Merge pull request #14 from UWARG/ci

Added ci/cd checks

Author: ellyokes253

.github/workflows/run-tests.yml

@@ -0,0 +1,52 @@
+# This workflow will run tests and linters with PyTest using Python 3.11
+# For more information see: https://docs.github.com/en/actions/about-github-actions
+
+name: Run linter and docker tests
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+      # Checkout repository
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      # Set Python version
+      - name: Set up Python 3.11
+        uses: actions/setup-python@v5
+        with:
+          python-version: 3.11
+
+      # Install tools
+      - name: Install tools
+        run: |
+          python -m pip install --upgrade pip
+          pip install black flake8 pylint pytest pytest-cov
+        
+      # Run linters and formatters
+      - name: Linters and formatters
+        run: |
+          black --check .
+          flake8 . --max-line-length=140
+          pylint ros2_ws/src/slam/slam --disable=import-error,missing-module-docstring,missing-function-docstring,missing-class-docstring,broad-exception-caught,too-few-public-methods
+
+      # Tests if Docker builds
+      - name: Docker build
+        run: docker build -f docker/Dockerfile -t temp-ci:latest docker/
+      
+      - name: Colcon build (for the ros2 nodes)
+        run: |
+          docker run --rm \
+            -v "$GITHUB_WORKSPACE/ros2_ws:/ros2_ws" \
+            -w /ros2_ws \
+            temp-ci:latest \
+            bash -lc 'source /opt/ros/jazzy/setup.bash && colcon build --event-handlers console_cohesion+'

.gitignore

@@ -66,3 +66,5 @@ Icon?
 .VolumeIcon.icns
 .com.apple.timemachine.donotpresent
 .com.apple.*
+
+.venv/

ros2_ws/src/slam/launch/slam_launch.py

@@ -5,100 +5,102 @@
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
-import os
 
 
 def generate_launch_description():
     provide_odom_frame_arg = DeclareLaunchArgument(
-        'provide_odom_frame',
-        default_value='false',
-        description='Whether to provide odom frame'
+        "provide_odom_frame",
+        default_value="false",
+        description="Whether to provide odom frame",
     )
-    
+
     expected_sensor_ids_arg = DeclareLaunchArgument(
-        'expected_sensor_ids',
+        "expected_sensor_ids",
         default_value='["scan"]',
-        description='Expected sensor IDs for cartographer'
+        description="Expected sensor IDs for cartographer",
     )
-    
+
     resolution_arg = DeclareLaunchArgument(
-        'resolution',
-        default_value='0.05',
-        description='Resolution for occupancy grid'
+        "resolution",
+        default_value="0.05",
+        description="Resolution for occupancy grid",
     )
-    
+
     publish_period_arg = DeclareLaunchArgument(
-        'publish_period_sec',
-        default_value='1.0',
-        description='Publish period for occupancy grid'
+        "publish_period_sec",
+        default_value="1.0",
+        description="Publish period for occupancy grid",
     )
 
-    slam_package_dir = FindPackageShare('slam')
-    
-    config_dir = PathJoinSubstitution([slam_package_dir, 'config'])
+    slam_package_dir = FindPackageShare("slam")
+
+    config_dir = PathJoinSubstitution([slam_package_dir, "config"])
 
     # SF45B driver process
     sf45b_process = ExecuteProcess(
-        cmd=['./sf45b'],
-        cwd='/workspace',
-        name='sf45b_driver',
-        output='screen'
+        cmd=["./sf45b"], cwd="/workspace", name="sf45b_driver", output="screen"
     )
 
     # Static transform publisher node
     static_transform_publisher = Node(
-        package='tf2_ros',
-        executable='static_transform_publisher',
-        name='laser_transform_publisher',
-        arguments=['0', '0', '0', '0', '0', '0', 'laser', 'laser_frame'],
-        output='screen'
+        package="tf2_ros",
+        executable="static_transform_publisher",
+        name="laser_transform_publisher",
+        arguments=["0", "0", "0", "0", "0", "0", "laser", "laser_frame"],
+        output="screen",
     )
 
     # Cartographer node
     cartographer_node = Node(
-        package='cartographer_ros',
-        executable='cartographer_node',
-        name='cartographer_node',
+        package="cartographer_ros",
+        executable="cartographer_node",
+        name="cartographer_node",
         parameters=[
-            {'provide_odom_frame': LaunchConfiguration('provide_odom_frame')},
-            {'expected_sensor_ids': LaunchConfiguration('expected_sensor_ids')}
+            {"provide_odom_frame": LaunchConfiguration("provide_odom_frame")},
+            {"expected_sensor_ids": LaunchConfiguration("expected_sensor_ids")},
         ],
         arguments=[
-            '-configuration_directory', config_dir,
-            '-configuration_basename', 'sf45b_2d.lua'
+            "-configuration_directory",
+            config_dir,
+            "-configuration_basename",
+            "sf45b_2d.lua",
         ],
-        remappings=[('scan', '/scan')],
-        output='screen'
+        remappings=[("scan", "/scan")],
+        output="screen",
     )
 
