Adds github action to build and test

.github/workflows/lint.yaml

@@ -0,0 +1,45 @@
+name: Lint system modes
+on:
+  pull_request:
+
+jobs:
+  ament_xmllint:
+    name: ament_xmllint
+    runs-on: ubuntu-18.04
+    steps:
+    - uses: actions/checkout@master
+    - uses: ros-tooling/setup-ros@master
+    - uses: ros-tooling/action-ros-lint@master
+      with:
+        linter: xmllint
+        package-name: system_modes system_modes_examples
+
+  ament_lint_cpp:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-18.04
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [cppcheck, cpplint, uncrustify]
+    steps:
+    - uses: actions/checkout@master
+    - uses: ros-tooling/setup-ros@master
+    - uses: ros-tooling/action-ros-lint@master
+      with:
+        linter: ${{ matrix.linter }}
+        package-name: system_modes system_modes_examples
+
+  ament_lint_py:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-18.04
+    strategy:
+      fail-fast: false
+      matrix:
+        linter: [flake8, pep257]
+    steps:
+    - uses: actions/checkout@master
+    - uses: ros-tooling/setup-ros@master
+    - uses: ros-tooling/action-ros-lint@master
+      with:
+        linter: ${{ matrix.linter }}
+        package-name: system_modes system_modes_examples

.github/workflows/test.yaml

@@ -0,0 +1,21 @@
+name: Test diagnostics
+on:
+  pull_request:
+  push:
+    branches:
+      - master
+
+jobs:
+  build_and_test:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-18.04]
+    steps:
+      - uses: ros-tooling/setup-ros@master
+      - uses: ros-tooling/action-ros-ci@master
+        with:
+          package-name: system_modes system_modes_examples
+          colcon-mixin-name: coverage-gcc
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml

system_modes_examples/CMakeLists.txt

@@ -74,4 +74,17 @@ install(FILES example_modes.yaml
 )
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_cmake_gmock REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # remove the line when a copyright and license is present in all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # remove the line when this package is a git repo
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_package()

system_modes_examples/launch/drive_base.launch.py

@@ -25,7 +25,7 @@
 def generate_launch_description():
     launch.actions.DeclareLaunchArgument('modelfile', description='Path to modelfile')
     modelfile = (ament_index_python.packages.get_package_share_directory('system_modes_examples') +
-                '/example_modes.yaml')
+                 '/example_modes.yaml')
 
     node = launch_ros.actions.Node(
         package='system_modes_examples',
@@ -36,4 +36,4 @@ def generate_launch_description():
     description = launch.LaunchDescription()
     description.add_action(node)
 
-    return description
+    return description

system_modes_examples/launch/example_system.launch.py

@@ -19,12 +19,11 @@
 import launch.actions
 import launch.launch_description_sources
 import launch.substitutions
-import launch_ros
 
 
 def generate_launch_description():
     modelfile = (ament_index_python.packages.get_package_share_directory('system_modes_examples') +
-                '/example_modes.yaml')
+                 '/example_modes.yaml')
 
     mode_manager = launch.actions.IncludeLaunchDescription(
         launch.launch_description_sources.PythonLaunchDescriptionSource(
@@ -49,4 +48,4 @@ def generate_launch_description():
     description.add_action(drive_base)
     description.add_action(manipulator)
 
-    return description
+    return description

system_modes_examples/launch/manipulator.launch.py

@@ -25,7 +25,7 @@
 def generate_launch_description():
     launch.actions.DeclareLaunchArgument('modelfile', description='Path to modelfile')
     modelfile = (ament_index_python.packages.get_package_share_directory('system_modes_examples') +
-                '/example_modes.yaml')
+                 '/example_modes.yaml')
 
     node = launch_ros.actions.Node(
         package='system_modes_examples',
@@ -36,4 +36,4 @@ def generate_launch_description():
     description = launch.LaunchDescription()
     description.add_action(node)
 
-    return description
+    return description

system_modes_examples/package.xml

@@ -14,6 +14,15 @@
   <depend>system_modes</depend>
   <depend>libboost-program-options-dev</depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>ament_cmake_pep257</test_depend>
+  <test_depend>ament_cmake_flake8</test_depend>
+  <test_depend>ament_cmake_cpplint</test_depend>
+  <test_depend>ament_cmake_cppcheck</test_depend>
+  <test_depend>ament_cmake_uncrustify</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

system_modes_examples/src/drive_base.cpp

@@ -18,11 +18,8 @@
 #include <lifecycle_msgs/msg/state.hpp>
 #include <lifecycle_msgs/msg/transition.hpp>
 
-#include <chrono>
-#include <iostream>
 #include <memory>
-#include <string>
-#include <thread>
+#include <vector>
 
 using lifecycle_msgs::msg::State;
 using lifecycle_msgs::msg::Transition;
@@ -39,34 +36,36 @@ namespace examples
 class DriveBase : public LifecycleNode
 {
 public:
-  explicit DriveBase()
+  DriveBase()
   : LifecycleNode("drive_base")
   {
     RCLCPP_INFO(get_logger(), "Constructed lifecycle node '%s'", this->get_name());
 
