Update test_node.cpp

.github/workflows/main.yml

@@ -7,10 +7,55 @@ jobs:
   build_and_test_ros2:
     runs-on: ubuntu-22.04
     container:
-      image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
+      image: ros:humble-ros-base
+
     steps:
-      - name: Build and run tests
-        uses: ros-tooling/action-ros-ci@v0.4
+      - name: Checkout code
+        uses: actions/checkout@v3
         with:
-          package-name: build_test
-          target-ros2-distro: humble
+          submodules: recursive
+
+      - name: Set up Python virtual environment
+        shell: bash
+        run: |
+          # Install python3-venv if not available
+          apt-get update
+          apt-get install -y python3-venv python3-pip
+
+          # Create virtual environment
+          python3 -m venv .venv
+
+          # Activate and install dependencies
+          source .venv/bin/activate
+          pip install --upgrade pip
+          pip install -r requirements/requirements.txt
+
+      - name: Install rosdep dependencies
+        run: |
+          # Update rosdep
+          apt-get update
+          rosdep update
+
+          # Install dependencies from all packages in src/
+          rosdep install --from-paths src --ignore-src -r -y
+
+      - name: Build with colcon
+        shell: bash
+        run: |
+          # Activate venv and source ROS2 environment
+          source .venv/bin/activate
+          source /opt/ros/humble/setup.bash
+
+          # Build the workspace
+          colcon build --symlink-install
+
+      - name: Run tests
+        shell: bash
+        run: |
+          # Activate venv and source ROS2 and workspace environment
+          source .venv/bin/activate
+          source /opt/ros/humble/setup.bash
+          source install/setup.bash
+
+          # Make sure build works
+          colcon build --packages-select utils aiming_node ballistics_node classical_cv

.gitignore

@@ -34,4 +34,8 @@
 # ROS specific
 build/
 install/
-log/
+log/
+
+# other
+.vscode/
+.venv/

.vscode/settings.json

@@ -1,3 +1,9 @@
 {
-    "ros.distro": "jazzy"
+    "ros.distro": "jazzy",
+    "python.autoComplete.extraPaths": [
+        "/opt/ros/jazzy/lib/python3.12/site-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/opt/ros/jazzy/lib/python3.12/site-packages"
+    ]
 }

CMakeLists.txt

@@ -7,9 +7,6 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
 
 # Add executable
 add_executable(test_node src/test_node.cpp)
@@ -20,25 +17,21 @@ install(TARGETS
   DESTINATION lib/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  # find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  # set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  # set(ament_cmake_cpplint_FOUND TRUE)
-  # ament_lint_auto_find_test_dependencies()
-
-
-  # simple gtest
-  find_package(ament_cmake_gtest REQUIRED)
-  ament_add_gtest(${PROJECT_NAME}_tutorial_test test/tutorial_test.cpp)
-  target_include_directories(${PROJECT_NAME}_tutorial_test PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-  )
-  # target_link_libraries(${PROJECT_NAME}_tutorial_test name_of_local_library)
+  # Manually specify only the linters we want to use
+  find_package(ament_cmake_cppcheck REQUIRED)
+  find_package(ament_cmake_lint_cmake REQUIRED)
+  find_package(ament_cmake_flake8 REQUIRED)
+  find_package(ament_cmake_pep257 REQUIRED)
+  find_package(ament_cmake_uncrustify REQUIRED)
+  find_package(ament_cmake_xmllint REQUIRED)
+
+  ament_cppcheck()
+  ament_lint_cmake()
+  ament_flake8()
+  ament_pep257()
+  ament_uncrustify()
+  ament_xmllint()
+
 endif()
 
 ament_package()

README.md

@@ -4,9 +4,34 @@ https://www.blacksmith.sh/blog/cache-is-king-a-guide-for-docker-layer-caching-in
 If I want to cache python deps:
 https://docs.github.com/en/actions/reference/workflows-and-actions/dependency-caching
 
-
 What I'm using:
 https://github.com/marketplace/actions/ros-2-ci-action
 
 To share the workflow across other repos:
-https://docs.github.com/en/actions/how-tos/reuse-automations/reuse-workflows 
+https://docs.github.com/en/actions/how-tos/reuse-automations/reuse-workflows 
+
+Commands
+colcon test
+colcon test-result --verbose --all
+
+find_package(ament_cmake_cppcheck REQUIRED)
+find_package(ament_cmake_lint_cmake REQUIRED)
+find_package(ament_cmake_flake8 REQUIRED)
+find_package(ament_cmake_pep257 REQUIRED)
+find_package(ament_cmake_uncrustify REQUIRED)
+find_package(ament_cmake_xmllint REQUIRED)
+
+ament_cppcheck()
+ament_lint_cmake()
+ament_flake8()
+ament_pep257()
+ament_uncrustify()
+ament_xmllint()
+
+
+The issue:
+I need to run colcon build in order to run colcon test, which makes it hard to test submodules individually. 
+
+If I separate and directly use linters or formatters, they might not have the same configs as what ROS will use. Not too huge an issue
+
+Just make sure colcon build works I guess

requirements/requirements.txt

@@ -0,0 +1,9 @@
+# colcon build deps
+catkin_pkg
+empy==3.3.4 
+lark 
+catkin-pkg 
+PyYAML 
+setuptools
+jinja2
+typeguard

src/test_node.cpp

@@ -1,6 +1,6 @@
 #include <iostream>
 
-// hi
+// hi 2
 int main(int argc, char ** argv)
 {
   (void)argc;