From aebe93f113847ac257d65a3a93d0f87045d788b4 Mon Sep 17 00:00:00 2001 From: Jakub Delicat Date: Thu, 19 Oct 2023 03:14:59 +0200 Subject: [PATCH 01/35] added submodules to ignore | added settings and code extentions recommendations Signed-off-by: Jakub Delicat --- .gitignore | 10 ++++++++-- .vscode/extensions.json | 10 ++++++++++ .vscode/settings.json | 12 ++++++++++++ 3 files changed, 30 insertions(+), 2 deletions(-) create mode 100644 .vscode/extensions.json create mode 100644 .vscode/settings.json diff --git a/.gitignore b/.gitignore index 9b35f9d0..d8fd2b36 100644 --- a/.gitignore +++ b/.gitignore @@ -1,12 +1,18 @@ -.vscode/* .devcontainer/* demo/.env demo/test/.env demo/id dev_utils/ +# ROSbots submodules +rosbot_hardware_interfaces/ +ros_components_description/ +rosbot_controllers/ +husarion/husarion_office_gz +gazebosim/gz_ros2_control + # ROS2 build/ install/ log/ -__pycache__/ \ No newline at end of file +__pycache__/ diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 00000000..12b10b51 --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,10 @@ +{ + "recommendations": [ + "ms-iot.vscode-ros", + "ms-python.black-formatter", + "streetsidesoftware.code-spell-checker", + "kevinrose.vsc-python-indent", + "ms-python.python", + "shardulm94.trailing-spaces" + ] +} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 00000000..67d4694f --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,12 @@ +{ + "cSpell.customDictionaries": { + "project-words": { + "name": "Workspace Dictionary for Github Action", + "path": "${workspaceRoot}/.wordlist.txt", + "addWords": true + }, + "custom": true, + "internal-terms": false + }, + "files.insertFinalNewline": true +} From f2b2d15639504c7e590f42f66b19099b4a8ebb1d Mon Sep 17 00:00:00 2001 From: Jakub Delicat Date: Thu, 19 Oct 2023 03:46:31 +0200 Subject: [PATCH 02/35] End line Signed-off-by: Jakub Delicat --- LICENSE.txt | 6 +++--- README.md | 4 ++-- ROS_API.md | 10 +++++----- rosbot_xl/CMakeLists.txt | 2 +- rosbot_xl/rosbot_xl_hardware.repos | 2 +- rosbot_xl/rosbot_xl_simulation.repos | 2 +- rosbot_xl_bringup/CMakeLists.txt | 2 +- rosbot_xl_bringup/launch/bringup.launch.py | 2 +- rosbot_xl_controller/CMakeLists.txt | 2 +- rosbot_xl_controller/config/diff_drive_controller.yaml | 4 ++-- .../config/mecanum_drive_controller.yaml | 4 ++-- rosbot_xl_controller/launch/controller.launch.py | 2 +- rosbot_xl_description/CMakeLists.txt | 2 +- rosbot_xl_description/package.xml | 2 +- rosbot_xl_description/urdf/body.urdf.xacro | 2 +- .../urdf/components/antenna.urdf.xacro | 2 +- .../urdf/components/camera_mount.urdf.xacro | 2 +- rosbot_xl_description/urdf/rosbot_xl.urdf.xacro | 2 +- rosbot_xl_description/urdf/rosbot_xl_macro.urdf.xacro | 2 +- rosbot_xl_description/urdf/wheel.urdf.xacro | 2 +- rosbot_xl_gazebo/CMakeLists.txt | 2 +- rosbot_xl_gazebo/package.xml | 2 +- 22 files changed, 31 insertions(+), 31 deletions(-) diff --git a/LICENSE.txt b/LICENSE.txt index 8b1f1a64..a835c7d1 100644 --- a/LICENSE.txt +++ b/LICENSE.txt @@ -1,5 +1,5 @@ ROSBOT XL ROS PACKAGE LICENSING -The default license for ROSbot XL ROS package is the Apache License, Version 2.0 -(see LICENSE_APACHE2.txt); you may elect at your option to use the ROSbot XL ROS -package under the MIT License (see LICENSE_MIT.txt). Contributions must be +The default license for ROSbot XL ROS package is the Apache License, Version 2.0 +(see LICENSE_APACHE2.txt); you may elect at your option to use the ROSbot XL ROS +package under the MIT License (see LICENSE_MIT.txt). Contributions must be made under both licenses. diff --git a/README.md b/README.md index 32d53f5b..1c321b16 100644 --- a/README.md +++ b/README.md @@ -6,7 +6,7 @@ ROS2 packages for ROSbot XL ### `rosbot_xl` -Metapackeage that contains dependencies to other repositories. It is also used to define whether simulation dependencies should be used. +Metapackeage that contains dependencies to other repositories. It is also used to define whether simulation dependencies should be used. ### `rosbot_xl_bringup` @@ -78,7 +78,7 @@ colcon build ``` > **Prerequisites** -> +> > Before starting the software on the robot please make sure that you're using the latest firmware and run the `micro-ROS` agent (as described in the *Usage on hardware* step). Running: diff --git a/ROS_API.md b/ROS_API.md index 1908c250..41ebeb10 100644 --- a/ROS_API.md +++ b/ROS_API.md @@ -1,9 +1,9 @@ Use `bringup.launch.py` from `rosbot_xl_bringup` to start all base functionalities for ROSbot XL. It consists of the following parts: - `scan_to_scan_filter_chain` from `laser_filters`, it subscribes to `/scan` topic and removes all points that are within the robot's footprint (defined by config `laser_filter.yaml` in `rosbot_xl_bringup` package). Filtered laserscan is then published on `/scan_filtered` topic - + **Subscribes** - `/scan` (_sensor_msgs/LaserScan_) - + **Publishes** - `/scan_filtered` (_sensor_msgs/LaserScan_) @@ -12,13 +12,13 @@ Use `bringup.launch.py` from `rosbot_xl_bringup` to start all base functionaliti **Subscribes** - `/rosbot_xl_base_controller/odom` (_nav_msgs/Odometry_) - `/imu_broadcaster/imu` (_sensor_msgs/Imu_) - + **Publishes** - `/tf` (_tf2_msgs/TFMessage_) - `base_link`->`odom` transform - `/odometry/filtered` (_nav_msgs/Odometry_) -- `controller.launch.py` from `rosbot_xl_controller`, it loads robot model defined in `rosbot_xl_description` as well as ros2 control [rosbot_hardware_interfaces](https://github.com/husarion/rosbot_hardware_interfaces). It also starts controllers: +- `controller.launch.py` from `rosbot_xl_controller`, it loads robot model defined in `rosbot_xl_description` as well as ros2 control [rosbot_hardware_interfaces](https://github.com/husarion/rosbot_hardware_interfaces). It also starts controllers: * `joint_state_broadcaster` * `rosbot_xl_base_controller` - depending on the value of `mecanum` argument it can be `DiffDriveController` or `MecanumDriveController` * `imu_broadcaster` @@ -27,7 +27,7 @@ Use `bringup.launch.py` from `rosbot_xl_bringup` to start all base functionaliti - `/cmd_vel` (_geometry_msgs/Twist_) - `/_motors_responses` (_sensor_msgs/JointState_) - `/_imu/data_raw` (_sensor_msgs/Imu_) - + **Publishes** - `/tf` (_tf2_msgs/TFMessage_) - `/tf_static` (_tf2_msgs/TFMessage_) diff --git a/rosbot_xl/CMakeLists.txt b/rosbot_xl/CMakeLists.txt index 1949e356..e5ae9d51 100644 --- a/rosbot_xl/CMakeLists.txt +++ b/rosbot_xl/CMakeLists.txt @@ -3,4 +3,4 @@ project(rosbot_xl) find_package(ament_cmake REQUIRED) -ament_package() \ No newline at end of file +ament_package() diff --git a/rosbot_xl/rosbot_xl_hardware.repos b/rosbot_xl/rosbot_xl_hardware.repos index 0bf1d2ec..84c92831 100644 --- a/rosbot_xl/rosbot_xl_hardware.repos +++ b/rosbot_xl/rosbot_xl_hardware.repos @@ -10,4 +10,4 @@ repositories: ros_components_description: type: git url: https://github.com/husarion/ros_components_description.git - version: ros2 \ No newline at end of file + version: ros2 diff --git a/rosbot_xl/rosbot_xl_simulation.repos b/rosbot_xl/rosbot_xl_simulation.repos index 0d30339e..5c3e67ef 100644 --- a/rosbot_xl/rosbot_xl_simulation.repos +++ b/rosbot_xl/rosbot_xl_simulation.repos @@ -9,4 +9,4 @@ repositories: husarion/gazebo_worlds: type: git url: https://github.com/husarion/gazebo_worlds.git - version: main \ No newline at end of file + version: main diff --git a/rosbot_xl_bringup/CMakeLists.txt b/rosbot_xl_bringup/CMakeLists.txt index b78851c1..f7ec6cdb 100644 --- a/rosbot_xl_bringup/CMakeLists.txt +++ b/rosbot_xl_bringup/CMakeLists.txt @@ -9,4 +9,4 @@ install(DIRECTORY DESTINATION share/${PROJECT_NAME} ) -ament_package() \ No newline at end of file +ament_package() diff --git a/rosbot_xl_bringup/launch/bringup.launch.py b/rosbot_xl_bringup/launch/bringup.launch.py index 90c46334..09bbb1c9 100644 --- a/rosbot_xl_bringup/launch/bringup.launch.py +++ b/rosbot_xl_bringup/launch/bringup.launch.py @@ -115,4 +115,4 @@ def generate_launch_description(): laser_filter_node, ] - return LaunchDescription(actions) \ No newline at end of file + return LaunchDescription(actions) diff --git a/rosbot_xl_controller/CMakeLists.txt b/rosbot_xl_controller/CMakeLists.txt index 76fe7a70..73a7a395 100644 --- a/rosbot_xl_controller/CMakeLists.txt +++ b/rosbot_xl_controller/CMakeLists.txt @@ -9,4 +9,4 @@ install(DIRECTORY DESTINATION share/${PROJECT_NAME} ) -ament_package() \ No newline at end of file +ament_package() diff --git a/rosbot_xl_controller/config/diff_drive_controller.yaml b/rosbot_xl_controller/config/diff_drive_controller.yaml index db7871ba..6870a465 100644 --- a/rosbot_xl_controller/config/diff_drive_controller.yaml +++ b/rosbot_xl_controller/config/diff_drive_controller.yaml @@ -2,8 +2,8 @@ simulation_ignition_ros_control: ros__parameters: use_sim_time: true -# Separate controller manager used for simulation - only difference is -# the use_sim_time parameter (it is the easiest way to do it with ign ros2 control) +# Separate controller manager used for simulation - only difference is +# the use_sim_time parameter (it is the easiest way to do it with ign ros2 control) simulation_controller_manager: ros__parameters: use_sim_time: true diff --git a/rosbot_xl_controller/config/mecanum_drive_controller.yaml b/rosbot_xl_controller/config/mecanum_drive_controller.yaml index 05fb39cf..80def4fd 100644 --- a/rosbot_xl_controller/config/mecanum_drive_controller.yaml +++ b/rosbot_xl_controller/config/mecanum_drive_controller.yaml @@ -2,8 +2,8 @@ simulation_ignition_ros_control: ros__parameters: use_sim_time: true -# Separate controller manager used for simulation - only difference is -# the use_sim_time parameter (it is the easiest way to do it with ign ros2 control) +# Separate controller manager used for simulation - only difference is +# the use_sim_time parameter (it is the easiest way to do it with ign ros2 control) simulation_controller_manager: ros__parameters: use_sim_time: true diff --git a/rosbot_xl_controller/launch/controller.launch.py b/rosbot_xl_controller/launch/controller.launch.py index 80b87970..1f075d23 100644 --- a/rosbot_xl_controller/launch/controller.launch.py +++ b/rosbot_xl_controller/launch/controller.launch.py @@ -218,4 +218,4 @@ def generate_launch_description(): delay_imu_broadcaster_spawner_after_robot_controller_spawner, ] - return LaunchDescription(actions) \ No newline at end of file + return LaunchDescription(actions) diff --git a/rosbot_xl_description/CMakeLists.txt b/rosbot_xl_description/CMakeLists.txt index 41f6c3c2..b96e61e5 100644 --- a/rosbot_xl_description/CMakeLists.txt +++ b/rosbot_xl_description/CMakeLists.txt @@ -9,4 +9,4 @@ install(DIRECTORY DESTINATION share/${PROJECT_NAME} ) -ament_package() \ No newline at end of file +ament_package() diff --git a/rosbot_xl_description/package.xml b/rosbot_xl_description/package.xml index bcfe42f2..d7c1df15 100644 --- a/rosbot_xl_description/package.xml +++ b/rosbot_xl_description/package.xml @@ -20,7 +20,7 @@ xacro xacro - + ros_components_description diff --git a/rosbot_xl_description/urdf/body.urdf.xacro b/rosbot_xl_description/urdf/body.urdf.xacro index 322bd2a9..299cfa99 100644 --- a/rosbot_xl_description/urdf/body.urdf.xacro +++ b/rosbot_xl_description/urdf/body.urdf.xacro @@ -51,4 +51,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_description/urdf/components/antenna.urdf.xacro b/rosbot_xl_description/urdf/components/antenna.urdf.xacro index 39263a4d..822fedf8 100644 --- a/rosbot_xl_description/urdf/components/antenna.urdf.xacro +++ b/rosbot_xl_description/urdf/components/antenna.urdf.xacro @@ -54,4 +54,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_description/urdf/components/camera_mount.urdf.xacro b/rosbot_xl_description/urdf/components/camera_mount.urdf.xacro index 4bc5b1e4..f9b872c1 100644 --- a/rosbot_xl_description/urdf/components/camera_mount.urdf.xacro +++ b/rosbot_xl_description/urdf/components/camera_mount.urdf.xacro @@ -92,4 +92,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro b/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro index 8cb0789a..e510f571 100644 --- a/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro +++ b/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro @@ -116,4 +116,4 @@ camera_mount_angle_2="0.0" /> - \ No newline at end of file + diff --git a/rosbot_xl_description/urdf/rosbot_xl_macro.urdf.xacro b/rosbot_xl_description/urdf/rosbot_xl_macro.urdf.xacro index 75e3a011..c152b269 100644 --- a/rosbot_xl_description/urdf/rosbot_xl_macro.urdf.xacro +++ b/rosbot_xl_description/urdf/rosbot_xl_macro.urdf.xacro @@ -156,4 +156,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_description/urdf/wheel.urdf.xacro b/rosbot_xl_description/urdf/wheel.urdf.xacro index 49c4e9f9..a4096118 100644 --- a/rosbot_xl_description/urdf/wheel.urdf.xacro +++ b/rosbot_xl_description/urdf/wheel.urdf.xacro @@ -106,4 +106,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_gazebo/CMakeLists.txt b/rosbot_xl_gazebo/CMakeLists.txt index 04926f32..9243b092 100644 --- a/rosbot_xl_gazebo/CMakeLists.txt +++ b/rosbot_xl_gazebo/CMakeLists.txt @@ -8,4 +8,4 @@ install(DIRECTORY DESTINATION share/${PROJECT_NAME} ) -ament_package() \ No newline at end of file +ament_package() diff --git a/rosbot_xl_gazebo/package.xml b/rosbot_xl_gazebo/package.xml index c7269965..c17b4fa5 100644 --- a/rosbot_xl_gazebo/package.xml +++ b/rosbot_xl_gazebo/package.xml @@ -33,4 +33,4 @@ ament_cmake - \ No newline at end of file + From 2f76033111271031bec5d8e1c4ebe0bb60aa58b2 Mon Sep 17 00:00:00 2001 From: Jakub Delicat Date: Thu, 19 Oct 2023 03:47:30 +0200 Subject: [PATCH 03/35] End line Signed-off-by: Jakub Delicat --- .vscode/extensions.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.vscode/extensions.json b/.vscode/extensions.json index 12b10b51..62d443f5 100644 --- a/.vscode/extensions.json +++ b/.vscode/extensions.json @@ -7,4 +7,4 @@ "ms-python.python", "shardulm94.trailing-spaces" ] -} \ No newline at end of file +} From 3f3c9c537a851b9c7754f8c3958dec916789fb08 Mon Sep 17 00:00:00 2001 From: Jakub Delicat Date: Thu, 19 Oct 2023 03:53:20 +0200 Subject: [PATCH 04/35] Add and apply black Signed-off-by: Jakub Delicat --- .github/workflows/black.yaml | 12 ++++++++++++ rosbot_xl_bringup/launch/bringup.launch.py | 2 +- rosbot_xl_controller/launch/controller.launch.py | 2 +- 3 files changed, 14 insertions(+), 2 deletions(-) create mode 100644 .github/workflows/black.yaml diff --git a/.github/workflows/black.yaml b/.github/workflows/black.yaml new file mode 100644 index 00000000..a170ee47 --- /dev/null +++ b/.github/workflows/black.yaml @@ -0,0 +1,12 @@ +name: Black python lint + +on: + workflow_call: + push: + +jobs: + lint: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - uses: psf/black@stable diff --git a/rosbot_xl_bringup/launch/bringup.launch.py b/rosbot_xl_bringup/launch/bringup.launch.py index 90c46334..09bbb1c9 100644 --- a/rosbot_xl_bringup/launch/bringup.launch.py +++ b/rosbot_xl_bringup/launch/bringup.launch.py @@ -115,4 +115,4 @@ def generate_launch_description(): laser_filter_node, ] - return LaunchDescription(actions) \ No newline at end of file + return LaunchDescription(actions) diff --git a/rosbot_xl_controller/launch/controller.launch.py b/rosbot_xl_controller/launch/controller.launch.py index 80b87970..1f075d23 100644 --- a/rosbot_xl_controller/launch/controller.launch.py +++ b/rosbot_xl_controller/launch/controller.launch.py @@ -218,4 +218,4 @@ def generate_launch_description(): delay_imu_broadcaster_spawner_after_robot_controller_spawner, ] - return LaunchDescription(actions) \ No newline at end of file + return LaunchDescription(actions) From d523a730ebba7bdb26b3a66269d426298121de25 Mon Sep 17 00:00:00 2001 From: Jakub Delicat Date: Thu, 19 Oct 2023 04:08:55 +0200 Subject: [PATCH 05/35] added pyspelling and worldlist Signed-off-by: Jakub Delicat --- .github/workflows/spellcheck.yaml | 14 +++++++ .pyspelling.yaml | 53 ++++++++++++++++++++++++++ .wordlist.txt | 61 ++++++++++++++++++++++++++++++ README.md | 2 +- ROS_API.md | 2 +- rosbot_xl/package.xml | 2 +- wordlist.dic | Bin 0 -> 2368 bytes 7 files changed, 131 insertions(+), 3 deletions(-) create mode 100644 .github/workflows/spellcheck.yaml create mode 100644 .pyspelling.yaml create mode 100644 .wordlist.txt create mode 100644 wordlist.dic diff --git a/.github/workflows/spellcheck.yaml b/.github/workflows/spellcheck.yaml new file mode 100644 index 00000000..a35fb0c1 --- /dev/null +++ b/.github/workflows/spellcheck.yaml @@ -0,0 +1,14 @@ +name: Spellcheck Action + +on: + workflow_call: + push: + +jobs: + build: + name: Spellcheck + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - uses: rojopolis/spellcheck-github-actions@0.33.1 + name: Spellcheck diff --git a/.pyspelling.yaml b/.pyspelling.yaml new file mode 100644 index 00000000..df8259ca --- /dev/null +++ b/.