Jazzy - General code maintenance (#123)

* support for RPi5 * restart ros2_control_node if error * minor fixes * Update controller.launch.py * fix mecanum lauch * Fix controller namespace (#115) * Fix controller namespace * spellcheck fix * use husarion-controller from main branch (#116) * added docker setup for local build * ros2 humble works without custom controllers * Cleaner logs from flash script (#108) * Clean up output of flash script * Pre commit * Cleaner * Specify concrete commands * Simplify * pre-commit fix * Clean up usb firmware * Clean up unused arguments (#118) * Add scan filter * Clean up * undo * added docker setup for local build * broken ros2 controller - previous worked fine * Clean up unused arguments * Fix workflow: Remove spellcheck (redundant), fix integration check * Fix multiple robot spawn * fixes * Delete tools folder * Pre-commit update and remove redundant flake8 * Fix some tests and set hash in vcs * Clean up * Move controller test to bringup and reduce test time * Fix lidar in simulation * Rename test files * Fix tests * Add scan_filtered test and improve workpace tree --------- Co-authored-by: Dominik Nowak <[email protected]> * Applied xml schemas for xmllint (#101) * applied package.xml template Signed-off-by: Jakub Delicat <[email protected]> * chronology Signed-off-by: Jakub Delicat <[email protected]> * Support Signed-off-by: Jakub Delicat <[email protected]> * Removed unnecessary dep Signed-off-by: Jakub Delicat <[email protected]> * DDS xml lint --------- Signed-off-by: Jakub Delicat <[email protected]> Co-authored-by: rafal-gorecki <[email protected]> * Some fixes * test * Pre-commit * pre-commit * Humble docker (#124) * Add hardware and sim Docker * Fix hardware docker * Fixes * Use packages-up-to * Add description to compose * Jazzy docker (#125) * Add hardware and sim Docker * Fix hardware docker * Fixes * Fixes * Simulation gz_gui fixes + use TwistStamped * Use packages-up-to * Add healthcheck + clean up * Add healthcheck + clean up * Remove combined.launch.py * Add User env to docker * Add devcontainer * Changes in healthcheck * Fix simulation * Red error info * Change healthcheck * Remove healthcheck arg * Fix workflow * Remove building imu_broadcaster * One more removal * update repos * Clean up * Update docs * Add launch arguments info * Add status info * add unsaved * fix * Simplify * Update URDF, fix mecanum sim, fix laser_filter ns, remove tf renaming * pre-commit * Fix ros2 controller with namespace * Fix building instructions * Fix indent * Fix mecanum controller * Remove camera test from sim * update * Adjust wheel_separation_multiplier param * Simplify docker --------- Signed-off-by: Jakub Delicat <[email protected]> Co-authored-by: dominikn <[email protected]> Co-authored-by: Jakub Delicat <[email protected]>
husarion · Dec 11, 2024 · 9ffafaa · 9ffafaa
1 parent 2760517
commit 9ffafaa
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diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
@@ -0,0 +1,37 @@
+FROM husarnet/ros:jazzy-ros-base
+
+ARG USERNAME=husarion
+ARG UID=1001
+ARG GID=$UID
+
+# Install development tools
