README.md

ament_skilllint

The package provides a linter for ROS 2 packages that expose skills. It checks that the package export conformant skill manifests in their package.xml files.

Example of conformant skill manifest:

<?xml version="1.0"?>
<package format="3">
    <name>pkg_name</name>
    <version>0.1.0</version>
  <!-- ...regular package.xml content -->

  <!-- add this dependency to check the skill manifest -->
  <test_depend>ament_skilllint</test_depend>

  <export>
      <build_type>ament_python</build_type>

      <skill content-type="json">
          {
            "id": "pkg_name",
            "description": "This is an example skill.",
            "interface": "action",
            "default_interface_path": "/pkg_name/my_skill",
            "datatype": "pkg_name_skill_msgs/action/MySkill",
            "functional_domains": [
                "communication"
            ]
        }
      </skill>
  </export>
</package>

The schema for the skill manifest is defined in schema/skill.schema.json.

Usage

Python

To use the linter in a Python project, add <test_depend>ament_skilllint</test_depend> to your package.xml.

Then, add the following to your setup.py (if not already present):

setup(
    #...
    tests_require=['pytest'],
    #...
    )

And finally create a file test/test_skilllint.py with the following content:

from ament_skilllint.main import main
import pytest

@pytest.mark.linter
@pytest.mark.skilllint
def test_skilllint():
    rc = main(argv=['.'])
    assert rc == 0, 'Found error in skill manifest'

CMake

To use the linter, you simply need to depend on ament_cmake_skilllint in your package.xml:

<test_depend>ament_cmake_skilllint</test_depend>

If you you ament_lint_auto in your CMakeLists.txt, the linter will be run automatically.