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 diff --git a/.wordlist.txt b/.wordlist.txt new file mode 100644 index 00000000..9b11955d --- /dev/null +++ b/.wordlist.txt @@ -0,0 +1,61 @@ +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 diff --git a/README.md b/README.md index 1c321b16..a8807e23 100644 --- a/README.md +++ b/README.md @@ -6,7 +6,7 @@ ROS2 packages for ROSbot XL ### `rosbot_xl` -Metapackeage that contains dependencies to other repositories. It is also used to define whether simulation dependencies should be used. +Metapackage that contains dependencies to other repositories. It is also used to define whether simulation dependencies should be used. ### `rosbot_xl_bringup` diff --git a/ROS_API.md b/ROS_API.md index 41ebeb10..3cddc39d 100644 --- a/ROS_API.md +++ b/ROS_API.md @@ -1,5 +1,5 @@ Use `bringup.launch.py` from `rosbot_xl_bringup` to start all base functionalities for ROSbot XL. It consists of the following parts: -- `scan_to_scan_filter_chain` from `laser_filters`, it subscribes to `/scan` topic and removes all points that are within the robot's footprint (defined by config `laser_filter.yaml` in `rosbot_xl_bringup` package). Filtered laserscan is then published on `/scan_filtered` topic +- `scan_to_scan_filter_chain` from `laser_filters`, it subscribes to `/scan` topic and removes all points that are within the robot's footprint (defined by config `laser_filter.yaml` in `rosbot_xl_bringup` package). Filtered laser scan is then published on `/scan_filtered` topic **Subscribes** - `/scan` (_sensor_msgs/LaserScan_) diff --git a/rosbot_xl/package.xml b/rosbot_xl/package.xml index e03a1863..50724e78 100644 --- a/rosbot_xl/package.xml +++ b/rosbot_xl/package.xml @@ -4,7 +4,7 @@ rosbot_xl 0.8.2 - Meta package that contains all packages of Rosbot XL + Meta package that contains all packages of ROSbot XL Apache License 2.0 Krzysztof Wojciechowski diff --git a/wordlist.dic b/wordlist.dic new file mode 100644 index 0000000000000000000000000000000000000000..a4339c658f3b3e825599e28a2c0ad338cd80816a GIT binary patch literal 2368 zcmai#U5Fc16oAj>ceA^h{oi)`W7jHGqx45a5R25XglaZv$fRyx6lN#0*=Z)3I5TP5 z1<@C&5B`Fni1;81f-hABAMA^YP!JTK3O)$FC`b_n5d=ZMGn>G&J~%LZ_nv#sx%d3s z87u5Lp10C;Hm$xFt;91YSPA@rw{q(Esgv?QPu05qAB}5BULD^N*TzJCOYmky9!As} zY9p2;ZEnVr4M_?_1In#hb2|FcT`FDUW9sKnor5{h$#XGHc}ZEjAnz&7x_qK+ zl;m?*tXJh*sQLa8o@M=4WuqozW902jQI06fMLD5dE6XEF5_c|UO`eL`ke;$yl4q3U z|79hKc}q!tK8jhC>u}99v=VUTnxf 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.../launch/controller.launch.py | 5 +- rosbot_xl_controller/package.xml | 5 +- .../resource/rosbot_xl_controller | 0 rosbot_xl_controller/setup.cfg | 4 + rosbot_xl_controller/setup.py | 27 +++++ .../test/controllers_test_node.py | 97 ++++++++++++++++++ rosbot_xl_controller/test/test_copyright.py | 23 +++++ .../test/test_diff_drive_controllers.py | 98 +++++++++++++++++++ rosbot_xl_controller/test/test_flake8.py | 25 +++++ .../test/test_mecanum_controllers.py | 98 +++++++++++++++++++ rosbot_xl_controller/test/test_pep257.py | 23 +++++ rosbot_xl_controller/test/test_xacro.py | 55 +++++++++++ 13 files changed, 456 insertions(+), 16 deletions(-) delete mode 100644 rosbot_xl_controller/CMakeLists.txt create mode 100644 rosbot_xl_controller/resource/rosbot_xl_controller create mode 100644 rosbot_xl_controller/setup.cfg create mode 100644 rosbot_xl_controller/setup.py create mode 100644 rosbot_xl_controller/test/controllers_test_node.py create mode 100644 rosbot_xl_controller/test/test_copyright.py create mode 100644 rosbot_xl_controller/test/test_diff_drive_controllers.py create mode 100644 rosbot_xl_controller/test/test_flake8.py create mode 100644 rosbot_xl_controller/test/test_mecanum_controllers.py create mode 100644 rosbot_xl_controller/test/test_pep257.py create mode 100644 rosbot_xl_controller/test/test_xacro.py diff --git a/rosbot_xl_controller/CMakeLists.txt b/rosbot_xl_controller/CMakeLists.txt deleted file mode 100644 index 73a7a395..00000000 --- a/rosbot_xl_controller/CMakeLists.txt +++ /dev/null @@ -1,12 +0,0 @@ -cmake_minimum_required(VERSION 3.10.2) -project(rosbot_xl_controller) - -find_package(ament_cmake REQUIRED) - -install(DIRECTORY - launch - config - DESTINATION share/${PROJECT_NAME} -) - -ament_package() diff --git a/rosbot_xl_controller/launch/controller.launch.py b/rosbot_xl_controller/launch/controller.launch.py index 1f075d23..d2a6f01d 100644 --- a/rosbot_xl_controller/launch/controller.launch.py +++ b/rosbot_xl_controller/launch/controller.launch.py @@ -36,7 +36,10 @@ def generate_launch_description(): declare_mecanum_arg = DeclareLaunchArgument( "mecanum", default_value="False", - description="Whether to use mecanum drive controller (otherwise diff drive controller is used)", + description=( + "Whether to use mecanum drive controller" + "(otherwise diff drive controller is used)", + ) ) lidar_model = LaunchConfiguration("lidar_model") diff --git a/rosbot_xl_controller/package.xml b/rosbot_xl_controller/package.xml index 0a2e4cb1..f11e5a0b 100644 --- a/rosbot_xl_controller/package.xml +++ b/rosbot_xl_controller/package.xml @@ -9,14 +9,13 @@ Maciej Stepien Krzysztof Wojciechowski + Jakub Delicat Husarion https://husarion.com/ https://github.com/husarion/rosbot_xl_ros https://github.com/husarion/rosbot_xl_ros/issues - ament_cmake - rosbot_xl_description launch @@ -34,6 +33,6 @@ rosbot_hardware_interfaces - ament_cmake + ament_python diff --git a/rosbot_xl_controller/resource/rosbot_xl_controller b/rosbot_xl_controller/resource/rosbot_xl_controller new file mode 100644 index 00000000..e69de29b diff --git a/rosbot_xl_controller/setup.cfg b/rosbot_xl_controller/setup.cfg new file mode 100644 index 00000000..8878b79a --- /dev/null +++ b/rosbot_xl_controller/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/rosbot_xl_controller +[install] +install_scripts=$base/lib/rosbot_xl_controller diff --git a/rosbot_xl_controller/setup.py b/rosbot_xl_controller/setup.py new file mode 100644 index 00000000..74d649c6 --- /dev/null +++ b/rosbot_xl_controller/setup.py @@ -0,0 +1,27 @@ +import os +from glob import glob +from setuptools import find_packages, setup + +package_name = "rosbot_xl_controller" + +setup( + name=package_name, + version="0.8.2", + packages=find_packages(exclude=["test"]), + data_files=[ + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), + (os.path.join("share", package_name, "launch"), glob("launch/*.launch.py")), + (os.path.join("share", package_name, "config"), glob("config/*.yaml")), + ], + install_requires=["setuptools"], + zip_safe=True, + maintainer="Husarion", + maintainer_email="contact@husarion.com", + description="Hardware configuration for ROSbot XL", + license="Apache License 2.0", + tests_require=["pytest"], + entry_points={ + "console_scripts": [], + }, +) diff --git a/rosbot_xl_controller/test/controllers_test_node.py b/rosbot_xl_controller/test/controllers_test_node.py new file mode 100644 index 00000000..496da1ef --- /dev/null +++ b/rosbot_xl_controller/test/controllers_test_node.py @@ -0,0 +1,97 @@ +# Copyright 2021 Open Source Robotics Foundation, Inc. +# 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 rclpy + +from threading import Event +from threading import Thread + +from rclpy.node import Node + +from sensor_msgs.msg import JointState, Imu +from nav_msgs.msg import Odometry + + +class ControllersTestNode(Node): + ROSBOT_HARDWARE_PUBLISHERS_RATE = 10.0 + + __test__ = False + + def __init__(self, name="test_node"): + super().__init__(name) + self.joint_state_msg_event = Event() + self.odom_msg_event = Event() + self.imu_msg_event = Event() + + def create_test_subscribers_and_publishers(self): + self.joint_state_sub = self.create_subscription( + JointState, "/joint_states", self.joint_states_callback, 10 + ) + + self.odom_sub = self.create_subscription( + Odometry, "/rosbot_xl_base_controller/odom", self.odometry_callback, 10 + ) + + self.imu_sub = self.create_subscription( + Imu, "/imu_broadcaster/imu", self.imu_callback, 10 + ) + + self.imu_publisher = self.create_publisher(Imu, "_imu/data_raw", 10) + + self.joint_states_publisher = self.create_publisher( + JointState, "_motors_response", 10 + ) + + self.timer = None + + def start_node_thread(self): + self.ros_spin_thread = Thread( + target=lambda node: rclpy.spin(node), args=(self,) + ) + self.ros_spin_thread.start() + + def joint_states_callback(self, data): + self.joint_state_msg_event.set() + + def odometry_callback(self, data): + self.odom_msg_event.set() + + def imu_callback(self, data): + self.imu_msg_event.set() + + def start_publishing_fake_hardware(self): + self.timer = self.create_timer( + 1.0 / self.ROSBOT_HARDWARE_PUBLISHERS_RATE, + self.publish_fake_hardware_messages, + ) + + def publish_fake_hardware_messages(self): + imu_msg = Imu() + imu_msg.header.stamp = self.get_clock().now().to_msg() + imu_msg.header.frame_id = "imu_link" + + joint_state_msg = JointState() + joint_state_msg.header.stamp = self.get_clock().now().to_msg() + joint_state_msg.name = [ + "fl_wheel_joint", + "fr_wheel_joint", + "rl_wheel_joint", + "rr_wheel_joint", + ] + joint_state_msg.position = [0.0, 0.0, 0.0, 0.0] + joint_state_msg.velocity = [0.0, 0.0, 0.0, 0.0] + + self.imu_publisher.publish(imu_msg) + self.joint_states_publisher.publish(joint_state_msg) diff --git a/rosbot_xl_controller/test/test_copyright.py b/rosbot_xl_controller/test/test_copyright.py new file mode 100644 index 00000000..f46f861d --- /dev/null +++ b/rosbot_xl_controller/test/test_copyright.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# 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. + +from ament_copyright.main import main +import pytest + + +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=[".", "test"]) + assert rc == 0, "Found errors" diff --git a/rosbot_xl_controller/test/test_diff_drive_controllers.py b/rosbot_xl_controller/test/test_diff_drive_controllers.py new file mode 100644 index 00000000..547c60fc --- /dev/null +++ b/rosbot_xl_controller/test/test_diff_drive_controllers.py @@ -0,0 +1,98 @@ +# Copyright 2021 Open Source Robotics Foundation, Inc. +# Copyright 2023 Intel Corporation. All Rights Reserved. +# 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 launch_pytest +import pytest +import rclpy + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.substitutions import PathJoinSubstitution +from launch.launch_description_sources import PythonLaunchDescriptionSource +from controllers_test_node import ControllersTestNode + + +@launch_pytest.fixture +def generate_test_description(): + rosbot_xl_controller = get_package_share_directory("rosbot_xl_controller") + bringup_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution( + [ + rosbot_xl_controller, + "launch", + "controller.launch.py", + ] + ) + ), + launch_arguments={ + "use_sim": "False", + "mecanum": "False", + "use_gpu": "False", + }.items(), + ) + + return LaunchDescription([bringup_launch]) + + +@pytest.mark.launch(fixture=generate_test_description) +def test_controllers_startup_fail(): + rclpy.init() + try: + node = ControllersTestNode("test_controllers_bringup") + node.create_test_subscribers_and_publishers() + + node.start_node_thread() + msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0) + assert ( + not msgs_received_flag + ), "Expected JointStates message not received. Check joint_state_broadcaster!" + msgs_received_flag = node.odom_msg_event.wait(timeout=10.0) + assert ( + not msgs_received_flag + ), "Expected Odom message not received. Check rosbot_base_controller!" + msgs_received_flag = node.imu_msg_event.wait(timeout=10.0) + assert ( + not msgs_received_flag + ), "Expected Imu message not received. Check imu_broadcaster!" + finally: + rclpy.shutdown() + + +@pytest.mark.launch(fixture=generate_test_description) +def test_controllers_startup_success(): + rclpy.init() + try: + node = ControllersTestNode("test_controllers_bringup") + node.create_test_subscribers_and_publishers() + node.start_publishing_fake_hardware() + + node.start_node_thread() + msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0) + assert ( + msgs_received_flag + ), "Expected JointStates message but it was not received. Check joint_state_broadcaster!" + msgs_received_flag = node.odom_msg_event.wait(timeout=10.0) + assert ( + msgs_received_flag + ), "Expected Odom message but it was not received. Check rosbot_base_controller!" + msgs_received_flag = node.imu_msg_event.wait(timeout=10.0) + assert ( + msgs_received_flag + ), "Expected Imu message but it was not received. Check imu_broadcaster!" + finally: + rclpy.shutdown() diff --git a/rosbot_xl_controller/test/test_flake8.py b/rosbot_xl_controller/test/test_flake8.py new file mode 100644 index 00000000..ee79f31a --- /dev/null +++ b/rosbot_xl_controller/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# 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. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, "Found %d code style errors / warnings:\n" % len( + errors + ) + "\n".join(errors) diff --git a/rosbot_xl_controller/test/test_mecanum_controllers.py b/rosbot_xl_controller/test/test_mecanum_controllers.py new file mode 100644 index 00000000..6fc38e98 --- /dev/null +++ b/rosbot_xl_controller/test/test_mecanum_controllers.py @@ -0,0 +1,98 @@ +# Copyright 2021 Open Source Robotics Foundation, Inc. +# Copyright 2023 Intel Corporation. All Rights Reserved. +# 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 launch_pytest +import pytest +import rclpy + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.substitutions import PathJoinSubstitution +from launch.launch_description_sources import PythonLaunchDescriptionSource +from controllers_test_node import ControllersTestNode + + +@launch_pytest.fixture +def generate_test_description(): + rosbot_xl_controller = get_package_share_directory("rosbot_xl_controller") + bringup_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution( + [ + rosbot_xl_controller, + "launch", + "controller.launch.py", + ] + ) + ), + launch_arguments={ + "use_sim": "False", + "mecanum": "True", + "use_gpu": "False", + }.items(), + ) + + return LaunchDescription([bringup_launch]) + + +@pytest.mark.launch(fixture=generate_test_description) +def test_controllers_startup_fail(): + rclpy.init() + try: + node = ControllersTestNode("test_controllers_bringup") + node.create_test_subscribers_and_publishers() + + node.start_node_thread() + msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0) + assert ( + not msgs_received_flag + ), "Expected JointStates message not received. Check joint_state_broadcaster!" + msgs_received_flag = node.odom_msg_event.wait(timeout=10.0) + assert ( + not msgs_received_flag + ), "Expected Odom message not received. Check rosbot_base_controller!" + msgs_received_flag = node.imu_msg_event.wait(timeout=10.0) + assert ( + not msgs_received_flag + ), "Expected Imu message not received. Check imu_broadcaster!" + finally: + rclpy.shutdown() + + +@pytest.mark.launch(fixture=generate_test_description) +def test_controllers_startup_success(): + rclpy.init() + try: + node = ControllersTestNode("test_controllers_bringup") + node.create_test_subscribers_and_publishers() + node.start_publishing_fake_hardware() + + node.start_node_thread() + msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0) + assert ( + msgs_received_flag + ), "Expected JointStates message but it was not received. Check joint_state_broadcaster!" + msgs_received_flag = node.odom_msg_event.wait(timeout=10.0) + assert ( + msgs_received_flag + ), "Expected Odom message but it was not received. Check rosbot_base_controller!" + msgs_received_flag = node.imu_msg_event.wait(timeout=10.0) + assert ( + msgs_received_flag + ), "Expected Imu message but it was not received. Check imu_broadcaster!" + finally: + rclpy.shutdown() diff --git a/rosbot_xl_controller/test/test_pep257.py b/rosbot_xl_controller/test/test_pep257.py new file mode 100644 index 00000000..a2c3deb8 --- /dev/null +++ b/rosbot_xl_controller/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# 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. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=[".", "test"]) + assert rc == 0, "Found code style errors / warnings" diff --git a/rosbot_xl_controller/test/test_xacro.py b/rosbot_xl_controller/test/test_xacro.py new file mode 100644 index 00000000..42a9a9c1 --- /dev/null +++ b/rosbot_xl_controller/test/test_xacro.py @@ -0,0 +1,55 @@ +# 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 +import xacro +import itertools +from ament_index_python.packages import get_package_share_directory + + +def test_rosbot_description_parsing(): + mecanum_values = ["true", "false"] + use_sim_values = ["true", "false"] + use_gpu_values = ["true", "false"] + simulation_engine_values = ["ignition-gazebo", "webots"] # 'gazebo-classic' + lidar_model = ["slamtec_rplidar_s1", "slamtec_rplidar_a2", "slamtec_rplidar_a3"] + camera_model = ["intel_realsense_d435"] + + all_combinations = list( + itertools.product( + mecanum_values, use_sim_values, use_gpu_values, simulation_engine_values, + lidar_model, camera_model + ) + ) + + for combination in all_combinations: + mecanum, use_sim, use_gpu, simulation_engine, lidar_model, camera_model = combination + mappings = { + "mecanum": mecanum, + "use_sim": use_sim, + "use_gpu": use_gpu, + "simulation_engine": simulation_engine, + "lidar_model": lidar_model, + "camera_model": camera_model + } + rosbot_xl_description = get_package_share_directory("rosbot_xl_description") + xacro_path = os.path.join(rosbot_xl_description, "urdf/rosbot_xl.urdf.xacro") + try: + xacro.process_file(xacro_path, mappings=mappings) + except xacro.XacroException as e: + assert False, ( + f"xacro parsing failed: {str(e)} for mecanum: {mecanum}, " + f"use_sim: {use_sim}, use_gpu: {use_gpu}, simulation_engine: {simulation_engine}, " + f"lidar_model: {lidar_model}, camera_model{camera_model}" + ) From 7c95bd64e8cf4a92d527455d999843c302276cfc Mon Sep 17 00:00:00 2001 From: Jakub Delicat Date: Thu, 19 Oct 2023 04:44:03 +0200 Subject: [PATCH 07/35] blacked Signed-off-by: Jakub Delicat --- .../launch/controller.launch.py | 2 +- rosbot_xl_controller/test/test_xacro.py | 19 +++++++++++++++---- 2 files changed, 16 insertions(+), 5 deletions(-) diff --git a/rosbot_xl_controller/launch/controller.launch.py b/rosbot_xl_controller/launch/controller.launch.py index d2a6f01d..43bbc10b 100644 --- a/rosbot_xl_controller/launch/controller.launch.py +++ b/rosbot_xl_controller/launch/controller.launch.py @@ -39,7 +39,7 @@ def generate_launch_description(): description=( "Whether to use mecanum drive controller" "(otherwise diff drive controller is used)", - ) + ), ) lidar_model = LaunchConfiguration("lidar_model") diff --git a/rosbot_xl_controller/test/test_xacro.py b/rosbot_xl_controller/test/test_xacro.py index 42a9a9c1..84caf38a 100644 --- a/rosbot_xl_controller/test/test_xacro.py +++ b/rosbot_xl_controller/test/test_xacro.py @@ -28,20 +28,31 @@ def test_rosbot_description_parsing(): all_combinations = list( itertools.product( - mecanum_values, use_sim_values, use_gpu_values, simulation_engine_values, - lidar_model, camera_model + mecanum_values, + use_sim_values, + use_gpu_values, + simulation_engine_values, + lidar_model, + camera_model, ) ) for combination in all_combinations: - mecanum, use_sim, use_gpu, simulation_engine, lidar_model, camera_model = combination + ( + mecanum, + use_sim, + use_gpu, + simulation_engine, + lidar_model, + camera_model, + ) = combination mappings = { "mecanum": mecanum, "use_sim": use_sim, "use_gpu": use_gpu, "simulation_engine": simulation_engine, "lidar_model": lidar_model, - "camera_model": camera_model + "camera_model": camera_model, } rosbot_xl_description = get_package_share_directory("rosbot_xl_description") xacro_path = os.path.join(rosbot_xl_description, "urdf/rosbot_xl.urdf.xacro") From 53570bc4e8798012eb51df406c01d73cda965070 Mon Sep 17 00:00:00 2001 From: Jakub Delicat Date: Thu, 19 Oct 2023 04:53:09 +0200 Subject: [PATCH 08/35] added test depends Signed-off-by: Jakub Delicat --- rosbot_xl_controller/package.xml | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/rosbot_xl_controller/package.xml b/rosbot_xl_controller/package.xml index f11e5a0b..c3f69ccd 100644 --- a/rosbot_xl_controller/package.xml +++ b/rosbot_xl_controller/package.xml @@ -32,6 +32,24 @@ rosbot_hardware_interfaces + python3-pytest + launch + launch_ros + launch_pytest + + xacro + sensor_msgs + nav_msgs + + rosbot_xl_description + ros_components_description + + controller_manager + joint_state_broadcaster + imu_sensor_broadcaster + diff_drive_controller + mecanum_drive_controller + ament_python From e6b02eb7c1a8b0129115b97b64bb00b783da7ef6 Mon Sep 17 00:00:00 2001 From: Jakub Delicat Date: Tue, 24 Oct 2023 10:06:21 +0200 Subject: [PATCH 09/35] added and applied precommit Signed-off-by: Jakub Delicat --- .github/workflows/bump_version.yaml | 107 +++++++++--------- .github/workflows/industrial_ci.yaml | 41 ++++--- .gitignore | 15 ++- .pre-commit-config.yaml | 71 ++++++++++++ LICENSE.txt | 6 +- README.md | 41 ++++++- ROS_API.md | 10 +- rosbot_xl/CMakeLists.txt | 2 +- rosbot_xl/rosbot_xl_hardware.repos | 2 +- rosbot_xl/rosbot_xl_simulation.repos | 4 +- rosbot_xl_bringup/CMakeLists.txt | 2 +- rosbot_xl_bringup/launch/bringup.launch.py | 16 ++- rosbot_xl_controller/CHANGELOG.rst | 4 +- rosbot_xl_controller/CMakeLists.txt | 2 +- .../config/diff_drive_controller.yaml | 4 +- .../config/mecanum_drive_controller.yaml | 4 +- .../launch/controller.launch.py | 12 +- rosbot_xl_description/CMakeLists.txt | 2 +- rosbot_xl_description/meshes/body.dae | 2 +- .../meshes/components/antenna.dae | 2 +- .../meshes/components/antenna_connector.dae | 2 +- .../meshes/components/camera_mount_bot.dae | 2 +- .../meshes/components/camera_mount_mid.dae | 2 +- .../meshes/components/camera_mount_top.dae | 2 +- rosbot_xl_description/meshes/mecanum_a.dae | 2 +- rosbot_xl_description/meshes/mecanum_b.dae | 2 +- rosbot_xl_description/meshes/wheel_a.dae | 2 +- rosbot_xl_description/meshes/wheel_b.dae | 2 +- rosbot_xl_description/package.xml | 2 +- rosbot_xl_description/urdf/body.urdf.xacro | 2 +- .../urdf/components/antenna.urdf.xacro | 2 +- .../urdf/components/camera_mount.urdf.xacro | 2 +- .../urdf/rosbot_xl.urdf.xacro | 2 +- .../urdf/rosbot_xl_macro.urdf.xacro | 2 +- rosbot_xl_description/urdf/wheel.urdf.xacro | 2 +- rosbot_xl_gazebo/CMakeLists.txt | 2 +- rosbot_xl_gazebo/launch/simulation.launch.py | 22 ++-- rosbot_xl_gazebo/package.xml | 2 +- 38 files changed, 270 insertions(+), 135 deletions(-) create mode 100644 .pre-commit-config.yaml diff --git a/.github/workflows/bump_version.yaml b/.github/workflows/bump_version.yaml index 98253389..862949d7 100644 --- a/.github/workflows/bump_version.yaml +++ b/.github/workflows/bump_version.yaml @@ -1,60 +1,59 @@ +--- 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: ${{ env.BUMP }} - steps: - - if: github.event_name == 'pull_request' && github.event.pull_request.merged == true + get-bump: name: Get version bump - id: get-version-bump - uses: husarion-ci/action-get-version-bump@v0.3.0 - - if: github.event_name == 'pull_request' && github.event.pull_request.merged == true - run: echo "BUMP=${{ 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 + 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 - - 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 }}"}}' + 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 }}"}}' diff --git a/.github/workflows/industrial_ci.yaml b/.github/workflows/industrial_ci.yaml index 1270553c..54304f4f 100644 --- a/.github/workflows/industrial_ci.yaml +++ b/.github/workflows/industrial_ci.yaml @@ -1,25 +1,24 @@ +--- name: Industrial CI on: - workflow_call: - pull_request: - push: - branches: - - master + workflow_call: + pull_request: + push: + branches: + - master 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_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}} + 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_xl/rosbot_xl_hardware.repos && vcs import . < ./rosbot_xl/rosbot_xl_simulation.repos + - uses: ros-industrial/industrial_ci@master + env: + ROS_DISTRO: ${{matrix.ROS_DISTRO}} diff --git a/.gitignore b/.gitignore index 9b35f9d0..8c2d2411 100644 --- a/.gitignore +++ b/.gitignore @@ -5,8 +5,19 @@ demo/test/.env demo/id dev_utils/ -# ROS2 +# ROS 2 build folders build/ install/ log/ -__pycache__/ \ No newline at end of file +__pycache__/ + + +# ROSbots submodules +rosbot_hardware_interfaces/ +ros_components_description/ +rosbot_controllers/ +husarion/husarion_office_gz +gazebosim/gz_ros2_control + +# pyspelling +*.dic diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 00000000..0664b224 --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,71 @@ +--- +repos: + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v4.5.0 + hooks: + - id: check-merge-conflict + - id: trailing-whitespace + - id: end-of-file-fixer + - id: check-yaml + - id: check-xml + - id: check-added-large-files + - id: check-ast + - id: check-json + - id: name-tests-test + files: ^.*\/test\/.*$ + args: [--pytest-test-first] + + - repo: https://github.com/codespell-project/codespell + rev: 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,W503"] # 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/.*$ diff --git a/LICENSE.txt b/LICENSE.txt index 8b1f1a64..a835c7d1 100644 --- a/LICENSE.txt +++ b/LICENSE.txt @@ -1,5 +1,5 @@ ROSBOT XL ROS PACKAGE LICENSING -The default license for ROSbot XL ROS package is the Apache License, Version 2.0 -(see LICENSE_APACHE2.txt); you may elect at your option to use the ROSbot XL ROS -package under the MIT License (see LICENSE_MIT.txt). Contributions must be +The default license for ROSbot XL ROS package is the Apache License, Version 2.0 +(see LICENSE_APACHE2.txt); you may elect at your option to use the ROSbot XL ROS +package under the MIT License (see LICENSE_MIT.txt). Contributions must be made under both licenses. diff --git a/README.md b/README.md index 32d53f5b..c18c71e9 100644 --- a/README.md +++ b/README.md @@ -6,7 +6,7 @@ ROS2 packages for ROSbot XL ### `rosbot_xl` -Metapackeage that contains dependencies to other repositories. It is also used to define whether simulation dependencies should be used. +Metapackeage that contains dependencies to other repositories. It is also used to define whether simulation dependencies should be used. ### `rosbot_xl_bringup` @@ -78,7 +78,7 @@ colcon build ``` > **Prerequisites** -> +> > Before starting the software on the robot please make sure that you're using the latest firmware and run the `micro-ROS` agent (as described in the *Usage on hardware* step). Running: @@ -109,6 +109,43 @@ Running: source install/setup.bash ros2 launch rosbot_xl_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] +> Command `colcon test` does not build the code. Remember to build your code after changes. + +If tests finish with errors print logs: +``` +colcon test-result --verbose +``` + +### Format python code with [Black](https://github.com/psf/black) +``` +cd src/ +black rosbot* +``` + ## Demos diff --git a/ROS_API.md b/ROS_API.md index 1908c250..41ebeb10 100644 --- a/ROS_API.md +++ b/ROS_API.md @@ -1,9 +1,9 @@ Use `bringup.launch.py` from `rosbot_xl_bringup` to start all base functionalities for ROSbot XL. It consists of the following parts: - `scan_to_scan_filter_chain` from `laser_filters`, it subscribes to `/scan` topic and removes all points that are within the robot's footprint (defined by config `laser_filter.yaml` in `rosbot_xl_bringup` package). Filtered laserscan is then published on `/scan_filtered` topic - + **Subscribes** - `/scan` (_sensor_msgs/LaserScan_) - + **Publishes** - `/scan_filtered` (_sensor_msgs/LaserScan_) @@ -12,13 +12,13 @@ Use `bringup.launch.py` from `rosbot_xl_bringup` to start all base functionaliti **Subscribes** - `/rosbot_xl_base_controller/odom` (_nav_msgs/Odometry_) - `/imu_broadcaster/imu` (_sensor_msgs/Imu_) - + **Publishes** - `/tf` (_tf2_msgs/TFMessage_) - `base_link`->`odom` transform - `/odometry/filtered` (_nav_msgs/Odometry_) -- `controller.launch.py` from `rosbot_xl_controller`, it loads robot model defined in `rosbot_xl_description` as well as ros2 control [rosbot_hardware_interfaces](https://github.com/husarion/rosbot_hardware_interfaces). It also starts controllers: +- `controller.launch.py` from `rosbot_xl_controller`, it loads robot model defined in `rosbot_xl_description` as well as ros2 control [rosbot_hardware_interfaces](https://github.com/husarion/rosbot_hardware_interfaces). It also starts controllers: * `joint_state_broadcaster` * `rosbot_xl_base_controller` - depending on the value of `mecanum` argument it can be `DiffDriveController` or `MecanumDriveController` * `imu_broadcaster` @@ -27,7 +27,7 @@ Use `bringup.launch.py` from `rosbot_xl_bringup` to start all base functionaliti - `/cmd_vel` (_geometry_msgs/Twist_) - `/_motors_responses` (_sensor_msgs/JointState_) - `/_imu/data_raw` (_sensor_msgs/Imu_) - + **Publishes** - `/tf` (_tf2_msgs/TFMessage_) - `/tf_static` (_tf2_msgs/TFMessage_) diff --git a/rosbot_xl/CMakeLists.txt b/rosbot_xl/CMakeLists.txt index 1949e356..e5ae9d51 100644 --- a/rosbot_xl/CMakeLists.txt +++ b/rosbot_xl/CMakeLists.txt @@ -3,4 +3,4 @@ project(rosbot_xl) find_package(ament_cmake REQUIRED) -ament_package() \ No newline at end of file +ament_package() diff --git a/rosbot_xl/rosbot_xl_hardware.repos b/rosbot_xl/rosbot_xl_hardware.repos index 0bf1d2ec..84c92831 100644 --- a/rosbot_xl/rosbot_xl_hardware.repos +++ b/rosbot_xl/rosbot_xl_hardware.repos @@ -10,4 +10,4 @@ repositories: ros_components_description: type: git url: https://github.com/husarion/ros_components_description.git - version: ros2 \ No newline at end of file + version: ros2 diff --git a/rosbot_xl/rosbot_xl_simulation.repos b/rosbot_xl/rosbot_xl_simulation.repos index 0d30339e..400406a9 100644 --- a/rosbot_xl/rosbot_xl_simulation.repos +++ b/rosbot_xl/rosbot_xl_simulation.repos @@ -3,10 +3,10 @@ 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/gazebo_worlds: type: git url: https://github.com/husarion/gazebo_worlds.git - version: main \ No newline at end of file + version: main diff --git a/rosbot_xl_bringup/CMakeLists.txt b/rosbot_xl_bringup/CMakeLists.txt index b78851c1..f7ec6cdb 100644 --- a/rosbot_xl_bringup/CMakeLists.txt +++ b/rosbot_xl_bringup/CMakeLists.txt @@ -9,4 +9,4 @@ install(DIRECTORY DESTINATION share/${PROJECT_NAME} ) -ament_package() \ No newline at end of file +ament_package() diff --git a/rosbot_xl_bringup/launch/bringup.launch.py b/rosbot_xl_bringup/launch/bringup.launch.py index 90c46334..2bf5d487 100644 --- a/rosbot_xl_bringup/launch/bringup.launch.py +++ b/rosbot_xl_bringup/launch/bringup.launch.py @@ -1,4 +1,16 @@ -#!