+RUN apt update -q && \
+    apt upgrade -q -y && \
+    apt install -y --no-install-recommends \
+        python3-pip \
+        ros-dev-tools \
+        ros-$ROS_DISTRO-plotjuggler \
+        ros-$ROS_DISTRO-plotjuggler-ros \
+        ros-$ROS_DISTRO-rqt* \
+        ros-$ROS_DISTRO-rviz2 \
+        ros-$ROS_DISTRO-teleop-twist-keyboard
+
+# Create and switch to user
+RUN groupadd -g $GID $USERNAME && \
+    useradd -lm -u $UID -g $USERNAME -s /bin/bash $USERNAME && \
+    echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+USER $USERNAME
+
+# Setup workspace
+WORKDIR /home/$USERNAME/ros2_ws
+RUN mkdir -p /home/$USERNAME/ros2_ws/src && \
+    echo 'source /opt/ros/'$ROS_DISTRO'/setup.bash' >> /home/$USERNAME/.bashrc && \
+    echo 'source /home/'$USERNAME'/ros2_ws/install/setup.bash' >> /home/$USERNAME/.bashrc
+
+ENV TERM=xterm-256color
+ENV RCUTILS_COLORIZED_OUTPUT=1
+
+# Setup entrypoint
+COPY ./ros_entrypoint.sh /
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]
diff --git a/.devcontainer/compose.yaml b/.devcontainer/compose.yaml
@@ -0,0 +1,25 @@
+services:
+  devcontainer:
+    build: .
+    ipc: host
+    network_mode: host
+    privileged: true
+    tty: true
+    runtime: nvidia
+    volumes:
+      - ros2_ws_volume:/home/husarion/ros2_ws
+      - ../:/home/husarion/ros2_ws/src/rosbot_ros:cached
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - /home/${USER}/.ssh:/home/husarion/.ssh
+      - /lib/modules:/lib/modules:ro
+    environment:
+      - DISPLAY
+      - RMW_IMPLEMENTATION
+      - QT_X11_NO_MITSHM=1
+      - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all
+      - PIP_BREAK_SYSTEM_PACKAGES=1
+    command: sleep infinity
+
+volumes:
+  ros2_ws_volume:
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -0,0 +1,35 @@
+{
+  "dockerComposeFile": "compose.yaml",
+  "initializeCommand": "xhost +local:docker",
+  "service": "devcontainer",
+  "workspaceFolder": "/home/husarion/ros2_ws/src",
+  //   "postCreateCommand": "~/ros2_ws/src/ros/.vscode/scripts/install_dependencies.sh && ~/ros2_ws/src/ros/.vscode/scripts/install_dependencies.sh",
+  "shutdownAction": "stopCompose",
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "althack.ament-task-provider",
+        "charliermarsh.ruff",
+        "eamodio.gitlens",
+        "GitHub.copilot",
+        "ms-python.python",
+        "ms-iot.vscode-ros",
+        "ms-vscode.cpptools-extension-pack",
+        "smilerobotics.urdf",
+        "redhat.vscode-xml",
+        "tamasfe.even-better-toml",
+        "timonwong.shellcheck",
+        "streetsidesoftware.code-spell-checker",
+        "yzhang.markdown-all-in-one"
+      ],
+      "settings": {
+        "files.associations": {
+          "*.rviz": "yaml",
+          "*.srdf": "xml",
+          "*.urdf": "xml",
+          "*.xacro": "xml"
+        }
+      }
+    }
+  }
+}
diff --git a/.devcontainer/ros_entrypoint.sh b/.devcontainer/ros_entrypoint.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+# shellcheck disable=SC1090,SC1091
+set -e
+
+exec "$@"
diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
@@ -6,25 +6,11 @@ on:
   workflow_dispatch:
 
