Merge branch 'master' into master

.flake8

@@ -0,0 +1,6 @@
+[flake8]
+extend-ignore = E203, B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202
+import-order-style = google
+max-line-length = 99
+show-source = true
+statistics = true

.github/workflows/bump_version.yaml

@@ -1,60 +1,64 @@
+---
 name: Bump version
 on:
-  workflow_dispatch:
-    inputs:
-      name:
-        description: "Version to bump (major, minor, patch)"
-        default: "patch"
-        required: true
-  pull_request:
-    branches: master
-    types: [closed]
+    workflow_dispatch:
+        inputs:
+            name:
+                description: Version to bump (major, minor, patch)
+                default: patch
+                required: true
+    pull_request:
+        branches: master
+        types: [closed]
 
 jobs:
-  get-bump:
-    name: Get version bump
-    runs-on: ubuntu-latest
-    outputs:
-      bump: ${{ env.BUMP }}
-    steps:
-      - if: github.event_name == 'pull_request' && github.event.pull_request.merged == true
+    industrial_ci:
+        name: Industrial CI
+        uses: ./.github/workflows/industrial_ci.yaml
+
+    get-bump:
         name: Get version bump
-        id: get-version-bump
-        uses: husarion-ci/action-get-version-bump@v0.3.0
-      - if: github.event_name == 'pull_request' && github.event.pull_request.merged == true
-        run: echo "BUMP=${{ 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-latest
+        needs: industrial_ci
+        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:
+        name: Bump version
+        runs-on: ubuntu-latest
+        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.GITHUB_TOKEN }}
+                  git_user: action-bot
+                  git_email: action-bot@action-bot.com
 
-  catkin-release:
-    name: Bump version
-    runs-on: ubuntu-latest
-    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.GITHUB_TOKEN }}
-          git_user: action-bot
-          git_email: action-bot@action-bot.com
-
-  build-and-push-docker-image:
-    name: Create new docker image
-    runs-on: ubuntu-latest
-    needs: catkin-release
-    steps:
-      - name: trigger the endpoint
-        run: >
-          curl -X POST
-          -H "Accept: application/vnd.github+json"
-          -H "Authorization: Bearer ${{ secrets.GH_PAT }}"
-          https://api.github.com/repos/husarion/rosbot-xl-docker/dispatches
-          -d '{"event_type":"ros-package-update","client_payload":{"image_version":"${{ needs.catkin-release.outputs.new_version }}"}}'
+    build-and-push-docker-image:
+        name: Create new docker image
+        runs-on: ubuntu-latest
+        needs: catkin-release
+        steps:
+            - name: trigger the endpoint
+              run: >
+                  curl -X POST
+                  -H "Accept: application/vnd.github+json"
+                  -H "Authorization: Bearer ${{ secrets.GH_PAT }}"
+                  https://api.github.com/repos/husarion/rosbot-xl-docker/dispatches
+                  -d '{"event_type":"ros-package-update","client_payload":{"image_version":"${{ needs.catkin-release.outputs.new_version }}"}}'

.github/workflows/industrial_ci.yaml

@@ -0,0 +1,46 @@
+---
+name: Industrial CI
+on:
+    workflow_call:
+    workflow_dispatch:
+    push:
+
+
+jobs:
+    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/spellcheck-github-actions@0.33.1
+              name: Spellcheck
+
+    ros_industrial_ci:
+        name: ROS Industrial CI
+        needs:
+            - black
+            - spellcheck
+        strategy:
+            fail-fast: false
+            matrix:
+                ROS_DISTRO: [humble]
+        runs-on: ubuntu-latest
+        timeout-minutes: 16
+        steps:
+            - uses: actions/checkout@v3
+            - name: Clone installation requirements
+              shell: bash
+              run: python3 -m pip install -U vcstool && vcs import . < ./rosbot_xl/rosbot_xl_hardware.repos && vcs import . < ./rosbot_xl/rosbot_xl_simulation.repos
+            - uses: ros-industrial/industrial_ci@master
+              env:
+                  ROS_DISTRO: ${{matrix.ROS_DISTRO}}
+                  HUSARION_ROS_BUILD: simulation

.gitignore

@@ -5,8 +5,18 @@ demo/test/.env
 demo/id
 dev_utils/
 
-# ROS2
+# ROS 2 build folders
 build/
 install/
 log/
-__pycache__/
+__pycache__/
+
+# ROSbots submodules
+rosbot_hardware_interfaces/
+ros_components_description/
+rosbot_controllers/
+husarion/husarion_office_gz
+gazebosim/gz_ros2_control
+
+# pyspelling
+*.dic

.pre-commit-config.yaml

@@ -0,0 +1,71 @@
+---
+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: v2.2.6
+      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: 0.2.3
+      hooks:
+          - id: yamlfmt
+            files: ^.github|./\.yaml
+
+    - repo: https://github.com/psf/black
+      rev: 23.11.0
+      hooks:
+        - id: black
+          args: ["--line-length=99", "--preview"]
+
+    - repo: https://github.com/PyCQA/flake8
+      rev: 6.1.0
+      hooks:
+        - id: flake8
+          args: ["--ignore=E501,W503,E203"] # ignore too long line and line break before binary operator,
+                                       # 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

@@ -0,0 +1,53 @@
+matrix:
+- name: Python Source
+  aspell:
+    lang: en
+    d: en_US
+    camel-case: true
+  sources:
+  - 'rosbot*/**/*.py'
+
+  dictionary:
+    encoding: utf-8
+    output: wordlist.dic
+    wordlists:
+    - .wordlist.txt
+
+  pipeline:
+  - pyspelling.filters.python:
+      comments: true
+
+- name: Markdown sources
+  aspell:
+    lang: en
+    d: en_US
+    camel-case: true
+  sources:
+  - 'rosbot*/**/*.md'
+  - 'rosbot*/**/*.txt'
+  dictionary:
+    encoding: utf-8
+    output: wordlist.dic
+    wordlists:
+    - .wordlist.txt
+
+  pipeline:
+  - pyspelling.filters.text
+
+- name: XML sources
+  aspell:
+    lang: en
+    d: en_US
+    camel-case: true
+  sources:
+  - 'rosbot*/**/*.xacro'
+  - 'rosbot*/**/*.urdf'
+  - 'rosbot*/**/*.xml'
+  dictionary:
+    encoding: utf-8
+    output: wordlist.dic
+    wordlists:
+    - .wordlist.txt
+
+  pipeline:
+  - pyspelling.filters.xml

.wordlist.txt

@@ -0,0 +1,72 @@
+wordlist
+wordlists
+pyspelling
+metapackage
+preconfigured
+colcon
+rosbot_xl_description
+vcs
+vcstool
+rosdep
+rosdistro
+Dockerfiles
+gamepad
+teleoperation
+laserscan
+amcl
+env
+usr
+ros
+husarion
+apache
+http
+www
+urdf
+xacro
+imu
+xl
+rosbot
+https
+cmake
+github
+ament
+Wojciechowski
+Stepien
+Nowak
+Nikolas
+ROSbot
+Maciej
+Krzysztof
+extrinsics
+Duc
+Dominik
+bringup
+gz
+ign
+Jakub
+Delicat
+mecanum
+fdir
+webots
+accelerometer
+cmd
+config
+rl
+rr
+unstamped
+vel
+msg
+lidar
+gpu
+gazebosim
+msgs
+nav
+pytest
+FIXME
+TODO
+nan
+rclpy
+utils
+tf
+yaml
+odometry