Add basic CI (#2)

* add docker config

* add github workflow

* add badges

* gitkeep meshes folder

* remove publish

.docker/Dockerfile

@@ -0,0 +1,14 @@
+ARG ROS_DISTRO="humble"
+FROM ros:${ROS_DISTRO}
+
+COPY . /ros2_dev/hk1d_ros2
+
+RUN apt update && \
+    apt install autoconf libtool -y
+RUN mkdir ec_dev && cd ec_dev && \
+    git clone https://gitlab.com/etherlab.org/ethercat.git && \
+    cd ethercat && \
+    git checkout stable-1.5 && \
+    ./bootstrap && \
+    ./configure --prefix=/usr/local/etherlab --disable-kernel && \
+    make && make install

.docker/README.md

@@ -0,0 +1,8 @@
+# hk1d ROS2 Docker Containers
+Provides a basic preconfigured docker container for development purposes.
+To use it, make sure you have [Docker](https://docs.docker.com/get-docker/) installed, then build and run the image :
+
+```shell
+$ docker build --tag hk1d_ros2:humble --file .docker/Dockerfile .
+$ docker run -it --privileged --network=host hk1d_ros2:humble
+```

.github/dependabot.yml

@@ -0,0 +1,13 @@
+# To get started with Dependabot version updates, you'll need to specify which
+# package ecosystems to update and where the package manifests are located.
+# Please see the documentation for all configuration options:
+# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates
+
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    # Workflow files stored in the
+    # default location of `.github/workflows`
+    directory: "/"
+    schedule:
+      interval: "weekly"

.github/workflows/ci-format.yml

@@ -0,0 +1,23 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - uses: actions/[email protected]
+      with:
+        python-version: '3.10'
+    - name: Install system hooks
+      run: sudo apt install -qq clang-format-14 cppcheck
+    - uses: pre-commit/[email protected]
+      with:
+        extra_args: --all-files --hook-stage manual

.github/workflows/ci.yml

@@ -0,0 +1,62 @@
+name: CI
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+jobs:
+  CI:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Prepare
+        run: |
+          mkdir -p ${{github.workspace}}/src
+      - uses: actions/checkout@v3
+        with:
+          path: src/hk1d_ros2
+
+      - name: Build Docker Image
+        uses: docker/build-push-action@v4
+        with:
+          tags: hk1d_ros2:humble
+          file: .docker/Dockerfile
+          push: false
+
+      - name: Build
+        uses: addnab/docker-run-action@v3
+        with:
+          image: hk1d_ros2:humble
+          options: -v ${{github.workspace}}/:/ros/
+          run: |
+            cd /ros
+            . /opt/ros/humble/setup.sh
+            vcs import . < src/hk1d_ros2/hk1d_ros2.repos
+            rosdep install --ignore-src --from-paths . -y -r && \
+            colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+      - name: Tests
+        uses: addnab/docker-run-action@v3
+        with:
+          image: hk1d_ros2:humble
+          options: -v ${{github.workspace}}/:/ros/
+          run: |
+            cd /ros
+            . /opt/ros/humble/setup.sh
+            vcs import . < src/hk1d_ros2/hk1d_ros2.repos
+            rosdep install --ignore-src --from-paths . -y -r && \
+            colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+            colcon test
+            colcon test-result
+
+      # - name: Upload Tests to Artifacts
+      #   uses: actions/upload-artifact@v3
+      #   if: always()
+      #   with:
+      #     name: test-results
+      #     path: build/*/test_results/*/*.xml
+
+      # - name: Publish Unit Test Results
+      #   uses: EnricoMi/publish-unit-test-result-action@v2
+      #   if: always()
+      #   with:
+      #     files: build/*/test_results/*/*.xml

README.md

@@ -1,6 +1,12 @@
 # hk1d_ros2
 
-ROS2 stack to use a 1-Dof haptic kit used at the ICube laboratory.
+ROS2 control stack for a 1-Dof haptic kit used at the ICube laboratory.
+
+
+[![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+[![CI](../../actions/workflows/ci.yml/badge.svg?branch=main)](../../actions/workflows/ci.yml?query=branch:main)
+
+***The current devs are based on the humble ROS 2 distribution (Ubuntu 22.04 LTS)***
 
 ## Installation
 
@@ -13,7 +19,8 @@ See for instance the [procedure](https://github.com/ICube-Robotics/ethercat_driv
 ```bash
 cd <ros_ws>/src
 git clone https://github.com/ICube-Robotics/hk1d_ros2.git
-vcs import src < src/hk1d_ros2/hk1d_ros2.repos  # MANDATORY!!!
+vcs import . < hk1d_ros2/hk1d_ros2.repos  # MANDATORY!!!
+cd ..
 rosdep install --ignore-src --from-paths . -y -r
 ```