ci test

husarion · Dec 3, 2023 · 4eba1b4 · 4eba1b4
1 parent 709648b
commit 4eba1b4
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diff --git a/.github/workflows/industrial_ci.yaml b/.github/workflows/industrial_ci.yaml
@@ -7,28 +7,28 @@ on:
 
 
 jobs:
-    black:
-        name: Black
-        runs-on: ubuntu-latest
-        steps:
-            - uses: actions/checkout@v3
-            - uses: psf/black@stable
-              with:
-                  options: --line-length=99
+    # 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
+    # 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
+        # needs:
+        #     - black
+        #     - spellcheck
         strategy:
             fail-fast: false
             matrix:

diff --git a/rosbot_bringup/launch/combined.launch.py b/rosbot_bringup/launch/combined.launch.py
@@ -12,79 +12,79 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from launch import LaunchDescription
-from launch.actions import (
-    IncludeLaunchDescription,
-    DeclareLaunchArgument,
-    SetEnvironmentVariable,
-    OpaqueFunction,
-)
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import ThisLaunchFileDir, LaunchConfiguration
-from launch_ros.actions import Node
-import os
+# from launch import LaunchDescription
+# from launch.actions import (
+#     IncludeLaunchDescription,
+#     DeclareLaunchArgument,
+#     SetEnvironmentVariable,
+#     OpaqueFunction,
+# )
+# from launch.launch_description_sources import PythonLaunchDescriptionSource
+# from launch.substitutions import ThisLaunchFileDir, LaunchConfiguration
+# from launch_ros.actions import Node
+# import os
 
 
-def generate_microros_agent_node(context, *args, **kwargs):
-    serial_port = LaunchConfiguration("serial_port").perform(context)
-    serial_baudrate = LaunchConfiguration("serial_baudrate").perform(context)
-    localhost_only_fastrtps_profiles_file = LaunchConfiguration(
-        "localhost_only_fastrtps_profiles_file"
-    ).perform(context)
+# def generate_microros_agent_node(context, *args, **kwargs):
+#     serial_port = LaunchConfiguration("serial_port").perform(context)
+#     serial_baudrate = LaunchConfiguration("serial_baudrate").perform(context)
+#     localhost_only_fastrtps_profiles_file = LaunchConfiguration(
+#         "localhost_only_fastrtps_profiles_file"
+#     ).perform(context)
 
-    if os.environ.get("ROS_LOCALHOST_ONLY") == "1":
-        # with localhost only setup fastdds is required with a custom config
-        rmw_implementation = "rmw_fastrtps_cpp"
-        return [
-            SetEnvironmentVariable(name="RMW_IMPLEMENTATION", value=rmw_implementation),
-            SetEnvironmentVariable(
-                name="FASTRTPS_DEFAULT_PROFILES_FILE", value=localhost_only_fastrtps_profiles_file
-            ),
-            Node(
-                package="micro_ros_agent",
-                executable="micro_ros_agent",
-                arguments=["serial", "-D", serial_port, "-b", serial_baudrate],
-                output="screen",
-            ),
-        ]
-    else:
-        return [
-            Node(
-                package="micro_ros_agent",
-                executable="micro_ros_agent",
-                arguments=["serial", "-D", serial_port, "-b", serial_baudrate],
-                output="screen",
-            )
-        ]
+#     if os.environ.get("ROS_LOCALHOST_ONLY") == "1":
+#         # with localhost only setup fastdds is required with a custom config
+#         rmw_implementation = "rmw_fastrtps_cpp"
+#         return [
+#             SetEnvironmentVariable(name="RMW_IMPLEMENTATION", value=rmw_implementation),
+#             SetEnvironmentVariable(
+#                 name="FASTRTPS_DEFAULT_PROFILES_FILE", value=localhost_only_fastrtps_profiles_file
+#             ),
+#             Node(
+#                 package="micro_ros_agent",
+#                 executable="micro_ros_agent",
+#                 arguments=["serial", "-D", serial_port, "-b", serial_baudrate],
+#                 output="screen",
+#             ),
+#         ]
+#     else:
+#         return [
+#             Node(
+#                 package="micro_ros_agent",
+#                 executable="micro_ros_agent",
+#                 arguments=["serial", "-D", serial_port, "-b", serial_baudrate],
+#                 output="screen",
+#             )
+#         ]
 
 
-def generate_launch_description():
-    declare_serial_port_arg = DeclareLaunchArgument(
-        "serial_port",
-        default_value="/dev/ttySERIAL",
-        description="Serial port for micro-ROS agent",
-    )
+# def generate_launch_description():
+#     declare_serial_port_arg = DeclareLaunchArgument(
+#         "serial_port",
+#         default_value="/dev/ttySERIAL",
+#         description="Serial port for micro-ROS agent",
+#     )
 
-    declare_serial_baudrate_arg = DeclareLaunchArgument(
-        "serial_baudrate", default_value="576000", description="Baud rate for serial communication"
-    )
+#     declare_serial_baudrate_arg = DeclareLaunchArgument(
+#         "serial_baudrate", default_value="576000", description="Baud rate for serial communication"
+#     )
 
-    declare_localhost_only_fastrtps_profiles_file_arg = DeclareLaunchArgument(
-        "localhost_only_fastrtps_profiles_file",
-        default_value="/microros_localhost_only.xml",
-        description="Path to the Fast RTPS default profiles file",
-    )
+#     declare_localhost_only_fastrtps_profiles_file_arg = DeclareLaunchArgument(
+#         "localhost_only_fastrtps_profiles_file",
+#         default_value="/microros_localhost_only.xml",
+#         description="Path to the Fast RTPS default profiles file",
+#     )
 
-    # bringup_launch = IncludeLaunchDescription(
-    #     PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/bringup.launch.py"])
-    # )
+#     # bringup_launch = IncludeLaunchDescription(
+#     #     PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/bringup.launch.py"])
+#     # )
 
-    return LaunchDescription(
-        [
-            declare_serial_port_arg,
-            declare_serial_baudrate_arg,
-            declare_localhost_only_fastrtps_profiles_file_arg,
-            OpaqueFunction(function=generate_microros_agent_node),
-            # bringup_launch,
-        ]
-    )
+#     return LaunchDescription(
+#         [
+#             declare_serial_port_arg,
+#             declare_serial_baudrate_arg,
+#             declare_localhost_only_fastrtps_profiles_file_arg,
+#             OpaqueFunction(function=generate_microros_agent_node),
+#             # bringup_launch,
+#         ]
+#     )