitution from launch.launch_description_sources import PythonLaunchDescriptionSource -from bringup_test_node import BringupTestNode +from test_utils import BringupTestNode @launch_pytest.fixture diff --git a/rosbot_bringup/test/bringup_test_node.py b/rosbot_bringup/test/test_utils.py similarity index 92% rename from rosbot_bringup/test/bringup_test_node.py rename to rosbot_bringup/test/test_utils.py index d40cb4a1..36ff36f4 100644 --- a/rosbot_bringup/test/bringup_test_node.py +++ b/rosbot_bringup/test/test_utils.py @@ -38,9 +38,7 @@ def __init__(self, name="test_node"): def create_test_subscribers_and_publishers(self): self.imu_publisher = self.create_publisher(Imu, "_imu/data_raw", 10) - self.joint_states_publisher = self.create_publisher( - JointState, "_motors_response", 10 - ) + self.joint_states_publisher = self.create_publisher(JointState, "_motors_response", 10) self.tf_buffer = Buffer() self.tf_listener = TransformListener(self.tf_buffer, self) @@ -55,9 +53,7 @@ def lookup_transform_odom(self): self.get_logger().error(f"Could not transform odom to base_link: {ex}") def start_node_thread(self): - self.ros_spin_thread = Thread( - target=lambda node: rclpy.spin(node), args=(self,) - ) + self.ros_spin_thread = Thread(target=lambda node: rclpy.spin(node), args=(self,)) self.ros_spin_thread.start() def start_publishing_fake_hardware(self): diff --git a/rosbot_controller/config/mecanum_drive_controller.yaml b/rosbot_controller/config/mecanum_drive_controller.yaml index 4f4df446..f0c21c1b 100644 --- a/rosbot_controller/config/mecanum_drive_controller.yaml +++ b/rosbot_controller/config/mecanum_drive_controller.yaml @@ -101,4 +101,4 @@ rosbot_base_controller: # min_velocity - When unspecified, -max_velocity is used max_acceleration: 4.0 # rad/s^2 # min_acceleration - When unspecified, -max_acceleration is used. - max_jerk: 0.0 # rad/s^3 \ No newline at end of file + max_jerk: 0.0 # rad/s^3 diff --git a/rosbot_controller/launch/controller.launch.py b/rosbot_controller/launch/controller.launch.py index 93620931..f6382f6b 100644 --- a/rosbot_controller/launch/controller.launch.py +++ b/rosbot_controller/launch/controller.launch.py @@ -35,8 +35,7 @@ def generate_launch_description(): "mecanum", default_value="False", description=( - "Whether to use mecanum drive controller " - "(otherwise diff drive controller is used)" + "Whether to use mecanum drive controller (otherwise diff drive controller is used)" ), ) @@ -154,12 +153,10 @@ def generate_launch_description(): ) # Delay start of robot_controller after joint_state_broadcaster - delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = ( - RegisterEventHandler( - event_handler=OnProcessExit( - target_action=joint_state_broadcaster_spawner, - on_exit=[robot_controller_spawner], - ) + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_broadcaster_spawner, + on_exit=[robot_controller_spawner], ) ) diff --git a/rosbot_controller/package.xml b/rosbot_controller/package.xml index 218e6df7..e9b36aa2 100644 --- a/rosbot_controller/package.xml +++ b/rosbot_controller/package.xml @@ -53,4 +53,4 @@ ament_python - \ No newline at end of file + diff --git a/rosbot_controller/setup.py b/rosbot_controller/setup.py index 20164df8..3812e353 100644 --- a/rosbot_controller/setup.py +++ b/rosbot_controller/setup.py @@ -1,3 +1,17 @@ +# Copyright 2023 Husarion +# +# 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. + import os from glob import glob from setuptools import find_packages, setup diff --git a/rosbot_controller/test/test_diff_drive_controllers.py b/rosbot_controller/test/test_diff_drive_controllers.py index 49fe6185..4f0c8f5d 100644 --- a/rosbot_controller/test/test_diff_drive_controllers.py +++ b/rosbot_controller/test/test_diff_drive_controllers.py @@ -23,7 +23,7 @@ from launch.actions import IncludeLaunchDescription from launch.substitutions import PathJoinSubstitution from launch.launch_description_sources import PythonLaunchDescriptionSource -from controllers_test_node import ControllersTestNode +from test_utils import ControllersTestNode @launch_pytest.fixture @@ -66,9 +66,7 @@ def test_controllers_startup_fail(): not msgs_received_flag ), "Expected Odom message not received. Check rosbot_base_controller!" 