     // Parameter declaration
-    this->declare_parameter("max_speed",
+    this->declare_parameter(
+      "max_speed",
       rclcpp::ParameterValue(rclcpp::PARAMETER_NOT_SET),
       rcl_interfaces::msg::ParameterDescriptor());
-    this->declare_parameter("controller",
+    this->declare_parameter(
+      "controller",
       rclcpp::ParameterValue(rclcpp::PARAMETER_NOT_SET),
       rcl_interfaces::msg::ParameterDescriptor());
 
     auto param_change_callback =
-    [this](std::vector<rclcpp::Parameter> parameters) -> rcl_interfaces::msg::SetParametersResult
-    {
-      auto result = rcl_interfaces::msg::SetParametersResult();
-      result.successful = true;
-      for (auto parameter : parameters) {
-        RCLCPP_INFO(this->get_logger(),
-          "parameter '%s' is now: %s",
-          parameter.get_name().c_str(),
-          parameter.value_to_string().c_str()
-          );
-      }
-      return result;
-    };
-    
+      [this](std::vector<rclcpp::Parameter> parameters) -> rcl_interfaces::msg::SetParametersResult
+      {
+        auto result = rcl_interfaces::msg::SetParametersResult();
+        result.successful = true;
+        for (auto parameter : parameters) {
+          RCLCPP_INFO(
+            this->get_logger(),
+            "parameter '%s' is now: %s",
+            parameter.get_name().c_str(),
+            parameter.value_to_string().c_str());
+        }
+        return result;
+      };
+
     param_change_callback_handle_ = this->add_on_set_parameters_callback(param_change_callback);
   }
 
@@ -79,31 +78,31 @@ class DriveBase : public LifecycleNode
     RCLCPP_INFO(get_logger(), "on_configure()", this->get_name());
 
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
-  };
+  }
 
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
   on_activate(const rclcpp_lifecycle::State &)
   {
     RCLCPP_INFO(get_logger(), "on_activate()", this->get_name());
 
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
-  };
+  }
 
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
   on_deactivate(const rclcpp_lifecycle::State &)
   {
     RCLCPP_INFO(get_logger(), "on_deactivate()", this->get_name());
 
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
-  };
+  }
 
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
   on_cleanup(const rclcpp_lifecycle::State &)
   {
     RCLCPP_INFO(get_logger(), "on_cleanup()", this->get_name());
 
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
-  };
+  }
 
 private:
   rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr param_change_callback_handle_;

system_modes_examples/src/manipulator.cpp

@@ -18,11 +18,8 @@
 #include <lifecycle_msgs/msg/state.hpp>
 #include <lifecycle_msgs/msg/transition.hpp>
 
-#include <chrono>
-#include <iostream>
 #include <memory>
-#include <string>
-#include <thread>
+#include <vector>
 
 using lifecycle_msgs::msg::State;
 using lifecycle_msgs::msg::Transition;
@@ -39,31 +36,32 @@ namespace examples
 class Manipulator : public LifecycleNode
 {
 public:
-  explicit Manipulator()
+  Manipulator()
   : LifecycleNode("manipulator")
   {
     RCLCPP_INFO(get_logger(), "Constructed lifecycle node '%s'", this->get_name());
 
     // Parameter declaration
-    this->declare_parameter("max_torque",
+    this->declare_parameter(
+      "max_torque",
       rclcpp::ParameterValue(rclcpp::PARAMETER_NOT_SET),
       rcl_interfaces::msg::ParameterDescriptor());
 
     auto param_change_callback =
-    [this](std::vector<rclcpp::Parameter> parameters) -> rcl_interfaces::msg::SetParametersResult
-    {
-      auto result = rcl_interfaces::msg::SetParametersResult();
-      result.successful = true;
-      for (auto parameter : parameters) {
-        RCLCPP_INFO(this->get_logger(),
-          "parameter '%s' is now: %s",
-          parameter.get_name().c_str(),
-          parameter.value_to_string().c_str()
-          );
-      }
-      return result;
-    };
-    
+      [this](std::vector<rclcpp::Parameter> parameters) -> rcl_interfaces::msg::SetParametersResult
+      {
+        auto result = rcl_interfaces::msg::SetParametersResult();
+        result.successful = true;
+        for (auto parameter : parameters) {
+          RCLCPP_INFO(
+            this->get_logger(),
+            "parameter '%s' is now: %s",
+            parameter.get_name().c_str(),
+            parameter.value_to_string().c_str());
+        }
+        return result;
+      };
+
     param_change_callback_handle_ = this->add_on_set_parameters_callback(param_change_callback);
   }
 
@@ -76,31 +74,31 @@ class Manipulator : public LifecycleNode
     RCLCPP_INFO(get_logger(), "on_configure()", this->get_name());
 
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
-  };
+  }
 
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
   on_activate(const rclcpp_lifecycle::State &)
   {
     RCLCPP_INFO(get_logger(), "on_activate()", this->get_name());
 
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
-  };
+  }
 
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
   on_deactivate(const rclcpp_lifecycle::State &)
   {
     RCLCPP_INFO(get_logger(), "on_deactivate()", this->get_name());
 
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
-  };
+  }
 
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
   on_cleanup(const rclcpp_lifecycle::State &)
   {
     RCLCPP_INFO(get_logger(), "on_cleanup()", this->get_name());
 
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
-  };
+  }
 
 private:
   rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr param_change_callback_handle_;