Kilted version

Signed-off-by: Francisco Martín Rico <[email protected]>

Author: fmrico

.github/workflows/kilted-devel.yaml

@@ -0,0 +1,38 @@
+name: kilted-devel
+
+on:
+  pull_request:
+    branches:
+      - kilted-devel
+  push:
+    branches:
+      - kilted-devel
+
+
+jobs:
+  build-and-test:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-24.04]
+      fail-fast: false
+    steps:
+      - name: Install popf deps
+        run: sudo apt-get install libfl-dev
+      - uses: actions/checkout@v2
+      - name: Setup ROS 2
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: kilted
+      - name: build and test
+        uses: ros-tooling/[email protected]
+        with:
+          package-name: br2_basics br2_bt_bumpgo br2_bt_patrolling br2_fsm_bumpgo_cpp br2_fsm_bumpgo_py br2_navigation br2_tf2_detector br2_tiago br2_tracking br2_tracking_msgs br2_vff_avoidance br2_deep_ros
+          target-ros2-distro: kilted
+          vcs-repo-file-url: ${GITHUB_WORKSPACE}/third_parties.repos
+          colcon-defaults: |
+            {
+              "test": {
+                "parallel-workers" : 1
+              }
+            }

br2_deep_ros/src/executors.cpp

@@ -28,7 +28,8 @@ yaets::TraceSession session("session1.log");
 class ProducerNode : public rclcpp::Node
 {
 public:
-  ProducerNode() : Node("producer_node")
+  ProducerNode()
+  : Node("producer_node")
   {
     pub_1_ = create_publisher<std_msgs::msg::Int32>("topic_1", 100);
     pub_2_ = create_publisher<std_msgs::msg::Int32>("topic_2", 100);
@@ -52,13 +53,14 @@ class ProducerNode : public rclcpp::Node
 class ConsumerNode : public rclcpp::Node
 {
 public:
-  ConsumerNode() : Node("consumer_node")
+  ConsumerNode()
+  : Node("consumer_node")
   {
     sub_2_ = create_subscription<std_msgs::msg::Int32>(
       "topic_2", 100, std::bind(&ConsumerNode::cb_2, this, _1));
     sub_1_ = create_subscription<std_msgs::msg::Int32>(
       "topic_1", 100, std::bind(&ConsumerNode::cb_1, this, _1));
- 
+
     timer_ = create_wall_timer(10ms, std::bind(&ConsumerNode::timer_cb, this));
   }
 
@@ -86,7 +88,7 @@ class ConsumerNode : public rclcpp::Node
   void waste_time(const rclcpp::Duration & duration)
   {
     auto start = now();
-    while (now() - start < duration);
+    while (now() - start < duration) {}
   }
 
 private:

br2_deep_ros/src/executors_cbg.cpp

@@ -28,7 +28,8 @@ yaets::TraceSession session("session1.log");
 class ProducerNode : public rclcpp::Node
 {
 public:
-  ProducerNode() : Node("producer_node")
+  ProducerNode()
+  : Node("producer_node")
   {
     pub_1_ = create_publisher<std_msgs::msg::Int32>("topic_1", 100);
     pub_2_ = create_publisher<std_msgs::msg::Int32>("topic_2", 100);
@@ -52,7 +53,8 @@ class ProducerNode : public rclcpp::Node
 class ConsumerNode : public rclcpp::Node
 {
 public:
-  ConsumerNode() : Node("consumer_node")
+  ConsumerNode()
+  : Node("consumer_node")
   {
     custom_cb_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
 
@@ -63,7 +65,7 @@ class ConsumerNode : public rclcpp::Node
       "topic_2", 100, std::bind(&ConsumerNode::cb_2, this, _1), options);
     sub_1_ = create_subscription<std_msgs::msg::Int32>(
       "topic_1", 100, std::bind(&ConsumerNode::cb_1, this, _1), options);
- 
+
     timer_ = create_wall_timer(10ms, std::bind(&ConsumerNode::timer_cb, this));
   }
 
@@ -91,7 +93,7 @@ class ConsumerNode : public rclcpp::Node
   void waste_time(const rclcpp::Duration & duration)
   {
     auto start = now();
-    while (now() - start < duration);
+    while (now() - start < duration) {}
   }
 
 private:
@@ -108,7 +110,7 @@ int main(int argc, char * argv[])
   auto node_pub = std::make_shared<ProducerNode>();
   auto node_sub1 = std::make_shared<ConsumerNode>();
 
-  //rclcpp::executors::SingleThreadedExecutor executor;
+  // rclcpp::executors::SingleThreadedExecutor executor;
   rclcpp::executors::MultiThreadedExecutor executor(rclcpp::ExecutorOptions(), 8);
 
   executor.add_node(node_pub);

br2_deep_ros/src/executors_cbg_reentrant.cpp

@@ -28,7 +28,8 @@ yaets::TraceSession session("session1.log");
 class ProducerNode : public rclcpp::Node
 {
 public:
-  ProducerNode() : Node("producer_node")
+  ProducerNode()
+  : Node("producer_node")
   {
     pub_1_ = create_publisher<std_msgs::msg::Int32>("topic_1", 100);
     pub_2_ = create_publisher<std_msgs::msg::Int32>("topic_2", 100);
@@ -52,16 +53,19 @@ class ProducerNode : public rclcpp::Node
 class ConsumerNode : public rclcpp::Node
 {
 public:
-  ConsumerNode() : Node("consumer_node")
+  ConsumerNode()
+  : Node("consumer_node")
   {
     custom_cb_ = create_callback_group(rclcpp::CallbackGroupType::Reentrant);
 
     rclcpp::SubscriptionOptions options;
     options.callback_group = custom_cb_;
 