/usr/bin/env python3 +# Copyright 2023 Husarion +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. from launch import LaunchDescription from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument @@ -115,4 +127,4 @@ def generate_launch_description(): laser_filter_node, ] - return LaunchDescription(actions) \ No newline at end of file + return LaunchDescription(actions) diff --git a/rosbot_xl_controller/CHANGELOG.rst b/rosbot_xl_controller/CHANGELOG.rst index 70c60386..5000f0dd 100644 --- a/rosbot_xl_controller/CHANGELOG.rst +++ b/rosbot_xl_controller/CHANGELOG.rst @@ -1,6 +1,6 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package rosbot_xl_controller -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.8.2 (2023-05-23) ------------------ diff --git a/rosbot_xl_controller/CMakeLists.txt b/rosbot_xl_controller/CMakeLists.txt index 76fe7a70..73a7a395 100644 --- a/rosbot_xl_controller/CMakeLists.txt +++ b/rosbot_xl_controller/CMakeLists.txt @@ -9,4 +9,4 @@ install(DIRECTORY DESTINATION share/${PROJECT_NAME} ) -ament_package() \ No newline at end of file +ament_package() diff --git a/rosbot_xl_controller/config/diff_drive_controller.yaml b/rosbot_xl_controller/config/diff_drive_controller.yaml index db7871ba..6870a465 100644 --- a/rosbot_xl_controller/config/diff_drive_controller.yaml +++ b/rosbot_xl_controller/config/diff_drive_controller.yaml @@ -2,8 +2,8 @@ simulation_ignition_ros_control: ros__parameters: use_sim_time: true -# Separate controller manager used for simulation - only difference is -# the use_sim_time parameter (it is the easiest way to do it with ign ros2 control) +# Separate controller manager used for simulation - only difference is +# the use_sim_time parameter (it is the easiest way to do it with ign ros2 control) simulation_controller_manager: ros__parameters: use_sim_time: true diff --git a/rosbot_xl_controller/config/mecanum_drive_controller.yaml b/rosbot_xl_controller/config/mecanum_drive_controller.yaml index 05fb39cf..80def4fd 100644 --- a/rosbot_xl_controller/config/mecanum_drive_controller.yaml +++ b/rosbot_xl_controller/config/mecanum_drive_controller.yaml @@ -2,8 +2,8 @@ simulation_ignition_ros_control: ros__parameters: use_sim_time: true -# Separate controller manager used for simulation - only difference is -# the use_sim_time parameter (it is the easiest way to do it with ign ros2 control) +# Separate controller manager used for simulation - only difference is +# the use_sim_time parameter (it is the easiest way to do it with ign ros2 control) simulation_controller_manager: ros__parameters: use_sim_time: true diff --git a/rosbot_xl_controller/launch/controller.launch.py b/rosbot_xl_controller/launch/controller.launch.py index 80b87970..3b5cd384 100644 --- a/rosbot_xl_controller/launch/controller.launch.py +++ b/rosbot_xl_controller/launch/controller.launch.py @@ -173,12 +173,10 @@ def generate_launch_description(): ) # Delay start of robot_controller after joint_state_broadcaster - delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = ( - RegisterEventHandler( - event_handler=OnProcessExit( - target_action=joint_state_broadcaster_spawner, - on_exit=[robot_controller_spawner], - ) + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_broadcaster_spawner, + on_exit=[robot_controller_spawner], ) ) @@ -218,4 +216,4 @@ def generate_launch_description(): delay_imu_broadcaster_spawner_after_robot_controller_spawner, ] - return LaunchDescription(actions) \ No newline at end of file + return LaunchDescription(actions) diff --git a/rosbot_xl_description/CMakeLists.txt b/rosbot_xl_description/CMakeLists.txt index 41f6c3c2..b96e61e5 100644 --- a/rosbot_xl_description/CMakeLists.txt +++ b/rosbot_xl_description/CMakeLists.txt @@ -9,4 +9,4 @@ install(DIRECTORY DESTINATION share/${PROJECT_NAME} ) -ament_package() \ No newline at end of file +ament_package() diff --git a/rosbot_xl_description/meshes/body.dae b/rosbot_xl_description/meshes/body.dae index ed3897a4..71ed7d7f 100644 --- a/rosbot_xl_description/meshes/body.dae +++ b/rosbot_xl_description/meshes/body.dae @@ -269,4 +269,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_description/meshes/components/antenna.dae b/rosbot_xl_description/meshes/components/antenna.dae index 4fbb7974..dab9742c 100644 --- a/rosbot_xl_description/meshes/components/antenna.dae +++ b/rosbot_xl_description/meshes/components/antenna.dae @@ -218,4 +218,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_description/meshes/components/antenna_connector.dae b/rosbot_xl_description/meshes/components/antenna_connector.dae index 68dbc8fa..2531e6b2 100644 --- a/rosbot_xl_description/meshes/components/antenna_connector.dae +++ b/rosbot_xl_description/meshes/components/antenna_connector.dae @@ -218,4 +218,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_description/meshes/components/camera_mount_bot.dae b/rosbot_xl_description/meshes/components/camera_mount_bot.dae index 5e54cfdf..013b82b0 100644 --- a/rosbot_xl_description/meshes/components/camera_mount_bot.dae +++ b/rosbot_xl_description/meshes/components/camera_mount_bot.dae @@ -118,4 +118,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_description/meshes/components/camera_mount_mid.dae b/rosbot_xl_description/meshes/components/camera_mount_mid.dae index 8f407bdf..5ed0604b 100644 --- a/rosbot_xl_description/meshes/components/camera_mount_mid.dae +++ b/rosbot_xl_description/meshes/components/camera_mount_mid.dae @@ -89,4 +89,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_description/meshes/components/camera_mount_top.dae b/rosbot_xl_description/meshes/components/camera_mount_top.dae index 417d8cde..44ea191b 100644 --- a/rosbot_xl_description/meshes/components/camera_mount_top.dae +++ b/rosbot_xl_description/meshes/components/camera_mount_top.dae @@ -118,4 +118,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_description/meshes/mecanum_a.dae b/rosbot_xl_description/meshes/mecanum_a.dae index a56f7826..84779c4e 100644 --- a/rosbot_xl_description/meshes/mecanum_a.dae +++ b/rosbot_xl_description/meshes/mecanum_a.dae @@ -115,4 +115,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_description/meshes/mecanum_b.dae b/rosbot_xl_description/meshes/mecanum_b.dae index cacc5c39..46f873bd 100644 --- a/rosbot_xl_description/meshes/mecanum_b.dae +++ b/rosbot_xl_description/meshes/mecanum_b.dae @@ -115,4 +115,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_description/meshes/wheel_a.dae b/rosbot_xl_description/meshes/wheel_a.dae index a2755e41..cb42dab7 100644 --- a/rosbot_xl_description/meshes/wheel_a.dae +++ b/rosbot_xl_description/meshes/wheel_a.dae @@ -115,4 +115,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_description/meshes/wheel_b.dae b/rosbot_xl_description/meshes/wheel_b.dae index 2375bb3d..62062e36 100644 --- a/rosbot_xl_description/meshes/wheel_b.dae +++ b/rosbot_xl_description/meshes/wheel_b.dae @@ -115,4 +115,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_description/package.xml b/rosbot_xl_description/package.xml index bcfe42f2..d7c1df15 100644 --- a/rosbot_xl_description/package.xml +++ b/rosbot_xl_description/package.xml @@ -20,7 +20,7 @@ xacro xacro - + ros_components_description diff --git a/rosbot_xl_description/urdf/body.urdf.xacro b/rosbot_xl_description/urdf/body.urdf.xacro index 322bd2a9..299cfa99 100644 --- a/rosbot_xl_description/urdf/body.urdf.xacro +++ b/rosbot_xl_description/urdf/body.urdf.xacro @@ -51,4 +51,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_description/urdf/components/antenna.urdf.xacro b/rosbot_xl_description/urdf/components/antenna.urdf.xacro index 39263a4d..822fedf8 100644 --- a/rosbot_xl_description/urdf/components/antenna.urdf.xacro +++ b/rosbot_xl_description/urdf/components/antenna.urdf.xacro @@ -54,4 +54,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_description/urdf/components/camera_mount.urdf.xacro b/rosbot_xl_description/urdf/components/camera_mount.urdf.xacro index 4bc5b1e4..f9b872c1 100644 --- a/rosbot_xl_description/urdf/components/camera_mount.urdf.xacro +++ b/rosbot_xl_description/urdf/components/camera_mount.urdf.xacro @@ -92,4 +92,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro b/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro index 8cb0789a..e510f571 100644 --- a/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro +++ b/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro @@ -116,4 +116,4 @@ camera_mount_angle_2="0.0" /> - \ No newline at end of file + diff --git a/rosbot_xl_description/urdf/rosbot_xl_macro.urdf.xacro b/rosbot_xl_description/urdf/rosbot_xl_macro.urdf.xacro index 75e3a011..c152b269 100644 --- a/rosbot_xl_description/urdf/rosbot_xl_macro.urdf.xacro +++ b/rosbot_xl_description/urdf/rosbot_xl_macro.urdf.xacro @@ -156,4 +156,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_description/urdf/wheel.urdf.xacro b/rosbot_xl_description/urdf/wheel.urdf.xacro index 49c4e9f9..a4096118 100644 --- a/rosbot_xl_description/urdf/wheel.urdf.xacro +++ b/rosbot_xl_description/urdf/wheel.urdf.xacro @@ -106,4 +106,4 @@ - \ No newline at end of file + diff --git a/rosbot_xl_gazebo/CMakeLists.txt b/rosbot_xl_gazebo/CMakeLists.txt index 04926f32..9243b092 100644 --- a/rosbot_xl_gazebo/CMakeLists.txt +++ b/rosbot_xl_gazebo/CMakeLists.txt @@ -8,4 +8,4 @@ install(DIRECTORY DESTINATION share/${PROJECT_NAME} ) -ament_package() \ No newline at end of file +ament_package() diff --git a/rosbot_xl_gazebo/launch/simulation.launch.py b/rosbot_xl_gazebo/launch/simulation.launch.py index 597be558..c4906b1b 100644 --- a/rosbot_xl_gazebo/launch/simulation.launch.py +++ b/rosbot_xl_gazebo/launch/simulation.launch.py @@ -1,4 +1,16 @@ -#!/usr/bin/env python3 +# 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. from launch import LaunchDescription from launch.actions import ( @@ -97,12 +109,8 @@ def generate_launch_description(): "/camera/color/camera_info" + "@sensor_msgs/msg/CameraInfo" + "[ignition.msgs.CameraInfo", - "/camera/color/image_raw" - + "@sensor_msgs/msg/Image" - + "[ignition.msgs.Image", - "/camera/camera_info" - + "@sensor_msgs/msg/CameraInfo" - + "[ignition.msgs.CameraInfo", + "/camera/color/image_raw" + "@sensor_msgs/msg/Image" + "[ignition.msgs.Image", + "/camera/camera_info" + "@sensor_msgs/msg/CameraInfo" + "[ignition.msgs.CameraInfo", "/camera/depth" + "@sensor_msgs/msg/Image" + "[ignition.msgs.Image", "/camera/depth/points" + "@sensor_msgs/msg/PointCloud2" diff --git a/rosbot_xl_gazebo/package.xml b/rosbot_xl_gazebo/package.xml index c7269965..c17b4fa5 100644 --- a/rosbot_xl_gazebo/package.xml +++ b/rosbot_xl_gazebo/package.xml @@ -33,4 +33,4 @@ ament_cmake - \ No newline at end of file + From 197f7760bebb5e38db06f95405064f92f96e0b2b Mon Sep 17 00:00:00 2001 From: action-bot Date: Tue, 24 Oct 2023 08:15:51 +0000 Subject: [PATCH 10/35] Update changelog --- rosbot_xl/CHANGELOG.rst | 6 ++++++ rosbot_xl_bringup/CHANGELOG.rst | 6 ++++++ rosbot_xl_controller/CHANGELOG.rst | 6 ++++++ rosbot_xl_description/CHANGELOG.rst | 6 ++++++ rosbot_xl_gazebo/CHANGELOG.rst | 6 ++++++ 5 files changed, 30 insertions(+) diff --git a/rosbot_xl/CHANGELOG.rst b/rosbot_xl/CHANGELOG.rst index b1285f1b..898237e5 100644 --- a/rosbot_xl/CHANGELOG.rst +++ b/rosbot_xl/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package rosbot_xl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge pull request `#50 `_ from husarion/add-pre-commit + added and applied precommit +* Contributors: Jakub Delicat + 0.8.2 (2023-05-23) ------------------ diff --git a/rosbot_xl_bringup/CHANGELOG.rst b/rosbot_xl_bringup/CHANGELOG.rst index 1e9a6806..8e114e24 100644 --- a/rosbot_xl_bringup/CHANGELOG.rst +++ b/rosbot_xl_bringup/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package rosbot_xl_bringup ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge pull request `#50 `_ from husarion/add-pre-commit + added and applied precommit +* Contributors: Jakub Delicat + 0.8.2 (2023-05-23) ------------------ diff --git a/rosbot_xl_controller/CHANGELOG.rst b/rosbot_xl_controller/CHANGELOG.rst index 5000f0dd..15fe87bc 100644 --- a/rosbot_xl_controller/CHANGELOG.rst +++ b/rosbot_xl_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package rosbot_xl_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge pull request `#50 `_ from husarion/add-pre-commit + added and applied precommit +* Contributors: Jakub Delicat + 0.8.2 (2023-05-23) ------------------ diff --git a/rosbot_xl_description/CHANGELOG.rst b/rosbot_xl_description/CHANGELOG.rst index bb105135..d43509cf 100644 --- a/rosbot_xl_description/CHANGELOG.rst +++ b/rosbot_xl_description/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package rosbot_xl_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge pull request `#50 `_ from husarion/add-pre-commit + added and applied precommit +* Contributors: Jakub Delicat + 0.8.2 (2023-05-23) ------------------ diff --git a/rosbot_xl_gazebo/CHANGELOG.rst b/rosbot_xl_gazebo/CHANGELOG.rst index f5491295..f53d5d2a 100644 --- a/rosbot_xl_gazebo/CHANGELOG.rst +++ b/rosbot_xl_gazebo/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package rosbot_xl_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge pull request `#50 `_ from husarion/add-pre-commit + added and applied precommit +* Contributors: Jakub Delicat + 0.8.2 (2023-05-23) ------------------ From 6f3eedfb4943ca65851443ec8a8649a159e0be56 Mon Sep 17 00:00:00 2001 From: action-bot Date: Tue, 24 Oct 2023 08:15:52 +0000 Subject: [PATCH 11/35] 0.8.3 --- rosbot_xl/CHANGELOG.rst | 4 ++-- rosbot_xl/package.xml | 2 +- rosbot_xl_bringup/CHANGELOG.rst | 4 ++-- rosbot_xl_bringup/package.xml | 2 +- rosbot_xl_controller/CHANGELOG.rst | 4 ++-- rosbot_xl_controller/package.xml | 2 +- rosbot_xl_description/CHANGELOG.rst | 4 ++-- rosbot_xl_description/package.xml | 2 +- rosbot_xl_gazebo/CHANGELOG.rst | 4 ++-- rosbot_xl_gazebo/package.xml | 2 +- 10 files changed, 15 insertions(+), 15 deletions(-) diff --git a/rosbot_xl/CHANGELOG.rst b/rosbot_xl/CHANGELOG.rst index 898237e5..27517ea5 100644 --- a/rosbot_xl/CHANGELOG.rst +++ b/rosbot_xl/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.3 (2023-10-24) +------------------ * Merge pull request `#50 `_ from husarion/add-pre-commit added and applied precommit * Contributors: Jakub Delicat diff --git a/rosbot_xl/package.xml b/rosbot_xl/package.xml index e03a1863..dbe17410 100644 --- a/rosbot_xl/package.xml +++ b/rosbot_xl/package.xml @@ -2,7 +2,7 @@ rosbot_xl - 0.8.2 + 0.8.3 Meta package that contains all packages of Rosbot XL Apache License 2.0 diff --git a/rosbot_xl_bringup/CHANGELOG.rst b/rosbot_xl_bringup/CHANGELOG.rst index 8e114e24..ff67e17c 100644 --- a/rosbot_xl_bringup/CHANGELOG.rst +++ b/rosbot_xl_bringup/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_bringup ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.3 (2023-10-24) +------------------ * Merge pull request `#50 `_ from husarion/add-pre-commit added and applied precommit * Contributors: Jakub Delicat diff --git a/rosbot_xl_bringup/package.xml b/rosbot_xl_bringup/package.xml index 82b5a572..7fd49b92 100644 --- a/rosbot_xl_bringup/package.xml +++ b/rosbot_xl_bringup/package.xml @@ -2,7 +2,7 @@ rosbot_xl_bringup - 0.8.2 + 0.8.3 The rosbot_xl_bringup package Apache License 2.0 diff --git a/rosbot_xl_controller/CHANGELOG.rst b/rosbot_xl_controller/CHANGELOG.rst index 15fe87bc..1162034f 100644 --- a/rosbot_xl_controller/CHANGELOG.rst +++ b/rosbot_xl_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.3 (2023-10-24) +------------------ * Merge pull request `#50 `_ from husarion/add-pre-commit added and applied precommit * Contributors: Jakub Delicat diff --git a/rosbot_xl_controller/package.xml b/rosbot_xl_controller/package.xml index 0a2e4cb1..1bf269a8 100644 --- a/rosbot_xl_controller/package.xml +++ b/rosbot_xl_controller/package.xml @@ -2,7 +2,7 @@ rosbot_xl_controller - 0.8.2 + 0.8.3 Hardware configuration for ROSbot XL Apache License 2.0 diff --git a/rosbot_xl_description/CHANGELOG.rst b/rosbot_xl_description/CHANGELOG.rst index d43509cf..77c78166 100644 --- a/rosbot_xl_description/CHANGELOG.rst +++ b/rosbot_xl_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.3 (2023-10-24) +------------------ * Merge pull request `#50 `_ from husarion/add-pre-commit added and applied precommit * Contributors: Jakub Delicat diff --git a/rosbot_xl_description/package.xml b/rosbot_xl_description/package.xml index d7c1df15..f9b61d1d 100644 --- a/rosbot_xl_description/package.xml +++ b/rosbot_xl_description/package.xml @@ -2,7 +2,7 @@ rosbot_xl_description - 0.8.2 + 0.8.3 The rosbot_xl_description package Apache License 2.0 diff --git a/rosbot_xl_gazebo/CHANGELOG.rst b/rosbot_xl_gazebo/CHANGELOG.rst index f53d5d2a..89dea3da 100644 --- a/rosbot_xl_gazebo/CHANGELOG.rst +++ b/rosbot_xl_gazebo/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.3 (2023-10-24) +------------------ * Merge pull request `#50 `_ from husarion/add-pre-commit added and applied precommit * Contributors: Jakub Delicat diff --git a/rosbot_xl_gazebo/package.xml b/rosbot_xl_gazebo/package.xml index c17b4fa5..5ca13a5d 100644 --- a/rosbot_xl_gazebo/package.xml +++ b/rosbot_xl_gazebo/package.xml @@ -2,7 +2,7 @@ rosbot_xl_gazebo - 0.8.2 + 0.8.3 The rosbot_xl_gazebo package Apache License 2.0 From fabbca6954d5759e7a3574c170f4a9f34f640eb9 Mon Sep 17 00:00:00 2001 From: Jakub Delicat Date: Tue, 24 Oct 2023 10:22:32 +0200 Subject: [PATCH 12/35] changed line length to 99 Signed-off-by: Jakub Delicat --- .github/workflows/black.yaml | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/.github/workflows/black.yaml b/.github/workflows/black.yaml index a170ee47..ab5e1b3f 100644 --- a/.github/workflows/black.yaml +++ b/.github/workflows/black.yaml @@ -1,3 +1,4 @@ +--- name: Black python lint on: @@ -5,8 +6,10 @@ on: 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 From d2c17d2d3559ddbeaad2bf42d6180d5f56831520 Mon Sep 17 00:00:00 2001 From: Jakub Delicat Date: Tue, 24 Oct 2023 12:00:32 +0200 Subject: [PATCH 13/35] remove vscode Signed-off-by: Jakub Delicat --- .vscode/extensions.json | 10 ---------- .vscode/settings.json | 12 ------------ 2 files changed, 22 deletions(-) delete mode 100644 .vscode/extensions.json delete mode 100644 .vscode/settings.json diff --git a/.vscode/extensions.json b/.vscode/extensions.json deleted file mode 100644 index 62d443f5..00000000 --- a/.vscode/extensions.json +++ /dev/null @@ -1,10 +0,0 @@ -{ - "recommendations": [ - "ms-iot.vscode-ros", - "ms-python.black-formatter", - "streetsidesoftware.code-spell-checker", - "kevinrose.vsc-python-indent", - "ms-python.python", - "shardulm94.trailing-spaces" - ] -} diff --git a/.vscode/settings.json b/.vscode/settings.json deleted file mode 100644 index 67d4694f..00000000 --- a/.vscode/settings.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "cSpell.customDictionaries": { - "project-words": { - "name": "Workspace Dictionary for Github Action", - "path": "${workspaceRoot}/.wordlist.txt", - "addWords": true - }, - "custom": true, - "internal-terms": false - }, - "files.insertFinalNewline": true -} From e724d31f895db43c1acf3fc77c09eaec7015a28e Mon Sep 17 00:00:00 2001 From: Jakub Delicat Date: Tue, 24 Oct 2023 12:01:07 +0200 Subject: [PATCH 14/35] remove vscode Signed-off-by: Jakub Delicat --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index 2d1924f6..8c2d2411 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,4 @@ +.vscode/* .devcontainer/* demo/.env demo/test/.env From 7f6ffdb0bfab440ebdbe5137fa5f2c4fccf113aa Mon Sep 17 00:00:00 2001 From: Jakub Delicat Date: Tue, 24 Oct 2023 12:12:21 +0200 Subject: [PATCH 15/35] Aplied precommit to controller tests Signed-off-by: Jakub Delicat --- rosbot_xl_controller/setup.py | 14 +++ .../test/controllers_test_node.py | 97 ------------------- .../test/test_diff_drive_controllers.py | 6 +- rosbot_xl_controller/test/test_flake8.py | 4 +- .../test/test_mecanum_controllers.py | 6 +- 5 files changed, 19 insertions(+), 108 deletions(-) delete mode 100644 rosbot_xl_controller/test/controllers_test_node.py diff --git a/rosbot_xl_controller/setup.py b/rosbot_xl_controller/setup.py index 74d649c6..197fbfd3 100644 --- a/rosbot_xl_controller/setup.py +++ b/rosbot_xl_controller/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 diff --git a/rosbot_xl_controller/test/controllers_test_node.py b/rosbot_xl_controller/test/controllers_test_node.py deleted file mode 100644 index 496da1ef..00000000 --- a/rosbot_xl_controller/test/controllers_test_node.py +++ /dev/null @@ -1,97 +0,0 @@ -# Copyright 2021 Open Source Robotics Foundation, Inc. -# 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 rclpy - -from threading import Event -from threading import Thread - -from rclpy.node import Node - -from sensor_msgs.msg import JointState, Imu -from nav_msgs.msg import Odometry - - -class ControllersTestNode(Node): - ROSBOT_HARDWARE_PUBLISHERS_RATE = 10.0 - - __test__ = False - - def __init__(self, name="test_node"): - super().__init__(name) - self.joint_state_msg_event = Event() - self.odom_msg_event = Event() - self.imu_msg_event = Event() - - def create_test_subscribers_and_publishers(self): - self.joint_state_sub = self.create_subscription( - JointState, "/joint_states", self.joint_states_callback, 10 - ) - - self.odom_sub = self.create_subscription( - Odometry, "/rosbot_xl_base_controller/odom", self.odometry_callback, 10 - ) - - self.imu_sub = self.create_subscription( - Imu, "/imu_broadcaster/imu", self.imu_callback, 10 - ) - - self.imu_publisher = self.create_publisher(Imu, "_imu/data_raw", 10) - - self.joint_states_publisher = self.create_publisher( - JointState, "_motors_response", 10 - ) - - self.timer = None - - def start_node_thread(self): - self.ros_spin_thread = Thread( - target=lambda node: rclpy.spin(node), args=(self,) - ) - self.ros_spin_thread.start() - - def joint_states_callback(self, data): - self.joint_state_msg_event.set() - - def odometry_callback(self, data): - self.odom_msg_event.set() - - def imu_callback(self, data): - self.imu_msg_event.set() - - def start_publishing_fake_hardware(self): - self.timer = self.create_timer( - 1.0 / self.ROSBOT_HARDWARE_PUBLISHERS_RATE, - self.publish_fake_hardware_messages, - ) - - def publish_fake_hardware_messages(self): - imu_msg = Imu() - imu_msg.header.stamp = self.get_clock().now().to_msg() - imu_msg.header.frame_id = "imu_link" - - joint_state_msg = JointState() - joint_state_msg.header.stamp = self.get_clock().now().to_msg() - joint_state_msg.name = [ - "fl_wheel_joint", - "fr_wheel_joint", - "rl_wheel_joint", - "rr_wheel_joint", - ] - joint_state_msg.position = [0.0, 0.0, 0.0, 0.0] - joint_state_msg.velocity = [0.0, 0.0, 0.0, 0.0] - - self.imu_publisher.publish(imu_msg) - self.joint_states_publisher.publish(joint_state_msg) diff --git a/rosbot_xl_controller/test/test_diff_drive_controllers.py b/rosbot_xl_controller/test/test_diff_drive_controllers.py index 547c60fc..dcb768c3 100644 --- a/rosbot_xl_controller/test/test_diff_drive_controllers.py +++ b/rosbot_xl_controller/test/test_diff_drive_controllers.py @@ -23,7 +23,7 @@ from launch.actions import IncludeLaunchDescription from launch.substitutions import PathJoinSubstitution from launch.launch_description_sources import PythonLaunchDescriptionSource -from controllers_test_node import ControllersTestNode +from test_utils import ControllersTestNode @launch_pytest.fixture @@ -66,9 +66,7 @@ def test_controllers_startup_fail(): not msgs_received_flag ), "Expected Odom message not received. Check rosbot_base_controller!" msgs_received_flag = node.imu_msg_event.wait(timeout=10.0) - assert ( - not msgs_received_flag - ), "Expected Imu message not received. Check imu_broadcaster!" + assert not msgs_received_flag, "Expected Imu message not received. Check imu_broadcaster!" finally: rclpy.shutdown() diff --git a/rosbot_xl_controller/test/test_flake8.py b/rosbot_xl_controller/test/test_flake8.py index ee79f31a..49c1644f 100644 --- a/rosbot_xl_controller/test/test_flake8.py +++ b/rosbot_xl_controller/test/test_flake8.py @@ -20,6 +20,4 @@ @pytest.mark.linter def test_flake8(): rc, errors = main_with_errors(argv=[]) - assert rc == 0, "Found %d code style errors / warnings:\n" % len( - errors - ) + "\n".join(errors) + assert rc == 0, "Found %d code style errors / warnings:\n" % len(errors) + "\n".join(errors) diff --git a/rosbot_xl_controller/test/test_mecanum_controllers.py b/rosbot_xl_controller/test/test_mecanum_controllers.py index 6fc38e98..484dd564 100644 --- a/rosbot_xl_controller/test/test_mecanum_controllers.py +++ b/rosbot_xl_controller/test/test_mecanum_controllers.py @@ -23,7 +23,7 @@ from launch.actions import IncludeLaunchDescription from launch.substitutions import PathJoinSubstitution from launch.launch_description_sources import PythonLaunchDescriptionSource -from controllers_test_node import ControllersTestNode +from test_utils import ControllersTestNode @launch_pytest.fixture @@ -66,9 +66,7 @@ def test_controllers_startup_fail(): not msgs_received_flag ), "Expected Odom message not received. Check rosbot_base_controller!" msgs_received_flag = node.imu_msg_event.wait(timeout=10.0) - assert ( - not msgs_received_flag - ), "Expected Imu message not received. Check imu_broadcaster!" + assert not msgs_received_flag, "Expected Imu message not received. Check imu_broadcaster!" finally: rclpy.shutdown() From 65360dcdd32e06e0ea6a7145b47682b95b3590fc Mon Sep 17 00:00:00 2001 From: Jakub Delicat Date: Tue, 24 Oct 2023 12:13:16 +0200 Subject: [PATCH 16/35] Created controller test util Signed-off-by: Jakub Delicat --- rosbot_xl_controller/test/test_utils.py | 91 +++++++++++++++++++++++++ 1 file changed, 91 insertions(+) create mode 100644 rosbot_xl_controller/test/test_utils.py diff --git a/rosbot_xl_controller/test/test_utils.py b/rosbot_xl_controller/test/test_utils.py new file mode 100644 index 00000000..ecf984c8 --- /dev/null +++ b/rosbot_xl_controller/test/test_utils.py @@ -0,0 +1,91 @@ +# Copyright 2021 Open Source Robotics Foundation, Inc. +# 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 rclpy + +from threading import Event +from threading import Thread + +from rclpy.node import Node + +from sensor_msgs.msg import JointState, Imu +from nav_msgs.msg import Odometry + + +class ControllersTestNode(Node): + ROSBOT_HARDWARE_PUBLISHERS_RATE = 10.0 + + __test__ = False + + def __init__(self, name="test_node"): + super().__init__(name) + self.joint_state_msg_event = Event() + self.odom_msg_event = Event() + self.imu_msg_event = Event() + + def create_test_subscribers_and_publishers(self): + self.joint_state_sub = self.create_subscription( + JointState, "/joint_states", self.joint_states_callback, 10 + ) + + self.odom_sub = self.create_subscription( + Odometry, "/rosbot_xl_base_controller/odom", self.odometry_callback, 10 + ) + + self.imu_sub = self.create_subscription(Imu, "/imu_broadcaster/imu", self.imu_callback, 10) + + self.imu_publisher = self.create_publisher(Imu, "_imu/data_raw", 10) + + self.joint_states_publisher = self.create_publisher(JointState, "_motors_response", 10) + + self.timer = None + + def start_node_thread(self): + self.ros_spin_thread = Thread(target=lambda node: rclpy.spin(node), args=(self,)) + self.ros_spin_thread.start() + + def joint_states_callback(self, data): + self.joint_state_msg_event.set() + + def odometry_callback(self, data): + self.odom_msg_event.set() + + def imu_callback(self, data): + self.imu_msg_event.set() + + def start_publishing_fake_hardware(self): + self.timer = self.create_timer( + 1.0 / self.ROSBOT_HARDWARE_PUBLISHERS_RATE, + self.publish_fake_hardware_messages, + ) + + def publish_fake_hardware_messages(self): + imu_msg = Imu() + imu_msg.header.stamp = self.get_clock().now().to_msg() + imu_msg.header.frame_id = "imu_link" + + joint_state_msg = JointState() + joint_state_msg.header.stamp = self.get_clock().now().to_msg() + joint_state_msg.name = [ + "fl_wheel_joint", + "fr_wheel_joint", + "rl_wheel_joint", + "rr_wheel_joint", + ] + joint_state_msg.position = [0.0, 0.0, 0.0, 0.0] + joint_state_msg.velocity = [0.0, 0.0, 0.0, 0.0] + + self.imu_publisher.publish(imu_msg) + self.joint_states_publisher.publish(joint_state_msg) From 728ee8c18ac4862196265c2b2adbf1a9767094fe Mon Sep 17 00:00:00 2001 From: Jakub Delicat Date: Tue, 24 Oct 2023 12:25:45 +0200 Subject: [PATCH 17/35] removed .vscode Signed-off-by: Jakub Delicat --- .vscode/extensions.json | 10 ---------- .vscode/settings.json | 12 ------------ 2 files changed, 22 deletions(-) delete mode 100644 .vscode/extensions.json delete mode 100644 .vscode/settings.json diff --git a/.vscode/extensions.json b/.vscode/extensions.json deleted file mode 100644 index 62d443f5..00000000 --- a/.vscode/extensions.json +++ /dev/null @@ -1,10 +0,0 @@ -{ - "recommendations": [ - "ms-iot.vscode-ros", - "ms-python.black-formatter", - "streetsidesoftware.code-spell-checker", - "kevinrose.vsc-python-indent", - "ms-python.python", - "shardulm94.trailing-spaces" - ] -} diff --git a/.vscode/settings.json b/.vscode/settings.json deleted file mode 100644 index 67d4694f..00000000 --- a/.vscode/settings.