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, "Expected Imu message not received. Check imu_broadcaster!" finally: rclpy.shutdown() diff --git a/rosbot_controller/test/test_flake8.py b/rosbot_controller/test/test_flake8.py index ee79f31a..49c1644f 100644 --- a/rosbot_controller/test/test_flake8.py +++ b/rosbot_controller/test/test_flake8.py @@ -20,6 +20,4 @@ @pytest.mark.linter def test_flake8(): rc, errors = main_with_errors(argv=[]) - assert rc == 0, "Found %d code style errors / warnings:\n" % len( - errors - ) + "\n".join(errors) + assert rc == 0, "Found %d code style errors / warnings:\n" % len(errors) + "\n".join(errors) diff --git a/rosbot_controller/test/test_mecanum_controllers.py b/rosbot_controller/test/test_mecanum_controllers.py index 4832da88..b45f3729 100644 --- a/rosbot_controller/test/test_mecanum_controllers.py +++ b/rosbot_controller/test/test_mecanum_controllers.py @@ -23,7 +23,7 @@ from launch.actions import IncludeLaunchDescription from launch.substitutions import PathJoinSubstitution from launch.launch_description_sources import PythonLaunchDescriptionSource -from controllers_test_node import ControllersTestNode +from test_utils import ControllersTestNode @launch_pytest.fixture @@ -66,9 +66,7 @@ def test_controllers_startup_fail(): not msgs_received_flag ), "Expected Odom message not received. Check rosbot_base_controller!" 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, "Expected Imu message not received. Check imu_broadcaster!" finally: rclpy.shutdown() diff --git a/rosbot_controller/test/controllers_test_node.py b/rosbot_controller/test/test_utils.py similarity index 88% rename from rosbot_controller/test/controllers_test_node.py rename to rosbot_controller/test/test_utils.py index ef9835eb..db48c06a 100644 --- a/rosbot_controller/test/controllers_test_node.py +++ b/rosbot_controller/test/test_utils.py @@ -44,22 +44,16 @@ def create_test_subscribers_and_publishers(self): Odometry, "/rosbot_base_controller/odom", self.odometry_callback, 10 ) - self.imu_sub = self.create_subscription( - Imu, "/imu_broadcaster/imu", self.imu_callback, 10 - ) + self.imu_sub = self.create_subscription(Imu, "/imu_broadcaster/imu", self.imu_callback, 10) self.imu_publisher = self.create_publisher(Imu, "_imu/data_raw", 10) - self.joint_states_publisher = self.create_publisher( - JointState, "_motors_response", 10 - ) + self.joint_states_publisher = self.create_publisher(JointState, "_motors_response", 10) self.timer = None def start_node_thread(self): - self.ros_spin_thread = Thread( - target=lambda node: rclpy.spin(node), args=(self,) - ) + self.ros_spin_thread = Thread(target=lambda node: rclpy.spin(node), args=(self,)) self.ros_spin_thread.start() def joint_states_callback(self, data): diff --git a/rosbot_controller/test/test_xacro.py b/rosbot_controller/test/test_xacro.py index c8ae93ca..17216c75 100644 --- a/rosbot_controller/test/test_xacro.py +++ b/rosbot_controller/test/test_xacro.py @@ -25,9 +25,7 @@ def test_rosbot_description_parsing(): simulation_engine_values = ["ignition-gazebo", "webots"] # 'gazebo-classic' all_combinations = list( - itertools.product( - mecanum_values, use_sim_values, use_gpu_values, simulation_engine_values - ) + itertools.product(mecanum_values, use_sim_values, use_gpu_values, simulation_engine_values) ) for combination in all_combinations: diff --git a/rosbot_description/CMakeLists.txt b/rosbot_description/CMakeLists.txt index 8b8dfc0e..da0671ea 100644 --- a/rosbot_description/CMakeLists.txt +++ b/rosbot_description/CMakeLists.txt @@ -9,4 +9,4 @@ install(DIRECTORY DESTINATION share/${PROJECT_NAME} ) -ament_package() \ No newline at end of file +ament_package() diff --git a/rosbot_description/meshes/mecanum_a.dae b/rosbot_description/meshes/mecanum_a.dae index 04f2202b..e81b5ad1 100644 --- a/rosbot_description/meshes/mecanum_a.dae +++ b/rosbot_description/meshes/mecanum_a.dae @@ -170,4 +170,4 @@ - \ No newline at end of file + diff --git a/rosbot_description/meshes/mecanum_b.dae b/rosbot_description/meshes/mecanum_b.dae index 0e839aed..2f3b1341 100644 --- a/rosbot_description/meshes/mecanum_b.dae +++ b/rosbot_description/meshes/mecanum_b.dae @@ -170,4 +170,4 @@ - \ No newline at end of file + diff --git a/rosbot_description/meshes/wheel_a.dae b/rosbot_description/meshes/wheel_a.dae index f49e5032..ecad5e4d 100644 --- a/rosbot_description/meshes/wheel_a.dae +++ b/rosbot_description/meshes/wheel_a.dae @@ -228,4 +228,4 @@ - \ No newline at end of file + diff --git a/rosbot_description/meshes/wheel_b.dae b/rosbot_description/meshes/wheel_b.dae index e5eb8af0..94cde797 100644 --- a/rosbot_description/meshes/wheel_b.dae +++ b/rosbot_description/meshes/wheel_b.dae @@ -159,4 +159,4 @@ - \ No newline at end of file + diff --git a/rosbot_description/package.xml b/rosbot_description/package.xml index 4c0cbfa8..e42f73f1 100644 --- a/rosbot_description/package.xml +++ b/rosbot_description/package.xml @@ -20,4 +20,4 @@ ament_cmake - \ No newline at end of file + diff --git a/rosbot_description/urdf/body.urdf.xacro b/rosbot_description/urdf/body.urdf.xacro index 955fd01d..53505b58 100644 --- a/rosbot_description/urdf/body.urdf.xacro +++ b/rosbot_description/urdf/body.urdf.xacro @@ -85,4 +85,4 @@ - \ No newline at end of file + diff --git a/rosbot_description/urdf/components/vl53lox.urdf.xacro b/rosbot_description/urdf/components/vl53lox.urdf.xacro index 6ae8e3cd..bcbe6ec6 100644 --- a/rosbot_description/urdf/components/vl53lox.urdf.xacro +++ b/rosbot_description/urdf/components/vl53lox.urdf.xacro @@ -49,4 +49,4 @@ - \ No newline at end of file + diff --git a/rosbot_description/urdf/rosbot.urdf.xacro b/rosbot_description/urdf/rosbot.urdf.xacro index 81d14180..d3b27224 100644 --- a/rosbot_description/urdf/rosbot.urdf.xacro +++ b/rosbot_description/urdf/rosbot.urdf.xacro @@ -24,4 +24,4 @@ rpy="0.0 0.0 0.0" simulation_engine="$(arg simulation_engine)" /> - \ No newline at end of file + diff --git a/rosbot_description/urdf/rosbot_macro.urdf.xacro b/rosbot_description/urdf/rosbot_macro.urdf.xacro index eddd2c46..4f3d8613 100644 --- a/rosbot_description/urdf/rosbot_macro.urdf.xacro +++ b/rosbot_description/urdf/rosbot_macro.urdf.xacro @@ -206,4 +206,4 @@ - \ No newline at end of file + diff --git a/rosbot_description/urdf/wheel.urdf.xacro b/rosbot_description/urdf/wheel.urdf.xacro index 167468d0..5fe9e7c2 100644 --- a/rosbot_description/urdf/wheel.urdf.xacro +++ b/rosbot_description/urdf/wheel.urdf.xacro @@ -105,4 +105,4 @@ - \ No newline at end of file + diff --git a/rosbot_gazebo/launch/simulation.launch.py b/rosbot_gazebo/launch/simulation.launch.py index 85508098..47e272cc 100644 --- a/rosbot_gazebo/launch/simulation.launch.py +++ b/rosbot_gazebo/launch/simulation.launch.py @@ -35,8 +35,7 @@ def generate_launch_description(): "mecanum", default_value="False", description=( - "Whether to use