Migrate sailing-robot from ROS 1 to ROS 2

.gitignore

@@ -76,3 +76,8 @@ CATKIN_IGNORE
 
 # ignore mac DS files
 *.DS_Store
+
+# pytest cache
+.pytest_cache/
+__pycache__/
+*.pyc

.travis.yml

@@ -1,142 +1,61 @@
-# Copyright (c) 2016, Felix Duvallet
-# All rights reserved.
-# 
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-# 
-# * Redistributions of source code must retain the above copyright notice, this
-#   list of conditions and the following disclaimer.
-# 
-# * Redistributions in binary form must reproduce the above copyright notice,
-#   this list of conditions and the following disclaimer in the documentation
-#   and/or other materials provided with the distribution.
-# 
-# * Neither the name of this package nor the names of its
-#   contributors may be used to endorse or promote products derived from
-#   this software without specific prior written permission.
-# 
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.#
-# 
-# FROM: https://github.com/felixduvallet/ros-travis-integration
+# Travis CI configuration for ROS 2 (Humble) on Ubuntu 22.04
 #
-# Generic .travis.yml file for running continuous integration on Travis-CI with
-# any ROS package.
-#
-# This installs ROS on a clean Travis-CI virtual machine, creates a ROS
-# workspace, resolves all listed dependencies, and sets environment variables
-# (setup.bash). Then, it compiles the entire ROS workspace (ensuring there are
-# no compilation errors), and runs all the tests. If any of the compilation/test
-# phases fail, the build is marked as a failure.
-#
-# We handle two types of package dependencies:
-#   - packages (ros and otherwise) available through apt-get. These are installed
-#     using rosdep, based on the information in the ROS package.xml.
-#   - dependencies that must be checked out from source. These are handled by
-#     'wstool', and should be listed in a file named dependencies.rosinstall.
-#
-# There are two variables you may want to change:
-#   - ROS_DISTRO (default is indigo). Note that packages must be available for
-#     ubuntu 14.04 trusty.
-#   - ROSINSTALL_FILE (default is dependencies.rosinstall inside the repo
-#     root). This should list all necessary repositories in wstool format (see
-#     the ros wiki). If the file does not exists then nothing happens.
-#
-# See the README.md for more information.
-#
-# Author: Felix Duvallet <felixd@gmail.com>
-
-# NOTE: The build lifecycle on Travis.ci is something like this:
-#    before_install
-#    install
-#    before_script
-#    script
-#    after_success or after_failure
-#    after_script
-#    OPTIONAL before_deploy
-#    OPTIONAL deploy
-#    OPTIONAL after_deploy
-
-################################################################################
+# Builds the sailing_robot and xsens_driver packages with colcon, then runs
+# the pure-Python unit tests (no ROS master required) via pytest.
 
-# Use ubuntu trusty (14.04) with sudo privileges.
-dist: trusty
-sudo: required
-language:
-  - generic
+dist: jammy
+language: generic
 cache:
   - apt
 
-# Configuration variables. All variables are global now, but this can be used to
-# trigger a build matrix for different ROS distributions if desired.
 env:
   global:
-    - ROS_DISTRO=indigo
-    - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
+    - ROS_DISTRO=humble
     - CI_SOURCE_PATH=$(pwd)
-    - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
-    - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
-    - ROS_PARALLEL_JOBS='-j8 -l6'
 
-################################################################################
-
-# Install system dependencies, namely a very barebones ROS setup.
 before_install:
-  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
-  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+  # Add the ROS 2 apt repository
   - sudo apt-get update -qq
-  - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin ros-$ROS_DISTRO-dynamic-reconfigure python-dev python-numpy libgeos-dev
-  - source /opt/ros/$ROS_DISTRO/setup.bash
-  # Prepare rosdep to install dependencies.
-  - sudo rosdep init
-  - rosdep update
+  - sudo apt-get install -y curl gnupg2 lsb-release
+  - sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
+      -o /usr/share/keyrings/ros-archive-keyring.gpg
+  - echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" \
+      | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+  - sudo apt-get update -qq
+  - sudo apt-get install -y \
+      python3-colcon-common-extensions \
+      python3-rosdep \
+      python3-pip \
+      ros-$ROS_DISTRO-ros-base \
+      ros-$ROS_DISTRO-ament-cmake \
+      ros-$ROS_DISTRO-ament-cmake-python \
+      ros-$ROS_DISTRO-rosidl-default-generators \
+      ros-$ROS_DISTRO-rosidl-default-runtime \
+      ros-$ROS_DISTRO-std-msgs \
+      ros-$ROS_DISTRO-sensor-msgs \
+      ros-$ROS_DISTRO-geometry-msgs \
+      ros-$ROS_DISTRO-visualization-msgs \
+      ros-$ROS_DISTRO-diagnostic-msgs \
+      ros-$ROS_DISTRO-tf2-ros \
+      libgeos-dev
+  - pip3 install --user LatLon23 shapely pynmea2 scipy numpy pyproj
 
-# Create a catkin workspace with the package under integration.
 install:
-  - mkdir -p ~/catkin_ws/src
-  - cd ~/catkin_ws/src
-  - catkin_init_workspace
-  # Create the devel/setup.bash (run catkin_make with an empty workspace) and
-  # source it to set the path variables.
-  - cd ~/catkin_ws
-  # Travis adds a non-system Python. Put /usr/bin/python before it on PATH.
-  - export PATH=$(echo "$PATH" | sed -r "s|/opt/python/2.7.[0-9]+/bin|/usr/bin:&|" )
-  - echo $PATH
-  - which python
-  - catkin_make
-  - source devel/setup.bash
-  # Add the package under integration to the workspace using a symlink.
-  - cd ~/catkin_ws/src
-  - ln -s $CI_SOURCE_PATH .
-  - pip install --user LatLon shapely pynmea2
-
-# Install all dependencies, using wstool and rosdep.
-# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
-before_script:
-  # source dependencies: install using wstool.
-  - cd ~/catkin_ws/src
-  - wstool init
-  - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
-  - wstool up
-  # package depdencies: install using rosdep.
-  - cd ~/catkin_ws
-  - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+  - sudo rosdep init || true
+  - rosdep update
+  - mkdir -p ~/ros2_ws/src
+  - ln -s $CI_SOURCE_PATH/src/sailing_robot ~/ros2_ws/src/sailing_robot
+  - ln -s $CI_SOURCE_PATH/src/xsens_driver ~/ros2_ws/src/xsens_driver
+  - source /opt/ros/$ROS_DISTRO/setup.bash
+  - cd ~/ros2_ws
+  - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO || true
 
-# Compile and test. If the CATKIN_OPTIONS file exists, use it as an argument to
-# catkin_make.
 script:
   - source /opt/ros/$ROS_DISTRO/setup.bash
-  - cd ~/catkin_ws
-  - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS )
-  - source ~/catkin_ws/devel/setup.bash
-  - catkin_make run_tests
-  - catkin_test_results
-  # Testing: Use both run_tests (to see the output) and test (to error out).
+  - cd ~/ros2_ws
+  # Build
+  - colcon build --symlink-install --packages-select sailing_robot xsens_driver
+  # Run pure-Python unit tests (no ROS daemon needed)
+  - source install/setup.bash
+  - cd $CI_SOURCE_PATH
+  - python3 -m pytest src/sailing_robot/tests/ -v