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "cSpell.customDictionaries": { - "project-words": { - "name": "Workspace Dictionary for Github Action", - "path": "${workspaceRoot}/.wordlist.txt", - "addWords": true - }, - "custom": true, - "internal-terms": false - }, - "files.insertFinalNewline": true -} From 8489242489c10ecf214e0d6bf9ae1bc98018f779 Mon Sep 17 00:00:00 2001 From: action-bot Date: Tue, 24 Oct 2023 10:27:02 +0000 Subject: [PATCH 18/35] Update changelog --- rosbot_xl/CHANGELOG.rst | 5 +++++ rosbot_xl_bringup/CHANGELOG.rst | 5 +++++ rosbot_xl_controller/CHANGELOG.rst | 5 +++++ rosbot_xl_description/CHANGELOG.rst | 5 +++++ rosbot_xl_gazebo/CHANGELOG.rst | 5 +++++ 5 files changed, 25 insertions(+) diff --git a/rosbot_xl/CHANGELOG.rst b/rosbot_xl/CHANGELOG.rst index 27517ea5..73339fff 100644 --- a/rosbot_xl/CHANGELOG.rst +++ b/rosbot_xl/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package rosbot_xl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge remote-tracking branch 'origin/master' into add-black +* Contributors: Jakub Delicat + 0.8.3 (2023-10-24) ------------------ * Merge pull request `#50 `_ from husarion/add-pre-commit diff --git a/rosbot_xl_bringup/CHANGELOG.rst b/rosbot_xl_bringup/CHANGELOG.rst index ff67e17c..15368f63 100644 --- a/rosbot_xl_bringup/CHANGELOG.rst +++ b/rosbot_xl_bringup/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package rosbot_xl_bringup ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge remote-tracking branch 'origin/master' into add-black +* Contributors: Jakub Delicat + 0.8.3 (2023-10-24) ------------------ * Merge pull request `#50 `_ from husarion/add-pre-commit diff --git a/rosbot_xl_controller/CHANGELOG.rst b/rosbot_xl_controller/CHANGELOG.rst index 1162034f..96a23af9 100644 --- a/rosbot_xl_controller/CHANGELOG.rst +++ b/rosbot_xl_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package rosbot_xl_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge remote-tracking branch 'origin/master' into add-black +* Contributors: Jakub Delicat + 0.8.3 (2023-10-24) ------------------ * Merge pull request `#50 `_ from husarion/add-pre-commit diff --git a/rosbot_xl_description/CHANGELOG.rst b/rosbot_xl_description/CHANGELOG.rst index 77c78166..12295bce 100644 --- a/rosbot_xl_description/CHANGELOG.rst +++ b/rosbot_xl_description/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package rosbot_xl_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge remote-tracking branch 'origin/master' into add-black +* Contributors: Jakub Delicat + 0.8.3 (2023-10-24) ------------------ * Merge pull request `#50 `_ from husarion/add-pre-commit diff --git a/rosbot_xl_gazebo/CHANGELOG.rst b/rosbot_xl_gazebo/CHANGELOG.rst index 89dea3da..df2df556 100644 --- a/rosbot_xl_gazebo/CHANGELOG.rst +++ b/rosbot_xl_gazebo/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package rosbot_xl_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge remote-tracking branch 'origin/master' into add-black +* Contributors: Jakub Delicat + 0.8.3 (2023-10-24) ------------------ * Merge pull request `#50 `_ from husarion/add-pre-commit From 9d6ffdfe31bc6abd699e9644bbab187dace497a9 Mon Sep 17 00:00:00 2001 From: action-bot Date: Tue, 24 Oct 2023 10:27:02 +0000 Subject: [PATCH 19/35] 0.8.4 --- rosbot_xl/CHANGELOG.rst | 4 ++-- rosbot_xl/package.xml | 2 +- rosbot_xl_bringup/CHANGELOG.rst | 4 ++-- rosbot_xl_bringup/package.xml | 2 +- rosbot_xl_controller/CHANGELOG.rst | 4 ++-- rosbot_xl_controller/package.xml | 2 +- rosbot_xl_description/CHANGELOG.rst | 4 ++-- rosbot_xl_description/package.xml | 2 +- rosbot_xl_gazebo/CHANGELOG.rst | 4 ++-- rosbot_xl_gazebo/package.xml | 2 +- 10 files changed, 15 insertions(+), 15 deletions(-) diff --git a/rosbot_xl/CHANGELOG.rst b/rosbot_xl/CHANGELOG.rst index 73339fff..3b1d8814 100644 --- a/rosbot_xl/CHANGELOG.rst +++ b/rosbot_xl/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.4 (2023-10-24) +------------------ * Merge remote-tracking branch 'origin/master' into add-black * Contributors: Jakub Delicat diff --git a/rosbot_xl/package.xml b/rosbot_xl/package.xml index dbe17410..11250fc7 100644 --- a/rosbot_xl/package.xml +++ b/rosbot_xl/package.xml @@ -2,7 +2,7 @@ rosbot_xl - 0.8.3 + 0.8.4 Meta package that contains all packages of Rosbot XL Apache License 2.0 diff --git a/rosbot_xl_bringup/CHANGELOG.rst b/rosbot_xl_bringup/CHANGELOG.rst index 15368f63..153fa4c1 100644 --- a/rosbot_xl_bringup/CHANGELOG.rst +++ b/rosbot_xl_bringup/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_bringup ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.4 (2023-10-24) +------------------ * Merge remote-tracking branch 'origin/master' into add-black * Contributors: Jakub Delicat diff --git a/rosbot_xl_bringup/package.xml b/rosbot_xl_bringup/package.xml index 7fd49b92..b3172a8c 100644 --- a/rosbot_xl_bringup/package.xml +++ b/rosbot_xl_bringup/package.xml @@ -2,7 +2,7 @@ rosbot_xl_bringup - 0.8.3 + 0.8.4 The rosbot_xl_bringup package Apache License 2.0 diff --git a/rosbot_xl_controller/CHANGELOG.rst b/rosbot_xl_controller/CHANGELOG.rst index 96a23af9..1f816dd9 100644 --- a/rosbot_xl_controller/CHANGELOG.rst +++ b/rosbot_xl_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.4 (2023-10-24) +------------------ * Merge remote-tracking branch 'origin/master' into add-black * Contributors: Jakub Delicat diff --git a/rosbot_xl_controller/package.xml b/rosbot_xl_controller/package.xml index 1bf269a8..722bdb0d 100644 --- a/rosbot_xl_controller/package.xml +++ b/rosbot_xl_controller/package.xml @@ -2,7 +2,7 @@ rosbot_xl_controller - 0.8.3 + 0.8.4 Hardware configuration for ROSbot XL Apache License 2.0 diff --git a/rosbot_xl_description/CHANGELOG.rst b/rosbot_xl_description/CHANGELOG.rst index 12295bce..2fcc9b01 100644 --- a/rosbot_xl_description/CHANGELOG.rst +++ b/rosbot_xl_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.4 (2023-10-24) +------------------ * Merge remote-tracking branch 'origin/master' into add-black * Contributors: Jakub Delicat diff --git a/rosbot_xl_description/package.xml b/rosbot_xl_description/package.xml index f9b61d1d..d5a822ca 100644 --- a/rosbot_xl_description/package.xml +++ b/rosbot_xl_description/package.xml @@ -2,7 +2,7 @@ rosbot_xl_description - 0.8.3 + 0.8.4 The rosbot_xl_description package Apache License 2.0 diff --git a/rosbot_xl_gazebo/CHANGELOG.rst b/rosbot_xl_gazebo/CHANGELOG.rst index df2df556..9c0cf574 100644 --- a/rosbot_xl_gazebo/CHANGELOG.rst +++ b/rosbot_xl_gazebo/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.4 (2023-10-24) +------------------ * Merge remote-tracking branch 'origin/master' into add-black * Contributors: Jakub Delicat diff --git a/rosbot_xl_gazebo/package.xml b/rosbot_xl_gazebo/package.xml index 5ca13a5d..9c265135 100644 --- a/rosbot_xl_gazebo/package.xml +++ b/rosbot_xl_gazebo/package.xml @@ -2,7 +2,7 @@ rosbot_xl_gazebo - 0.8.3 + 0.8.4 The rosbot_xl_gazebo package Apache License 2.0 From 946aebf4786f15fc4aad0f560fef76ea70a62eac Mon Sep 17 00:00:00 2001 From: action-bot Date: Tue, 24 Oct 2023 10:41:55 +0000 Subject: [PATCH 20/35] Update changelog --- rosbot_xl/CHANGELOG.rst | 7 +++++++ rosbot_xl_bringup/CHANGELOG.rst | 5 +++++ rosbot_xl_controller/CHANGELOG.rst | 5 +++++ rosbot_xl_description/CHANGELOG.rst | 5 +++++ rosbot_xl_gazebo/CHANGELOG.rst | 5 +++++ 5 files changed, 27 insertions(+) diff --git a/rosbot_xl/CHANGELOG.rst b/rosbot_xl/CHANGELOG.rst index 3b1d8814..a7115bc2 100644 --- a/rosbot_xl/CHANGELOG.rst +++ b/rosbot_xl/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package rosbot_xl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge pull request `#45 `_ from husarion/add-pyspelling + Add pyspelling +* Merge remote-tracking branch 'origin/master' into add-pyspelling +* Contributors: Jakub Delicat, rafal-gorecki + 0.8.4 (2023-10-24) ------------------ * Merge remote-tracking branch 'origin/master' into add-black diff --git a/rosbot_xl_bringup/CHANGELOG.rst b/rosbot_xl_bringup/CHANGELOG.rst index 153fa4c1..4f6c80b5 100644 --- a/rosbot_xl_bringup/CHANGELOG.rst +++ b/rosbot_xl_bringup/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package rosbot_xl_bringup ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge remote-tracking branch 'origin/master' into add-pyspelling +* Contributors: Jakub Delicat + 0.8.4 (2023-10-24) ------------------ * Merge remote-tracking branch 'origin/master' into add-black diff --git a/rosbot_xl_controller/CHANGELOG.rst b/rosbot_xl_controller/CHANGELOG.rst index 1f816dd9..bd312ac0 100644 --- a/rosbot_xl_controller/CHANGELOG.rst +++ b/rosbot_xl_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package rosbot_xl_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge remote-tracking branch 'origin/master' into add-pyspelling +* Contributors: Jakub Delicat + 0.8.4 (2023-10-24) ------------------ * Merge remote-tracking branch 'origin/master' into add-black diff --git a/rosbot_xl_description/CHANGELOG.rst b/rosbot_xl_description/CHANGELOG.rst index 2fcc9b01..0999bb05 100644 --- a/rosbot_xl_description/CHANGELOG.rst +++ b/rosbot_xl_description/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package rosbot_xl_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge remote-tracking branch 'origin/master' into add-pyspelling +* Contributors: Jakub Delicat + 0.8.4 (2023-10-24) ------------------ * Merge remote-tracking branch 'origin/master' into add-black diff --git a/rosbot_xl_gazebo/CHANGELOG.rst b/rosbot_xl_gazebo/CHANGELOG.rst index 9c0cf574..83e3d52f 100644 --- a/rosbot_xl_gazebo/CHANGELOG.rst +++ b/rosbot_xl_gazebo/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package rosbot_xl_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge remote-tracking branch 'origin/master' into add-pyspelling +* Contributors: Jakub Delicat + 0.8.4 (2023-10-24) ------------------ * Merge remote-tracking branch 'origin/master' into add-black From f31b9fa45e795a4023195e2cf1cd483872b21f01 Mon Sep 17 00:00:00 2001 From: action-bot Date: Tue, 24 Oct 2023 10:41:56 +0000 Subject: [PATCH 21/35] 0.8.5 --- rosbot_xl/CHANGELOG.rst | 4 ++-- rosbot_xl/package.xml | 2 +- rosbot_xl_bringup/CHANGELOG.rst | 4 ++-- rosbot_xl_bringup/package.xml | 2 +- rosbot_xl_controller/CHANGELOG.rst | 4 ++-- rosbot_xl_controller/package.xml | 2 +- rosbot_xl_description/CHANGELOG.rst | 4 ++-- rosbot_xl_description/package.xml | 2 +- rosbot_xl_gazebo/CHANGELOG.rst | 4 ++-- rosbot_xl_gazebo/package.xml | 2 +- 10 files changed, 15 insertions(+), 15 deletions(-) diff --git a/rosbot_xl/CHANGELOG.rst b/rosbot_xl/CHANGELOG.rst index a7115bc2..f31770a5 100644 --- a/rosbot_xl/CHANGELOG.rst +++ b/rosbot_xl/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.5 (2023-10-24) +------------------ * Merge pull request `#45 `_ from husarion/add-pyspelling Add pyspelling * Merge remote-tracking branch 'origin/master' into add-pyspelling diff --git a/rosbot_xl/package.xml b/rosbot_xl/package.xml index 116e9205..ac8ffb9a 100644 --- a/rosbot_xl/package.xml +++ b/rosbot_xl/package.xml @@ -2,7 +2,7 @@ rosbot_xl - 0.8.4 + 0.8.5 Meta package that contains all packages of ROSbot XL Apache License 2.0 diff --git a/rosbot_xl_bringup/CHANGELOG.rst b/rosbot_xl_bringup/CHANGELOG.rst index 4f6c80b5..53d9dc92 100644 --- a/rosbot_xl_bringup/CHANGELOG.rst +++ b/rosbot_xl_bringup/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_bringup ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.5 (2023-10-24) +------------------ * Merge remote-tracking branch 'origin/master' into add-pyspelling * Contributors: Jakub Delicat diff --git a/rosbot_xl_bringup/package.xml b/rosbot_xl_bringup/package.xml index b3172a8c..1e9c3fdd 100644 --- a/rosbot_xl_bringup/package.xml +++ b/rosbot_xl_bringup/package.xml @@ -2,7 +2,7 @@ rosbot_xl_bringup - 0.8.4 + 0.8.5 The rosbot_xl_bringup package Apache License 2.0 diff --git a/rosbot_xl_controller/CHANGELOG.rst b/rosbot_xl_controller/CHANGELOG.rst index bd312ac0..327b2708 100644 --- a/rosbot_xl_controller/CHANGELOG.rst +++ b/rosbot_xl_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.5 (2023-10-24) +------------------ * Merge remote-tracking branch 'origin/master' into add-pyspelling * Contributors: Jakub Delicat diff --git a/rosbot_xl_controller/package.xml b/rosbot_xl_controller/package.xml index 722bdb0d..497f0339 100644 --- a/rosbot_xl_controller/package.xml +++ b/rosbot_xl_controller/package.xml @@ -2,7 +2,7 @@ rosbot_xl_controller - 0.8.4 + 0.8.5 Hardware configuration for ROSbot XL Apache License 2.0 diff --git a/rosbot_xl_description/CHANGELOG.rst b/rosbot_xl_description/CHANGELOG.rst index 0999bb05..1485d002 100644 --- a/rosbot_xl_description/CHANGELOG.rst +++ b/rosbot_xl_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.5 (2023-10-24) +------------------ * Merge remote-tracking branch 'origin/master' into add-pyspelling * Contributors: Jakub Delicat diff --git a/rosbot_xl_description/package.xml b/rosbot_xl_description/package.xml index d5a822ca..fa6284c2 100644 --- a/rosbot_xl_description/package.xml +++ b/rosbot_xl_description/package.xml @@ -2,7 +2,7 @@ rosbot_xl_description - 0.8.4 + 0.8.5 The rosbot_xl_description package Apache License 2.0 diff --git a/rosbot_xl_gazebo/CHANGELOG.rst b/rosbot_xl_gazebo/CHANGELOG.rst index 83e3d52f..dfed5dd1 100644 --- a/rosbot_xl_gazebo/CHANGELOG.rst +++ b/rosbot_xl_gazebo/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.5 (2023-10-24) +------------------ * Merge remote-tracking branch 'origin/master' into add-pyspelling * Contributors: Jakub Delicat diff --git a/rosbot_xl_gazebo/package.xml b/rosbot_xl_gazebo/package.xml index 9c265135..8be44ff7 100644 --- a/rosbot_xl_gazebo/package.xml +++ b/rosbot_xl_gazebo/package.xml @@ -2,7 +2,7 @@ rosbot_xl_gazebo - 0.8.4 + 0.8.5 The rosbot_xl_gazebo package Apache License 2.0 From 5224572315dfe18181e04111349f1dbb71c982d8 Mon Sep 17 00:00:00 2001 From: action-bot Date: Tue, 24 Oct 2023 11:46:39 +0000 Subject: [PATCH 22/35] Update changelog --- rosbot_xl/CHANGELOG.rst | 5 +++++ rosbot_xl_bringup/CHANGELOG.rst | 5 +++++ rosbot_xl_controller/CHANGELOG.rst | 7 +++++++ rosbot_xl_description/CHANGELOG.rst | 5 +++++ rosbot_xl_gazebo/CHANGELOG.rst | 5 +++++ 5 files changed, 27 insertions(+) diff --git a/rosbot_xl/CHANGELOG.rst b/rosbot_xl/CHANGELOG.rst index f31770a5..ce5972cc 100644 --- a/rosbot_xl/CHANGELOG.rst +++ b/rosbot_xl/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package rosbot_xl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge remote-tracking branch 'origin/master' into test-controller +* Contributors: Jakub Delicat + 0.8.5 (2023-10-24) ------------------ * Merge pull request `#45 `_ from husarion/add-pyspelling diff --git a/rosbot_xl_bringup/CHANGELOG.rst b/rosbot_xl_bringup/CHANGELOG.rst index 53d9dc92..15840dcb 100644 --- a/rosbot_xl_bringup/CHANGELOG.rst +++ b/rosbot_xl_bringup/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package rosbot_xl_bringup ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge remote-tracking branch 'origin/master' into test-controller +* Contributors: Jakub Delicat + 0.8.5 (2023-10-24) ------------------ * Merge remote-tracking branch 'origin/master' into add-pyspelling diff --git a/rosbot_xl_controller/CHANGELOG.rst b/rosbot_xl_controller/CHANGELOG.rst index 327b2708..f9e0dfb4 100644 --- a/rosbot_xl_controller/CHANGELOG.rst +++ b/rosbot_xl_controller/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package rosbot_xl_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge pull request `#46 `_ from husarion/test-controller + Test controller +* Merge remote-tracking branch 'origin/master' into test-controller +* Contributors: Jakub Delicat, rafal-gorecki + 0.8.5 (2023-10-24) ------------------ * Merge remote-tracking branch 'origin/master' into add-pyspelling diff --git a/rosbot_xl_description/CHANGELOG.rst b/rosbot_xl_description/CHANGELOG.rst index 1485d002..1483bcf2 100644 --- a/rosbot_xl_description/CHANGELOG.rst +++ b/rosbot_xl_description/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package rosbot_xl_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge remote-tracking branch 'origin/master' into test-controller +* Contributors: Jakub Delicat + 0.8.5 (2023-10-24) ------------------ * Merge remote-tracking branch 'origin/master' into add-pyspelling diff --git a/rosbot_xl_gazebo/CHANGELOG.rst b/rosbot_xl_gazebo/CHANGELOG.rst index dfed5dd1..ddb18d41 100644 --- a/rosbot_xl_gazebo/CHANGELOG.rst +++ b/rosbot_xl_gazebo/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package rosbot_xl_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge remote-tracking branch 'origin/master' into test-controller +* Contributors: Jakub Delicat + 0.8.5 (2023-10-24) ------------------ * Merge remote-tracking branch 'origin/master' into