mecanum drive controller " - "(otherwise diff drive controller is used)" + "Whether to use mecanum drive controller (otherwise diff drive controller is used)" ), ) diff --git a/rosbot_gazebo/package.xml b/rosbot_gazebo/package.xml index 307c4bd9..d58bfa30 100644 --- a/rosbot_gazebo/package.xml +++ b/rosbot_gazebo/package.xml @@ -40,4 +40,4 @@ ament_python - \ No newline at end of file + diff --git a/rosbot_gazebo/setup.py b/rosbot_gazebo/setup.py index 06ca4476..0d432bd4 100644 --- a/rosbot_gazebo/setup.py +++ b/rosbot_gazebo/setup.py @@ -1,3 +1,17 @@ +# Copyright 2023 Husarion +# +# 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. + import os from glob import glob from setuptools import find_packages, setup diff --git a/rosbot_gazebo/test/test_diff_drive_simulation.py b/rosbot_gazebo/test/test_diff_drive_simulation.py index 25dc7ed7..34a8019c 100644 --- a/rosbot_gazebo/test/test_diff_drive_simulation.py +++ b/rosbot_gazebo/test/test_diff_drive_simulation.py @@ -24,8 +24,8 @@ from launch.substitutions import PathJoinSubstitution from launch.launch_description_sources import PythonLaunchDescriptionSource -from simulation_test_node import SimulationTestNode -from kill_ign import kill_ign_linux_processes +from test_utils import SimulationTestNode +from test_ign_kill_utils import kill_ign_linux_processes @launch_pytest.fixture diff --git a/rosbot_gazebo/test/test_flake8.py b/rosbot_gazebo/test/test_flake8.py index ee79f31a..49c1644f 100644 --- a/rosbot_gazebo/test/test_flake8.py +++ b/rosbot_gazebo/test/test_flake8.py @@ -20,6 +20,4 @@ @pytest.mark.linter def test_flake8(): rc, errors = main_with_errors(argv=[]) - assert rc == 0, "Found %d code style errors / warnings:\n" % len( - errors - ) + "\n".join(errors) + assert rc == 0, "Found %d code style errors / warnings:\n" % len(errors) + "\n".join(errors) diff --git a/rosbot_gazebo/test/kill_ign.py b/rosbot_gazebo/test/test_ign_kill_utils.py similarity index 100% rename from rosbot_gazebo/test/kill_ign.py rename to rosbot_gazebo/test/test_ign_kill_utils.py diff --git a/rosbot_gazebo/test/test_mecanum_simulation.py b/rosbot_gazebo/test/test_mecanum_simulation.py index f4c425ea..3ade723a 100644 --- a/rosbot_gazebo/test/test_mecanum_simulation.py +++ b/rosbot_gazebo/test/test_mecanum_simulation.py @@ -24,8 +24,8 @@ from launch.substitutions import PathJoinSubstitution from launch.launch_description_sources import PythonLaunchDescriptionSource -from simulation_test_node import SimulationTestNode -from kill_ign import kill_ign_linux_processes +from test_utils import SimulationTestNode +from test_ign_kill_utils import kill_ign_linux_processes @launch_pytest.fixture diff --git a/rosbot_gazebo/test/simulation_test_node.py b/rosbot_gazebo/test/test_utils.py similarity index 93% rename from rosbot_gazebo/test/simulation_test_node.py rename to rosbot_gazebo/test/test_utils.py index 7fb5a4ac..ac0b7912 100644 --- a/rosbot_gazebo/test/simulation_test_node.py +++ b/rosbot_gazebo/test/test_utils.py @@ -64,18 +64,14 @@ def create_test_subscribers_and_publishers(self): Odometry, "/odometry/filtered", self.odometry_callback, 10 ) - self.scan_sub = self.create_subscription( - LaserScan, "/scan", self.scan_callback, 10 - ) + self.scan_sub = self.create_subscription(LaserScan, "/scan", self.scan_callback, 10) self.tf_buffer = Buffer() self.tf_listener = TransformListener(self.tf_buffer, self) self.timer = None def start_node_thread(self): - self.ros_spin_thread = Thread( - target=lambda node: rclpy.spin(node), args=(self,) - ) + self.ros_spin_thread = Thread(target=lambda node: rclpy.spin(node), args=(self,)) self.ros_spin_thread.start() self.timer = self.create_timer(1.0 / 10.0, self.timer_callback)