     # Cartographer occupancy grid node
     occupancy_grid_node = Node(
-        package='cartographer_ros',
-        executable='cartographer_occupancy_grid_node',
-        name='cartographer_occupancy_grid_node',
+        package="cartographer_ros",
+        executable="cartographer_occupancy_grid_node",
+        name="cartographer_occupancy_grid_node",
         arguments=[
-            '-resolution', LaunchConfiguration('resolution'),
-            '-publish_period_sec', LaunchConfiguration('publish_period_sec')
+            "-resolution",
+            LaunchConfiguration("resolution"),
+            "-publish_period_sec",
+            LaunchConfiguration("publish_period_sec"),
         ],
-        output='screen'
+        output="screen",
     )
 
     # RViz2 node
     rviz_node = Node(
-        package='rviz2',
-        executable='rviz2',
-        name='rviz2',
-        output='screen'
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="screen",
     )
 
-    return LaunchDescription([
-        provide_odom_frame_arg,
-        expected_sensor_ids_arg,
-        resolution_arg,
-        publish_period_arg,
-        sf45b_process,
-        static_transform_publisher,
-        cartographer_node,
-        occupancy_grid_node,
-        rviz_node
-    ])
+    return LaunchDescription(
+        [
+            provide_odom_frame_arg,
+            expected_sensor_ids_arg,
+            resolution_arg,
+            publish_period_arg,
+            sf45b_process,
+            static_transform_publisher,
+            cartographer_node,
+            occupancy_grid_node,
+            rviz_node,
+        ]
+    )

ros2_ws/src/slam/setup.py

@@ -2,33 +2,30 @@
 import os
 from glob import glob
 
-package_name = 'slam'
+package_name = "slam"
 
 setup(
     name=package_name,
-    version='0.0.0',
-    packages=find_packages(exclude=['test']),
+    version="0.0.0",
+    packages=find_packages(exclude=["test"]),
     data_files=[
-        ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
-        (os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
-        (os.path.join('share', package_name, 'config'), glob('config/*')),
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+        (os.path.join("share", package_name, "launch"), glob("launch/*.py")),
+        (os.path.join("share", package_name, "config"), glob("config/*")),
     ],
-    install_requires=['setuptools'],
+    install_requires=["setuptools"],
     zip_safe=True,
-    maintainer='root',
-    maintainer_email='root@todo.todo',
-    description='TODO: Package description',
-    license='Apache-2.0',
+    maintainer="root",
+    maintainer_email="root@todo.todo",
+    description="TODO: Package description",
+    license="Apache-2.0",
     extras_require={
-        'test': [
-            'pytest',
+        "test": [
+            "pytest",
         ],
     },
     entry_points={
-        'console_scripts': [
-            'scan_mavlink_bridge = slam.scan_mavlink_bridge:main'
-        ],
+        "console_scripts": ["scan_mavlink_bridge = slam.scan_mavlink_bridge:main"],
     },
 )

ros2_ws/src/slam/slam/scan_mavlink_bridge.py

@@ -8,12 +8,12 @@
 
 class RawImuBridge(Node):
     def __init__(self):
-        #Create Node
-        super().__init__('raw_imu_bridge')
+        # Create Node
+        super().__init__("raw_imu_bridge")
 
-        self.imu_pub = self.create_publisher(Imu, '/imu/data_raw', 50)
+        self.imu_pub = self.create_publisher(Imu, "/imu/data_raw", 50)
 
-        #Connect the Pixhawk
+        # Connect the Pixhawk
         self.port = "/dev/ttyACM0"
         self.baud = 115200
 
@@ -28,9 +28,9 @@ def __init__(self):
             self.master.mav.request_data_stream_send(
                 self.master.target_system,
                 self.master.target_component,
-                mavutil.mavlink.MAV_DATA_STREAM_RAW_SENSORS, 
+                mavutil.mavlink.MAV_DATA_STREAM_RAW_SENSORS,
                 50,  # Hz
-                1    # start streaming
+                1,  # start streaming
             )
             self.get_logger().info("Requested RAW_IMU stream (50 Hz)")
 
@@ -40,10 +40,10 @@ def __init__(self):
             self.get_logger().error(f"Failed to connect: {e}")
             rclpy.shutdown()
 
-    #Obtain IMU data
+    # Obtain IMU data
     def read_serial(self):
         """Read RAW_IMU messages and publish to ROS topic."""
-        msg = self.master.recv_match(type='RAW_IMU', blocking=False)
+        msg = self.master.recv_match(type="RAW_IMU", blocking=False)
         if not msg:
             return
 

ros2_ws/src/slam/test/test_copyright.py

@@ -17,9 +17,11 @@
 
 
 # Remove the `skip` decorator once the source file(s) have a copyright header
-@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.skip(
+    reason="No copyright header has been placed in the generated source file."
+)
 @pytest.mark.copyright
 @pytest.mark.linter
 def test_copyright():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found errors'
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found errors"

ros2_ws/src/slam/test/test_flake8.py

@@ -20,6 +20,6 @@
 @pytest.mark.linter
 def test_flake8():
     rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
-        '\n'.join(errors)
+    assert rc == 0, "Found %d code style errors / warnings:\n" % len(
+        errors
+    ) + "\n".join(errors)

ros2_ws/src/slam/test/test_pep257.py

@@ -19,5 +19,5 @@
 @pytest.mark.linter
 @pytest.mark.pep257
 def test_pep257():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found code style errors / warnings'
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found code style errors / warnings"