add-pyspelling From c77ecc32791284f4bbca4ab4184645ce8170f0b1 Mon Sep 17 00:00:00 2001 From: action-bot Date: Tue, 24 Oct 2023 11:46:40 +0000 Subject: [PATCH 23/35] 0.8.6 --- rosbot_xl/CHANGELOG.rst | 4 ++-- rosbot_xl/package.xml | 2 +- rosbot_xl_bringup/CHANGELOG.rst | 4 ++-- rosbot_xl_bringup/package.xml | 2 +- rosbot_xl_controller/CHANGELOG.rst | 4 ++-- rosbot_xl_controller/package.xml | 2 +- rosbot_xl_description/CHANGELOG.rst | 4 ++-- rosbot_xl_description/package.xml | 2 +- rosbot_xl_gazebo/CHANGELOG.rst | 4 ++-- rosbot_xl_gazebo/package.xml | 2 +- 10 files changed, 15 insertions(+), 15 deletions(-) diff --git a/rosbot_xl/CHANGELOG.rst b/rosbot_xl/CHANGELOG.rst index ce5972cc..9feb2f58 100644 --- a/rosbot_xl/CHANGELOG.rst +++ b/rosbot_xl/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.6 (2023-10-24) +------------------ * Merge remote-tracking branch 'origin/master' into test-controller * Contributors: Jakub Delicat diff --git a/rosbot_xl/package.xml b/rosbot_xl/package.xml index ac8ffb9a..97542be0 100644 --- a/rosbot_xl/package.xml +++ b/rosbot_xl/package.xml @@ -2,7 +2,7 @@ rosbot_xl - 0.8.5 + 0.8.6 Meta package that contains all packages of ROSbot XL Apache License 2.0 diff --git a/rosbot_xl_bringup/CHANGELOG.rst b/rosbot_xl_bringup/CHANGELOG.rst index 15840dcb..ecfde09e 100644 --- a/rosbot_xl_bringup/CHANGELOG.rst +++ b/rosbot_xl_bringup/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_bringup ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.6 (2023-10-24) +------------------ * Merge remote-tracking branch 'origin/master' into test-controller * Contributors: Jakub Delicat diff --git a/rosbot_xl_bringup/package.xml b/rosbot_xl_bringup/package.xml index 1e9c3fdd..7a40b3d4 100644 --- a/rosbot_xl_bringup/package.xml +++ b/rosbot_xl_bringup/package.xml @@ -2,7 +2,7 @@ rosbot_xl_bringup - 0.8.5 + 0.8.6 The rosbot_xl_bringup package Apache License 2.0 diff --git a/rosbot_xl_controller/CHANGELOG.rst b/rosbot_xl_controller/CHANGELOG.rst index f9e0dfb4..e6abcd8e 100644 --- a/rosbot_xl_controller/CHANGELOG.rst +++ b/rosbot_xl_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.6 (2023-10-24) +------------------ * Merge pull request `#46 `_ from husarion/test-controller Test controller * Merge remote-tracking branch 'origin/master' into test-controller diff --git a/rosbot_xl_controller/package.xml b/rosbot_xl_controller/package.xml index ddc14af1..3cfe5f0d 100644 --- a/rosbot_xl_controller/package.xml +++ b/rosbot_xl_controller/package.xml @@ -2,7 +2,7 @@ rosbot_xl_controller - 0.8.5 + 0.8.6 Hardware configuration for ROSbot XL Apache License 2.0 diff --git a/rosbot_xl_description/CHANGELOG.rst b/rosbot_xl_description/CHANGELOG.rst index 1483bcf2..f48608e9 100644 --- a/rosbot_xl_description/CHANGELOG.rst +++ b/rosbot_xl_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.6 (2023-10-24) +------------------ * Merge remote-tracking branch 'origin/master' into test-controller * Contributors: Jakub Delicat diff --git a/rosbot_xl_description/package.xml b/rosbot_xl_description/package.xml index fa6284c2..4c338055 100644 --- a/rosbot_xl_description/package.xml +++ b/rosbot_xl_description/package.xml @@ -2,7 +2,7 @@ rosbot_xl_description - 0.8.5 + 0.8.6 The rosbot_xl_description package Apache License 2.0 diff --git a/rosbot_xl_gazebo/CHANGELOG.rst b/rosbot_xl_gazebo/CHANGELOG.rst index ddb18d41..cb5f7233 100644 --- a/rosbot_xl_gazebo/CHANGELOG.rst +++ b/rosbot_xl_gazebo/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.6 (2023-10-24) +------------------ * Merge remote-tracking branch 'origin/master' into test-controller * Contributors: Jakub Delicat diff --git a/rosbot_xl_gazebo/package.xml b/rosbot_xl_gazebo/package.xml index 8be44ff7..988ccd9e 100644 --- a/rosbot_xl_gazebo/package.xml +++ b/rosbot_xl_gazebo/package.xml @@ -2,7 +2,7 @@ rosbot_xl_gazebo - 0.8.5 + 0.8.6 The rosbot_xl_gazebo package Apache License 2.0 From f3a3fcd262861e293894f0a53ed6e2df6e66c8c6 Mon Sep 17 00:00:00 2001 From: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> Date: Tue, 24 Oct 2023 14:09:13 +0200 Subject: [PATCH 24/35] Update .wordlist.txt --- .wordlist.txt | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.wordlist.txt b/.wordlist.txt index 9b11955d..6d7ca908 100644 --- a/.wordlist.txt +++ b/.wordlist.txt @@ -59,3 +59,6 @@ msg lidar gpu gazebosim +msgs +nav +pytest From 027df4f2a50051729702db297040abbbf939884b Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Tue, 24 Oct 2023 16:01:40 +0200 Subject: [PATCH 25/35] Workflow test --- .github/workflows/black.yaml | 1 - .github/workflows/bump_version.yaml | 3 +++ .github/workflows/industrial_ci.yaml | 11 ++++++++--- .github/workflows/spellcheck.yaml | 18 +++++++++--------- rosbot_xl_controller/setup.cfg | 2 ++ 5 files changed, 22 insertions(+), 13 deletions(-) diff --git a/.github/workflows/black.yaml b/.github/workflows/black.yaml index ab5e1b3f..bd5a81f1 100644 --- a/.github/workflows/black.yaml +++ b/.github/workflows/black.yaml @@ -3,7 +3,6 @@ name: Black python lint on: workflow_call: - push: jobs: lint: diff --git a/.github/workflows/bump_version.yaml b/.github/workflows/bump_version.yaml index 862949d7..ed028903 100644 --- a/.github/workflows/bump_version.yaml +++ b/.github/workflows/bump_version.yaml @@ -12,6 +12,9 @@ on: types: [closed] jobs: + industrial_ci: + uses: ./.github/workflows/industrial_ci.yaml + get-bump: name: Get version bump runs-on: ubuntu-latest diff --git a/.github/workflows/industrial_ci.yaml b/.github/workflows/industrial_ci.yaml index 54304f4f..8867fdf7 100644 --- a/.github/workflows/industrial_ci.yaml +++ b/.github/workflows/industrial_ci.yaml @@ -2,12 +2,17 @@ name: Industrial CI on: workflow_call: - pull_request: + workflow_dispatch: push: - branches: - - master + jobs: + black_test: + uses: ./.github/workflows/black.yaml + + spellcheck_test: + uses: ./.github/workflows/spellcheck.yaml + industrial_ci: strategy: fail-fast: false diff --git a/.github/workflows/spellcheck.yaml b/.github/workflows/spellcheck.yaml index a35fb0c1..84317935 100644 --- a/.github/workflows/spellcheck.yaml +++ b/.github/workflows/spellcheck.yaml @@ -1,14 +1,14 @@ +--- name: Spellcheck Action on: - workflow_call: - push: + workflow_call: jobs: - build: - name: Spellcheck - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v3 - - uses: rojopolis/spellcheck-github-actions@0.33.1 - name: Spellcheck + build: + name: Spellcheck + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - uses: rojopolis/spellcheck-github-actions@0.33.1 + name: Spellcheck diff --git a/rosbot_xl_controller/setup.cfg b/rosbot_xl_controller/setup.cfg index 8878b79a..cc5dfe0a 100644 --- a/rosbot_xl_controller/setup.cfg +++ b/rosbot_xl_controller/setup.cfg @@ -2,3 +2,5 @@ script_dir=$base/lib/rosbot_xl_controller [install] install_scripts=$base/lib/rosbot_xl_controller +[flake8] +max-line-length = 99 From edf0823c4cede227c611987ec1487cb34d61499c Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Tue, 24 Oct 2023 16:07:52 +0200 Subject: [PATCH 26/35] add assert msg --- rosbot_xl_controller/test/test_diff_drive_controllers.py | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/rosbot_xl_controller/test/test_diff_drive_controllers.py b/rosbot_xl_controller/test/test_diff_drive_controllers.py index dcb768c3..52e50663 100644 --- a/rosbot_xl_controller/test/test_diff_drive_controllers.py +++ b/rosbot_xl_controller/test/test_diff_drive_controllers.py @@ -60,13 +60,15 @@ def test_controllers_startup_fail(): msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0) assert ( not msgs_received_flag - ), "Expected JointStates message not received. Check joint_state_broadcaster!" + ), "Received JointStates message that should not have appeared. Check whether other robots are connected to your network.!" msgs_received_flag = node.odom_msg_event.wait(timeout=10.0) assert ( not msgs_received_flag - ), "Expected Odom message not received. Check rosbot_base_controller!" + ), "Received Odom message that should not have appeared. Check whether other robots are connected to your network.!" msgs_received_flag = node.imu_msg_event.wait(timeout=10.0) - assert not msgs_received_flag, "Expected Imu message not received. Check imu_broadcaster!" + assert ( + not msgs_received_flag + ), "Received Imu message that should not have appeared. Check whether other robots are connected to your network.!" finally: rclpy.shutdown() From 49e00cf00652137dda7c7df5934b8772ca2e5ea3 Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Tue, 24 Oct 2023 16:22:19 +0200 Subject: [PATCH 27/35] add ignore --- rosbot_xl_controller/setup.cfg | 1 + 1 file changed, 1 insertion(+) diff --git a/rosbot_xl_controller/setup.cfg b/rosbot_xl_controller/setup.cfg index cc5dfe0a..d940df09 100644 --- a/rosbot_xl_controller/setup.cfg +++ b/rosbot_xl_controller/setup.cfg @@ -3,4 +3,5 @@ script_dir=$base/lib/rosbot_xl_controller [install] install_scripts=$base/lib/rosbot_xl_controller [flake8] +ignore=E501,W503 # ignore too long line and line break before binary operator - black checks it max-line-length = 99 From 2e26a4eb8b93d368a43342e0b5a79b71527ac2c7 Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Tue, 24 Oct 2023 16:23:34 +0200 Subject: [PATCH 28/35] add info --- rosbot_xl_controller/setup.cfg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rosbot_xl_controller/setup.cfg b/rosbot_xl_controller/setup.cfg index d940df09..8c47b3f2 100644 --- a/rosbot_xl_controller/setup.cfg +++ b/rosbot_xl_controller/setup.cfg @@ -3,5 +3,5 @@ script_dir=$base/lib/rosbot_xl_controller [install] install_scripts=$base/lib/rosbot_xl_controller [flake8] -ignore=E501,W503 # ignore too long line and line break before binary operator - black checks it +ignore = E501,W503 # Ignore "line too long" (E501) and "line break before binary operator" (W503) - black checks it max-line-length = 99 From de435208bbd7fed4dacf840ab13bc2f04798cae6 Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Tue, 24 Oct 2023 18:58:39 +0200 Subject: [PATCH 29/35] add black line break --- .pre-commit-config.yaml | 4 ++-- rosbot_xl_bringup/launch/bringup.launch.py | 4 +++- rosbot_xl_controller/setup.cfg | 3 --- .../test/test_diff_drive_controllers.py | 21 +++++++++++-------- .../test/test_mecanum_controllers.py | 19 ++++++++++------- rosbot_xl_gazebo/launch/simulation.launch.py | 4 +++- 6 files changed, 32 insertions(+), 23 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 0664b224..a71dc9ba 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -32,10 +32,10 @@ repos: files: ^.github|./\.yaml - repo: https://github.com/psf/black - rev: 22.12.0 + rev: 23.10.1 hooks: - id: black - args: ["--line-length=99"] + args: ["--line-length=99", "--experimental-string-processing"] - repo: https://github.com/PyCQA/flake8 rev: 6.1.0 diff --git a/rosbot_xl_bringup/launch/bringup.launch.py b/rosbot_xl_bringup/launch/bringup.launch.py index 2bf5d487..08b7d3a8 100644 --- a/rosbot_xl_bringup/launch/bringup.launch.py +++ b/rosbot_xl_bringup/launch/bringup.launch.py @@ -30,7 +30,9 @@ def generate_launch_description(): declare_mecanum_arg = DeclareLaunchArgument( "mecanum", default_value="False", - description="Whether to use mecanum drive controller (otherwise diff drive controller is used)", + description=( + "Whether to use mecanum drive controller (otherwise diff drive controller is used)" + ), ) lidar_model = LaunchConfiguration("lidar_model") diff --git a/rosbot_xl_controller/setup.cfg b/rosbot_xl_controller/setup.cfg index 8c47b3f2..8878b79a 100644 --- a/rosbot_xl_controller/setup.cfg +++ b/rosbot_xl_controller/setup.cfg @@ -2,6 +2,3 @@ script_dir=$base/lib/rosbot_xl_controller [install] install_scripts=$base/lib/rosbot_xl_controller -[flake8] -ignore = E501,W503 # Ignore "line too long" (E501) and "line break before binary operator" (W503) - black checks it -max-line-length = 99 diff --git a/rosbot_xl_controller/test/test_diff_drive_controllers.py b/rosbot_xl_controller/test/test_diff_drive_controllers.py index 52e50663..f7d12ecc 100644 --- a/rosbot_xl_controller/test/test_diff_drive_controllers.py +++ b/rosbot_xl_controller/test/test_diff_drive_controllers.py @@ -58,17 +58,20 @@ def test_controllers_startup_fail(): node.start_node_thread() msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0) - assert ( - not msgs_received_flag - ), "Received JointStates message that should not have appeared. Check whether other robots are connected to your network.!" + assert not msgs_received_flag, ( + "Received JointStates message that should not have appeared. Check whether other" + " robots are connected to your network.!" + ) msgs_received_flag = node.odom_msg_event.wait(timeout=10.0) - assert ( - not msgs_received_flag - ), "Received Odom message that should not have appeared. Check whether other robots are connected to your network.!" + assert not msgs_received_flag, ( + "Received Odom message that should not have appeared. Check whether other robots are" + " connected to your network.!" + ) msgs_received_flag = node.imu_msg_event.wait(timeout=10.0) - assert ( - not msgs_received_flag - ), "Received Imu message that should not have appeared. Check whether other robots are connected to your network.!" + assert not msgs_received_flag, ( + "Received Imu message that should not have appeared. Check whether other robots are" + " connected to your network.!" + ) finally: rclpy.shutdown() diff --git a/rosbot_xl_controller/test/test_mecanum_controllers.py b/rosbot_xl_controller/test/test_mecanum_controllers.py index 484dd564..2b8a1567 100644 --- a/rosbot_xl_controller/test/test_mecanum_controllers.py +++ b/rosbot_xl_controller/test/test_mecanum_controllers.py @@ -58,15 +58,20 @@ def test_controllers_startup_fail(): node.start_node_thread() msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0) - assert ( - not msgs_received_flag - ), "Expected JointStates message not received. Check joint_state_broadcaster!" + assert not msgs_received_flag, ( + "Received JointStates message that should not have appeared. Check whether other" + " robots are connected to your network.! aaaaaaaaaaaaaaaaaaaaaaaaaaa" + ) msgs_received_flag = node.odom_msg_event.wait(timeout=10.0) - assert ( - not msgs_received_flag - ), "Expected Odom message not received. Check rosbot_base_controller!" + assert not msgs_received_flag, ( + "Received Odom message that should not have appeared. Check whether other robots are" + " connected to your network.!" + ) msgs_received_flag = node.imu_msg_event.wait(timeout=10.0) - assert not msgs_received_flag, "Expected Imu message not received. Check imu_broadcaster!" + assert not msgs_received_flag, ( + "Received Imu message that should not have appeared. Check whether other robots are" + " connected to your network.!" + ) finally: rclpy.shutdown() diff --git a/rosbot_xl_gazebo/launch/simulation.launch.py b/rosbot_xl_gazebo/launch/simulation.launch.py index c4906b1b..2a57c2a0 100644 --- a/rosbot_xl_gazebo/launch/simulation.launch.py +++ b/rosbot_xl_gazebo/launch/simulation.launch.py @@ -33,7 +33,9 @@ def generate_launch_description(): declare_mecanum_arg = DeclareLaunchArgument( "mecanum", default_value="False", - description="Whether to use mecanum drive controller (otherwise diff drive controller is used)", + description=( + "Whether to use mecanum drive controller (otherwise diff drive controller is used)" + ), ) lidar_model = LaunchConfiguration("lidar_model") From 9a6147d7ea36d36a130f90fb5b5f0f4803eb1a98 Mon Sep 17 00:00:00 2001 From: action-bot Date: Tue, 24 Oct 2023 17:10:25 +0000 Subject: [PATCH 30/35] Update changelog --- rosbot_xl/CHANGELOG.rst | 3 +++ rosbot_xl_bringup/CHANGELOG.rst | 6 ++++++ rosbot_xl_controller/CHANGELOG.rst | 6 ++++++ rosbot_xl_description/CHANGELOG.rst | 3 +++ rosbot_xl_gazebo/CHANGELOG.rst | 6 ++++++ 5 files changed, 24 insertions(+) diff --git a/rosbot_xl/CHANGELOG.rst b/rosbot_xl/CHANGELOG.rst index 9feb2f58..d24b5b85 100644 --- a/rosbot_xl/CHANGELOG.rst +++ b/rosbot_xl/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package rosbot_xl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.8.6 (2023-10-24) ------------------ * Merge remote-tracking branch 'origin/master' into test-controller diff --git a/rosbot_xl_bringup/CHANGELOG.rst b/rosbot_xl_bringup/CHANGELOG.rst index ecfde09e..547d016f 100644 --- a/rosbot_xl_bringup/CHANGELOG.rst +++ b/rosbot_xl_bringup/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package rosbot_xl_bringup ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge pull request `#51 `_ from husarion/workflow-test + Workflow test +* Contributors: rafal-gorecki + 0.8.6 (2023-10-24) ------------------ * Merge remote-tracking branch 'origin/master' into test-controller diff --git a/rosbot_xl_controller/CHANGELOG.rst b/rosbot_xl_controller/CHANGELOG.rst index e6abcd8e..e7c426c1 100644 --- a/rosbot_xl_controller/CHANGELOG.rst +++ b/rosbot_xl_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package rosbot_xl_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge pull request `#51 `_ from husarion/workflow-test + Workflow test +* Contributors: rafal-gorecki + 0.8.6 (2023-10-24) ------------------ * Merge pull request `#46 `_ from husarion/test-controller diff --git a/rosbot_xl_description/CHANGELOG.rst b/rosbot_xl_description/CHANGELOG.rst index f48608e9..a339c668 100644 --- a/rosbot_xl_description/CHANGELOG.rst +++ b/rosbot_xl_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package rosbot_xl_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.8.6 (2023-10-24) ------------------ * Merge remote-tracking branch 'origin/master' into test-controller diff --git a/rosbot_xl_gazebo/CHANGELOG.rst b/rosbot_xl_gazebo/CHANGELOG.rst index cb5f7233..b8ac77db 100644 --- a/rosbot_xl_gazebo/CHANGELOG.rst +++ b/rosbot_xl_gazebo/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package rosbot_xl_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge pull request `#51 `_ from husarion/workflow-test + Workflow test +* Contributors: rafal-gorecki + 0.8.6 (2023-10-24) ------------------ * Merge remote-tracking branch 'origin/master' into test-controller From 829fe34dbd54aa0c36f1e7bda435fc34562e8d4b Mon Sep 17 00:00:00 2001 From: action-bot Date: Tue, 24 Oct 2023 17:10:25 +0000 Subject: [PATCH 31/35] 0.8.7 --- rosbot_xl/CHANGELOG.rst | 4 ++-- rosbot_xl/package.xml | 2 +- rosbot_xl_bringup/CHANGELOG.rst | 4 ++-- rosbot_xl_bringup/package.xml | 2 +- rosbot_xl_controller/CHANGELOG.rst | 4 ++-- rosbot_xl_controller/package.xml | 2 +- rosbot_xl_description/CHANGELOG.rst | 4 ++-- rosbot_xl_description/package.xml | 2 +- rosbot_xl_gazebo/CHANGELOG.rst | 4 ++-- rosbot_xl_gazebo/package.xml | 2 +- 10 files changed, 15 insertions(+), 15 deletions(-) diff --git a/rosbot_xl/CHANGELOG.rst b/rosbot_xl/CHANGELOG.rst index d24b5b85..ef9ccf50 100644 --- a/rosbot_xl/CHANGELOG.rst +++ b/rosbot_xl/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.7 (2023-10-24) +------------------ 0.8.6 (2023-10-24) ------------------ diff --git a/rosbot_xl/package.xml b/rosbot_xl/package.xml index 97542be0..9704d804 100644 --- a/rosbot_xl/package.xml +++ b/rosbot_xl/package.xml @@ -2,7 +2,7 @@ rosbot_xl - 0.8.6 + 0.8.7 Meta package that contains all packages of ROSbot XL Apache License 2.0 diff --git a/rosbot_xl_bringup/CHANGELOG.rst b/rosbot_xl_bringup/CHANGELOG.rst index 547d016f..313a4af8 100644 --- a/rosbot_xl_bringup/CHANGELOG.rst +++ b/rosbot_xl_bringup/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_bringup ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.7 (2023-10-24) +------------------ * Merge pull request `#51 `_ from husarion/workflow-test Workflow test * Contributors: rafal-gorecki diff --git a/rosbot_xl_bringup/package.xml b/rosbot_xl_bringup/package.xml index 7a40b3d4..caec16cc 100644 --- a/rosbot_xl_bringup/package.xml +++ b/rosbot_xl_bringup/package.xml @@ -2,7 +2,7 @@ rosbot_xl_bringup - 0.8.6 + 0.8.7 The rosbot_xl_bringup package Apache License 2.0 diff --git a/rosbot_xl_controller/CHANGELOG.rst b/rosbot_xl_controller/CHANGELOG.rst index e7c426c1..016275b8 100644 --- a/rosbot_xl_controller/CHANGELOG.rst +++ b/rosbot_xl_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.7 (2023-10-24) +------------------ * Merge pull request `#51 `_ from husarion/workflow-test Workflow test * Contributors: rafal-gorecki diff --git a/rosbot_xl_controller/package.xml b/rosbot_xl_controller/package.xml index 3cfe5f0d..ce67d84b 100644 --- a/rosbot_xl_controller/package.xml +++ b/rosbot_xl_controller/package.xml @@ -2,7 +2,7 @@ rosbot_xl_controller - 0.8.6 + 0.8.7 Hardware configuration for ROSbot XL Apache License 2.0 diff --git a/rosbot_xl_description/CHANGELOG.rst b/rosbot_xl_description/CHANGELOG.rst index a339c668..000c92d8 100644 --- a/rosbot_xl_description/CHANGELOG.rst +++ b/rosbot_xl_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.7 (2023-10-24) +------------------ 0.8.6 (2023-10-24) ------------------ diff --git a/rosbot_xl_description/package.xml b/rosbot_xl_description/package.xml index 4c338055..c1adcc84 100644 --- a/rosbot_xl_description/package.xml +++ b/rosbot_xl_description/package.xml @@ -2,7 +2,7 @@ rosbot_xl_description - 0.8.6 + 0.8.7 The rosbot_xl_description package Apache License 2.0 diff --git a/rosbot_xl_gazebo/CHANGELOG.rst b/rosbot_xl_gazebo/CHANGELOG.rst index b8ac77db..658812b1 100644 --- a/rosbot_xl_gazebo/CHANGELOG.rst +++ b/rosbot_xl_gazebo/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.7 (2023-10-24) +------------------ * Merge pull request `#51 `_ from husarion/workflow-test Workflow test * Contributors: rafal-gorecki diff --git a/rosbot_xl_gazebo/package.xml b/rosbot_xl_gazebo/package.xml index 988ccd9e..3c8e6914 100644 --- a/rosbot_xl_gazebo/package.xml +++ b/rosbot_xl_gazebo/package.xml @@ -2,7 +2,7 @@ rosbot_xl_gazebo - 0.8.6 + 0.8.7 The rosbot_xl_gazebo package Apache License 2.0 From 3ade4dc2354a738431966843ad5f2683fe25f1bf Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Tue, 24 Oct 2023 19:18:08 +0200 Subject: [PATCH 32/35] workflow fix --- .github/workflows/bump_version.yaml | 1 + .github/workflows/industrial_ci.yaml | 3 +++ 2 files changed, 4 insertions(+) diff --git a/.github/workflows/bump_version.yaml b/.github/workflows/bump_version.yaml index ed028903..cfbdd918 100644 --- a/.github/workflows/bump_version.yaml +++ b/.github/workflows/bump_version.yaml @@ -18,6 +18,7 @@ jobs: get-bump: name: Get version bump runs-on: ubuntu-latest + needs: industrial_ci outputs: bump: ${{ env.BUMP }} steps: diff --git a/.github/workflows/industrial_ci.yaml b/.github/workflows/industrial_ci.yaml index 8867fdf7..f4a98deb 100644 --- a/.github/workflows/industrial_ci.yaml +++ b/.github/workflows/industrial_ci.yaml @@ -14,6 +14,9 @@ jobs: uses: ./.github/workflows/spellcheck.yaml industrial_ci: + needs: + - black_test + - spellcheck_test strategy: fail-fast: false matrix: From f9d96437816e22a268ce76dddafc0b854487b596 Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Wed, 25 Oct 2023 14:36:28 +0200 Subject: [PATCH 33/35] New worflow names --- .github/workflows/black.yaml | 14 -------------- .github/workflows/bump_version.yaml | 1 + .github/workflows/industrial_ci.yaml | 26 +++++++++++++++++++------- .github/workflows/spellcheck.yaml | 14 -------------- 4 files changed, 20 insertions(+), 35 deletions(-) delete mode 100644 .github/workflows/black.yaml delete mode 100644 .github/workflows/spellcheck.yaml diff --git a/.github/workflows/black.yaml b/.github/workflows/black.yaml deleted file mode 100644 index bd5a81f1..00000000 --- a/.github/workflows/black.yaml +++ /dev/null @@ -1,14 +0,0 @@ ---- -name: Black python lint - -on: - workflow_call: - -jobs: - lint: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v3 - - uses: psf/black@stable - with: - options: --line-length=99 diff --git a/.github/workflows/bump_version.yaml b/.github/workflows/bump_version.yaml index cfbdd918..a0a6574f 100644 --- a/.github/workflows/bump_version.yaml +++ b/.github/workflows/bump_version.yaml @@ -13,6 +13,7 @@ on: jobs: industrial_ci: + name: Industrial CI uses: ./.github/workflows/industrial_ci.yaml get-bump: diff --git a/.github/workflows/industrial_ci.yaml b/.github/workflows/industrial_ci.yaml index f4a98deb..8d146895 100644 --- a/.github/workflows/industrial_ci.yaml +++ b/.github/workflows/industrial_ci.yaml @@ -7,16 +7,28 @@ on: jobs: - black_test: - uses: ./.github/workflows/black.yaml + black: + name: Black + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - uses: psf/black@stable + with: + options: --line-length=99 - spellcheck_test: - uses: ./.github/workflows/spellcheck.yaml + spellcheck: + name: Spellcheck + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - uses: rojopolis/spellcheck-github-actions@0.33.1 + name: Spellcheck - industrial_ci: + ros_industrial_ci: + name: ROS Industrial CI needs: - - black_test - - spellcheck_test + - black + - spellcheck strategy: fail-fast: false matrix: diff --git a/.github/workflows/spellcheck.yaml b/.github/workflows/spellcheck.yaml deleted file mode 100644 index 84317935..00000000 --- a/.github/workflows/spellcheck.yaml +++ /dev/null @@ -1,14 +0,0 @@ ---- -name: Spellcheck Action - -on: - workflow_call: - -jobs: - build: - name: Spellcheck - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v3 - - uses: rojopolis/spellcheck-github-actions@0.33.1 - name: Spellcheck From c492827427f5ac4f452e472b887bf95bb9a0748d Mon Sep 17 00:00:00 2001 From: action-bot Date: Wed, 25 Oct 2023 13:15:46 +0000 Subject: [PATCH 34/35] Update changelog --- rosbot_xl/CHANGELOG.rst | 3 +++ rosbot_xl_bringup/CHANGELOG.rst | 3 +++ rosbot_xl_controller/CHANGELOG.rst | 3 +++ rosbot_xl_description/CHANGELOG.rst | 3 +++ rosbot_xl_gazebo/CHANGELOG.rst | 3 +++ 5 files changed, 15 insertions(+) diff --git a/rosbot_xl/CHANGELOG.rst b/rosbot_xl/CHANGELOG.rst index ef9ccf50..27169a1f 100644 --- a/rosbot_xl/CHANGELOG.rst +++ b/rosbot_xl/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package rosbot_xl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.8.7 (2023-10-24) ------------------ diff --git a/rosbot_xl_bringup/CHANGELOG.rst b/rosbot_xl_bringup/CHANGELOG.rst index 313a4af8..9c4e175c 100644 --- a/rosbot_xl_bringup/CHANGELOG.rst +++ b/rosbot_xl_bringup/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package rosbot_xl_bringup ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.8.7 (2023-10-24) ------------------ * Merge pull request `#51 `_ from husarion/workflow-test diff --git a/rosbot_xl_controller/CHANGELOG.rst b/rosbot_xl_controller/CHANGELOG.rst index 016275b8..6ab3fb3f 100644 --- a/rosbot_xl_controller/CHANGELOG.rst +++ b/rosbot_xl_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package rosbot_xl_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.8.7 (2023-10-24) ------------------ * Merge pull request `#51 `_ from husarion/workflow-test diff --git a/rosbot_xl_description/CHANGELOG.rst b/rosbot_xl_description/CHANGELOG.rst index 000c92d8..a6930a7a 100644 --- a/rosbot_xl_description/CHANGELOG.rst +++ b/rosbot_xl_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package rosbot_xl_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.8.7 (2023-10-24) ------------------ diff --git a/rosbot_xl_gazebo/CHANGELOG.rst b/rosbot_xl_gazebo/CHANGELOG.rst index 658812b1..e84eea8f 100644 --- a/rosbot_xl_gazebo/CHANGELOG.rst +++ b/rosbot_xl_gazebo/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package rosbot_xl_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.8.7 (2023-10-24) ------------------ * Merge pull request `#51 `_ from husarion/workflow-test From ca26ba6d8dd7a506ec74ab783bf4a1339d6b6090 Mon Sep 17 00:00:00 2001 From: action-bot Date: Wed, 25 Oct 2023 13:15:47 +0000 Subject: [PATCH 35/35] 0.8.8 --- rosbot_xl/CHANGELOG.rst | 4 ++-- rosbot_xl/package.xml | 2 +- rosbot_xl_bringup/CHANGELOG.rst | 4 ++-- rosbot_xl_bringup/package.xml | 2 +- rosbot_xl_controller/CHANGELOG.rst | 4 ++-- rosbot_xl_controller/package.xml | 2 +- rosbot_xl_description/CHANGELOG.rst | 4 ++-- rosbot_xl_description/package.xml | 2 +- rosbot_xl_gazebo/CHANGELOG.rst | 4 ++-- rosbot_xl_gazebo/package.xml | 2 +- 10 files changed, 15 insertions(+), 15 deletions(-) diff --git a/rosbot_xl/CHANGELOG.rst b/rosbot_xl/CHANGELOG.rst index 27169a1f..c40a15d5 100644 --- a/rosbot_xl/CHANGELOG.rst +++ b/rosbot_xl/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.8 (2023-10-25) +------------------ 0.8.7 (2023-10-24) ------------------ diff --git a/rosbot_xl/package.xml b/rosbot_xl/package.xml index 9704d804..a318001a 100644 --- a/rosbot_xl/package.xml +++ b/rosbot_xl/package.xml @@ -2,7 +2,7 @@ rosbot_xl - 0.8.7 + 0.8.8 Meta package that contains all packages of ROSbot XL Apache License 2.0 diff --git a/rosbot_xl_bringup/CHANGELOG.rst b/rosbot_xl_bringup/CHANGELOG.rst index 9c4e175c..675193ea 100644 --- a/rosbot_xl_bringup/CHANGELOG.rst +++ b/rosbot_xl_bringup/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_bringup ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.8 (2023-10-25) +------------------ 0.8.7 (2023-10-24) ------------------ diff --git a/rosbot_xl_bringup/package.xml b/rosbot_xl_bringup/package.xml index caec16cc..ce3906a7 100644 --- a/rosbot_xl_bringup/package.xml +++ b/rosbot_xl_bringup/package.xml @@ -2,7 +2,7 @@ rosbot_xl_bringup - 0.8.7 + 0.8.8 The rosbot_xl_bringup package Apache License 2.0 diff --git a/rosbot_xl_controller/CHANGELOG.rst b/rosbot_xl_controller/CHANGELOG.rst index 6ab3fb3f..5ff0f696 100644 --- a/rosbot_xl_controller/CHANGELOG.rst +++ b/rosbot_xl_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.8 (2023-10-25) +------------------ 0.8.7 (2023-10-24) ------------------ diff --git a/rosbot_xl_controller/package.xml b/rosbot_xl_controller/package.xml index ce67d84b..190d78f2 100644 --- a/rosbot_xl_controller/package.xml +++ b/rosbot_xl_controller/package.xml @@ -2,7 +2,7 @@ rosbot_xl_controller - 0.8.7 + 0.8.8 Hardware configuration for ROSbot XL Apache License 2.0 diff --git a/rosbot_xl_description/CHANGELOG.rst b/rosbot_xl_description/CHANGELOG.rst index a6930a7a..831b8f31 100644 --- a/rosbot_xl_description/CHANGELOG.rst +++ b/rosbot_xl_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.8 (2023-10-25) +------------------ 0.8.7 (2023-10-24) ------------------ diff --git a/rosbot_xl_description/package.xml b/rosbot_xl_description/package.xml index c1adcc84..0173afad 100644 --- a/rosbot_xl_description/package.xml +++ b/rosbot_xl_description/package.xml @@ -2,7 +2,7 @@ rosbot_xl_description - 0.8.7 + 0.8.8 The rosbot_xl_description package Apache License 2.0 diff --git a/rosbot_xl_gazebo/CHANGELOG.rst b/rosbot_xl_gazebo/CHANGELOG.rst index e84eea8f..d555727f 100644 --- a/rosbot_xl_gazebo/CHANGELOG.rst +++ b/rosbot_xl_gazebo/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rosbot_xl_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.8.8 (2023-10-25) +------------------ 0.8.7 (2023-10-24) ------------------ diff --git a/rosbot_xl_gazebo/package.xml b/rosbot_xl_gazebo/package.xml index 3c8e6914..3ee6a3c9 100644 --- a/rosbot_xl_gazebo/package.xml +++ b/rosbot_xl_gazebo/package.xml @@ -2,7 +2,7 @@ rosbot_xl_gazebo - 0.8.7 + 0.8.8 The rosbot_xl_gazebo package Apache License 2.0