added and applied precommit

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
husarion · Oct 24, 2023 · e6b02eb · e6b02eb
1 parent 94795ff
commit e6b02eb
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diff --git 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
@@ -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
@@ -5,8 +5,19 @@ demo/test/.env
 demo/id
 dev_utils/
 
-# ROS2
+# ROS 2 build folders
 build/
 install/
 log/
-__pycache__/
+__pycache__/
+
+
+# ROSbots submodules
+rosbot_hardware_interfaces/
+ros_components_description/
+rosbot_controllers/
+husarion/husarion_office_gz
+gazebosim/gz_ros2_control
+
+# pyspelling
+*.dic
diff --git a/.pre-commit-config.yaml 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
@@ -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
@@ -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
@@ -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
@@ -3,4 +3,4 @@ project(rosbot_xl)
 
 find_package(ament_cmake REQUIRED)
 
-ament_package()
+ament_package()
diff --git 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
+    version: ros2
diff --git 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
+    version: main
diff --git a/rosbot_xl_bringup/CMakeLists.txt b/rosbot_xl_bringup/CMakeLists.txt
@@ -9,4 +9,4 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}
 )
 
-ament_package()
+ament_package()
Original file line number	Diff line number	Diff line change
Expand Up		@@ -3,4 +3,4 @@ project(rosbot_xl)

		find_package(ament_cmake REQUIRED)

		ament_package()
		ament_package()