Add namespace (#59)

* added tf_prefixes to the urdf Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * add namespace to world list Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * tf_prefix for controller Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * added namespace in mecanum test Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added namespace to bringup Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * added fixed namespaces to description and controller Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Updated worldlist Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * added multirobot test to controllers Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added rosbot_xl_bringup multirobot test Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * fixed .repos Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * updated submodules Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * updated industrial Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * first simulation launch Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * moved remapings to the urdf of intel Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * updated submodules Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added tf fixer | remapped pointcloud topic in .yaml Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * added astra Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added zed Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added namespaced velodyne Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * added remappings for velodyne Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * added tests from rosbot_ros | fixed imu Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * add to the worldlist Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * lint | added multirobot simulation tests Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * added multirobot tests | added tf_ros2_py dependency to the rosbot_ros Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * fixed xacro test Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * fixed removeing gz tests Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * created src insisde industrial ci Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * removed geometry2 Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Update industrial_ci.yaml * added psutil dep Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * added psutil dep Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * added psutil dep Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * formatted package.xml files | removed one robot from controller tests Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * updated package.xml in rosbot_xl_description Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * updated tests Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Removed multirobot tests Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Removed multirobot tests Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Revert "Removed multirobot tests" This reverts commit 30cf4c9. * Added delayed spawn for controllers Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added spawner to worldlist Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * bringup and controllers passes industrial Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Testing gazebo Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * industrial passes Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Passing industrial tests Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * removed comments Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added bringup and controller tests Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * typo Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Update test_multirobot_controllers.py * updated repos Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * rosbot_hardware_interfaces main to ros2 Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Add namespace suggestions (#60) * Workflow merge many steps and pre-commit * test bringup refactor * test controller refactor * test * New tests * typo * 2024 Husarion copyright * Jakub suggestions * revert older version of black * Add info * Next suggestions * spell fix * remove sleep * remove submodule * debug fix * timeout increase * Apply suggestions from code review Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> * Apply suggestions from code review * Update .github/workflows/bump_version.yaml --------- Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> --------- Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com>
husarion · Jan 31, 2024 · 3d66da3 · 3d66da3
1 parent cdcc601
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diff --git a/.flake8 b/.flake8
@@ -1,5 +1,5 @@
 [flake8]
-extend-ignore = E203, B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202
+extend-ignore = E203,E501,B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,E203
 import-order-style = google
 max-line-length = 99
 show-source = true

diff --git a/.github/workflows/bump_version.yaml b/.github/workflows/bump_version.yaml
@@ -1,64 +1,65 @@
 ---
 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:
-    industrial_ci:
-        name: Industrial CI
-        uses: ./.github/workflows/industrial_ci.yaml
+  industrial_ci:
+    name: Industrial CI
+    uses: ./.github/workflows/industrial_ci.yaml
 
-    get-bump:
+  get-bump:
+    name: Get version bump
+    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
-        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 }}" >> $GITHUB_ENV
+        id: get-version-bump
+        uses: husarion-ci/action-get-version-bump@v0.3.0
+      - if: github.event_name == 'pull_request' && github.event.pull_request.merged == true
+        run: echo "BUMP=${{ 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-docker-image:
+    name: Trigger rosbot-xl-docker to build 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
+          }}"}}'
diff --git a/.github/workflows/industrial_ci.yaml b/.github/workflows/industrial_ci.yaml
@@ -1,46 +1,56 @@
 ---
 name: Industrial CI
 on:
-    workflow_call:
-    workflow_dispatch:
-    push:
+  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
+  black:
+    name: Black
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: psf/black@stable
+        with:
+          options: --line-length=99
 
-    spellcheck:
+  spellcheck:
+    name: Spellcheck
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: rojopolis/spellcheck-github-actions@0.33.1
         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
+  ros_industrial_ci:
+    name: ROS Industrial CI
+    needs:
+      - black
+      - spellcheck
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
+    runs-on: ubuntu-latest
+    timeout-minutes: 30
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Setup ROS2 Workspace and Clone Repositories
+        run: |
+          mkdir -p src
+          find . -maxdepth 1 -not -name src -not -name . -exec mv {} src/ \;
+          python3 -m pip install -U vcstool
+          vcs import src < src/rosbot_xl/rosbot_xl_hardware.repos
+          vcs import src < src/rosbot_xl/rosbot_xl_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
+
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: ${{matrix.ROS_DISTRO}}
+          HUSARION_ROS_BUILD: simulation
diff --git a/.gitignore b/.gitignore
@@ -17,6 +17,10 @@ ros_components_description/
 rosbot_controllers/
 husarion/husarion_office_gz
 gazebosim/gz_ros2_control
+ros2_controllers/
+diff_drive_controller/
+imu_sensor_broadcaster/
+tf2_ros_py/
 
 # pyspelling
 *.dic
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -1,60 +1,62 @@
 ---
 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/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/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/jumanjihouse/pre-commit-hook-yamlfmt
+    rev: 0.2.3
+    hooks:
+      - id: yamlfmt
+        files: ^(?!.*compose)(?!.*ekf\.yaml$).*$
+        args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
 
-    - repo: https://github.com/psf/black
-      rev: 23.11.0
-      hooks:
-        - id: black
-          args: ["--line-length=99", "--preview"]
+  # Please keep this version until --experimental-string-processing come back or will be available by default
+  - repo: https://github.com/psf/black
+    rev: 23.11.0
+    hooks:
+      - id: black
+        args: [--line-length=99, --experimental-string-processing]
 
-    - 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,
+  - repo: https://github.com/PyCQA/flake8
+    rev: 7.0.0
+    hooks:
+      - id: flake8
+        args: ['--ignore=E501,W503']   # ignore too long line and line break before binary operator,
                                        # black checks it
 
-    - repo: local
-      hooks:
+  - 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:
+  - repo: local
+    hooks:
       - id: ament_copyright
         name: ament_copyright
         description: Check if copyright notice is available in all files.
@@ -63,9 +65,9 @@ repos:
         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/.*$
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.1
+    hooks:
+      - id: doc8
+        args: [--max-line-length=100, --ignore=D001]
+        exclude: ^.*\/CHANGELOG\.rst/.*$