Add pre commit

.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).
+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).

.github/workflows/black.yaml

@@ -1,12 +1,15 @@
+---
 name: Black python lint
 
 on:
     workflow_call:
     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

.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: ${{ env.BUMP }}
-    steps:
-      - if: github.event_name == 'pull_request' && github.event.pull_request.merged == true
+    get-bump:
+        if: github.event_name == 'pull_request' && github.event.action == 'closed' && github.event.pull_request.merged == true
         name: Get version bump
-        id: get-version-bump
-        uses: husarion-ci/[email protected]
-      - if: github.event_name == 'pull_request' && github.event.pull_request.merged == true
-        run: echo "BUMP=${{ 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: ${{ env.BUMP }}
+        steps:
+            - if: github.event_name == 'pull_request' && github.event.pull_request.merged == true
+              name: Get version bump
+              id: get-version-bump
+              uses: husarion-ci/[email protected]
+            - if: github.event_name == 'pull_request' && github.event.pull_request.merged == true
+              run: echo "BUMP=${{ 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/[email protected]
-        with:
-          bump: ${{ needs.get-bump.outputs.bump }}
-          github_token: ${{ secrets.GH_PAT }}
-          git_user: action-bot
-          git_email: [email protected]
+    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/[email protected]
+              with:
+                  bump: ${{ needs.get-bump.outputs.bump }}
+                  github_token: ${{ secrets.GH_PAT }}
+                  git_user: action-bot
+                  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
-    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"}'
+    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"}'

.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}}
+    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}}

.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/[email protected]
-      name: Spellcheck
+    build:
+        name: Spellcheck
+        runs-on: ubuntu-latest
+        steps:
+            - uses: actions/checkout@v3
+            - uses: rojopolis/[email protected]
+              name: Spellcheck

.gitignore

@@ -1,8 +1,9 @@
-.vscode
+*.pyc
+
+# ROS 2 build folders
 build
 install
 log
-*.pyc
 
 # ROSbots submodules
 rosbot_hardware_interfaces/

.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/.*$

.pyspelling.yaml

@@ -50,4 +50,4 @@ matrix:
     - .wordlist.txt
 
   pipeline:
-  - pyspelling.filters.xml
+  - pyspelling.filters.xml

.wordlist.txt

@@ -117,4 +117,6 @@ Delicat
 Jakub
 Bence
 Palacios
-env
+env
+pids
+pgrep

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:

rosbot/CMakeLists.txt

@@ -3,4 +3,4 @@ project(rosbot)
 
 find_package(ament_cmake REQUIRED)
 
-ament_package()
+ament_package()

rosbot/rosbot_hardware.repos

@@ -10,4 +10,4 @@ repositories:
   rosbot_controllers:
     type: git
     url: https://github.com/husarion/rosbot_controllers
-    version: main
+    version: main

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:

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)"
         ),
     )
 

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