 jobs:
-  black:
-    name: Black
-    runs-on: ubuntu-24.04
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-      - name: Black
-        uses: psf/[email protected]
-        with:
-          options: --line-length=99
-
-  spellcheck:
-    name: Spellcheck
-    runs-on: ubuntu-24.04
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-      - name: Spellcheck
-        uses: rojopolis/[email protected]
+  pre-commit:
+    name: Pre-commit
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: jazzy
 
   industrial_ci:
     name: Industrial CI
@@ -36,35 +22,31 @@ jobs:
         ROS_DISTRO: [jazzy]
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
-
-      - name: Act + Docker fix
-        run: |
-          sudo chown runner:docker /var/run/docker.sock
+        uses: actions/checkout@v4
 
       - name: Setup ROS2 Workspace and Clone Repositories
         run: |
-          mkdir -p src
-          find . -maxdepth 1 -not -name src -not -name . -exec mv {} src/ \;
+          mkdir -p src/rosbot_ros
+          find . -maxdepth 1 -not -name src -not -name . -exec mv {} src/rosbot_ros \;
           python3 -m pip install -U vcstool
-          vcs import src < src/rosbot/rosbot_hardware.repos
-          vcs import src < src/rosbot/rosbot_simulation.repos
+          vcs import src < src/rosbot_ros/rosbot/rosbot_hardware.repos
+          vcs import src < src/rosbot_ros/rosbot/rosbot_simulation.repos
+          cp -r src/ros2_controllers/diff_drive_controller src/
+          cp -r src/ros2_controllers/imu_sensor_broadcaster src/
+          rm -rf src/ros2_controllers
 
         # Package micro_ros_msgs does not have industrial ci and tests does not pass.
         # For more information see https://github.com/micro-ROS/micro_ros_msgs/issues/7
       - name: Leave only ROSbot tests
         shell: bash
         run: |
           sed '/if(BUILD_TESTING)/,/endif()/d' src/micro_ros_msgs/CMakeLists.txt -i
-
-      - name: Fix pip
-        shell: bash
-        run: |
-          echo -e "[global]\nbreak-system-packages = true" >> ~/.config/pip/pip.conf
+          sed '/if(BUILD_TESTING)/,/endif()/d' src/ros_components_description/CMakeLists.txt -i
 
       - name: Running ROS Industrial CI
         uses: ros-industrial/industrial_ci@master
         env:
+          PIP_BREAK_SYSTEM_PACKAGES: 1
           ROS_DISTRO: ${{matrix.ROS_DISTRO}}
           DOCKER_IMAGE: ros:${{matrix.ROS_DISTRO}}-ros-base
           IMMEDIATE_TEST_OUTPUT: true
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -1,27 +1,51 @@
 ---
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v5.0.0
     hooks:
-      - id: check-merge-conflict
-      - id: trailing-whitespace
-      - id: end-of-file-fixer
-      - id: check-yaml
-      - id: check-xml
       - id: check-added-large-files
+        # mesh files has to be taken into account
+        args: [--maxkb=3000]
       - id: check-ast
       - id: check-json
+        exclude: ^.vscode/|^.devcontainer/
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: fix-byte-order-marker
       - id: name-tests-test
-        files: ^.*\/test\/.*$
-        args: [--pytest-test-first]
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+
+  - repo: https://github.com/PyCQA/isort
+    rev: 5.13.2
+    hooks:
+      - id: isort
+        args: [--profile, black]
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+      - id: cmake-format
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v19.1.4
+    hooks:
+      - id: clang-format
 
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.6
+    rev: v2.3.0
     hooks:
       - id: codespell
         name: codespell
         description: Checks for common misspellings in text files.
-        entry: codespell  *
+        entry: codespell
+        exclude_types: [rst, svg]
         language: python
         types: [text]
 
@@ -33,23 +57,16 @@ repos:
         args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
 
   - repo: https://github.com/psf/black
-    rev: 24.4.0
+    rev: 24.10.0
     hooks:
       - id: black
         args: [--line-length=99]
 
   - repo: https://github.com/PyCQA/flake8
-    rev: 7.0.0
+    rev: 7.1.1
     hooks:
       - id: flake8
-        args: ['--ignore=E501,W503']   # ignore too long line and line break before binary operator,
-                                       # black checks it
-
-  - repo: https://github.com/PyCQA/isort
-    rev: 5.13.2
-    hooks:
-      - id: isort
-        args: [--profile, black]
+        args: ['--ignore=E501,W503']
 
   - repo: local
     hooks:
@@ -65,14 +82,20 @@ repos:
       - id: ament_copyright
         name: ament_copyright
         description: Check if copyright notice is available in all files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_copyright
         language: system
+        exclude: ^.*\.md$
 
-      # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: v1.1.1
+    rev: v1.1.2
     hooks:
       - id: doc8
         args: [--max-line-length=100, --ignore=D001]
         exclude: ^.*\/CHANGELOG\.rst/.*$
+
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.10.0
+    hooks:
+      - id: prettier-package-xml
+      - id: sort-package-xml
diff --git a/.pyspelling.yaml b/.pyspelling.yaml