-    sub_2_ = create_subscription<std_msgs::msg::Int32>("topic_2", 100, std::bind(&ConsumerNode::cb_2, this, _1), options);
-    sub_1_ = create_subscription<std_msgs::msg::Int32>("topic_1", 100, std::bind(&ConsumerNode::cb_1, this, _1), options);
- 
+    sub_2_ = create_subscription<std_msgs::msg::Int32>("topic_2", 100,
+      std::bind(&ConsumerNode::cb_2, this, _1), options);
+    sub_1_ = create_subscription<std_msgs::msg::Int32>("topic_1", 100,
+      std::bind(&ConsumerNode::cb_1, this, _1), options);
+
     timer_ = create_wall_timer(10ms, std::bind(&ConsumerNode::timer_cb, this), custom_cb_);
   }
 
@@ -91,7 +95,7 @@ class ConsumerNode : public rclcpp::Node
   void waste_time(const rclcpp::Duration & duration)
   {
     auto start = now();
-    while (now() - start < duration);
+    while (now() - start < duration) {}
   }
 
 private:
@@ -109,7 +113,7 @@ int main(int argc, char * argv[])
   auto node_pub = std::make_shared<ProducerNode>();
   auto node_sub1 = std::make_shared<ConsumerNode>();
 
-  //rclcpp::executors::SingleThreadedExecutor executor;
+  // rclcpp::executors::SingleThreadedExecutor executor;
   rclcpp::executors::MultiThreadedExecutor executor(rclcpp::ExecutorOptions(), 8);
 
   executor.add_node(node_pub);

br2_deep_ros/src/strategy_1.cpp

@@ -29,13 +29,14 @@ yaets::TraceSession session("strategy_1.log");
 void waste_time(rclcpp::Node::SharedPtr node, const rclcpp::Duration & duration)
 {
   auto start = node->now();
-  while (node->now() - start < duration);
+  while (node->now() - start < duration) {}
 }
 
 class ProducerNode : public rclcpp::Node
 {
 public:
-  ProducerNode() : Node("producer_node")
+  ProducerNode()
+  : Node("producer_node")
   {
     pub_ = create_publisher<std_msgs::msg::Int32>("int_topic", 100);
     timer_ = create_wall_timer(10ms, std::bind(&ProducerNode::timer_callback, this));
@@ -60,11 +61,12 @@ class ProducerNode : public rclcpp::Node
 class ConsumerNode : public rclcpp::Node
 {
 public:
-  ConsumerNode() : Node("consumer_node")
+  ConsumerNode()
+  : Node("consumer_node")
   {
     sub_ = create_subscription<std_msgs::msg::Int32>(
       "int_topic", 100, std::bind(&ConsumerNode::cb, this, _1));
- 
+
     timer_ = create_wall_timer(10ms, std::bind(&ConsumerNode::timer_cb, this));
   }
 
@@ -91,11 +93,12 @@ class ConsumerNode : public rclcpp::Node
 class LoggerNode : public rclcpp::Node
 {
 public:
-  LoggerNode() : Node("logger_node")
+  LoggerNode()
+  : Node("logger_node")
   {
     sub_ = create_subscription<std_msgs::msg::Int32>(
       "int_topic", 100, std::bind(&LoggerNode::cb, this, _1));
- 
+
     timer_ = create_wall_timer(10ms, std::bind(&LoggerNode::timer_cb, this));
   }
 
@@ -139,11 +142,11 @@ int main(int argc, char * argv[])
     [&]() {
       sched_param sch;
       sch.sched_priority = 90;
-      
+
       if (sched_setscheduler(0, SCHED_FIFO, &sch) == -1) {
         throw std::runtime_error{std::string("failed to set scheduler: ") + std::strerror(errno)};
       }
-      
+
       rt_executor.spin();
   });
 

br2_deep_ros/src/strategy_2.cpp

@@ -29,13 +29,14 @@ yaets::TraceSession session("strategy_2.log");
 void waste_time(rclcpp::Node::SharedPtr node, const rclcpp::Duration & duration)
 {
   auto start = node->now();
-  while (node->now() - start < duration);
+  while (node->now() - start < duration) {}
 }
 
 class ProducerNode : public rclcpp::Node
 {
 public:
-  ProducerNode() : Node("producer_node")
+  ProducerNode()
+  : Node("producer_node")
   {
     pub_ = create_publisher<std_msgs::msg::Int32>("int_topic", 100);
     timer_ = create_wall_timer(10ms, std::bind(&ProducerNode::timer_callback, this));
@@ -60,7 +61,8 @@ class ProducerNode : public rclcpp::Node
 class ConsumerNode : public rclcpp::Node
 {
 public:
-  ConsumerNode() : Node("consumer_node")
+  ConsumerNode()
+  : Node("consumer_node")
   {
     rt_callback_group_ = this->create_callback_group(
       rclcpp::CallbackGroupType::MutuallyExclusive, false);
@@ -102,11 +104,12 @@ class ConsumerNode : public rclcpp::Node
 class LoggerNode : public rclcpp::Node
 {
 public:
-  LoggerNode() : Node("logger_node")
+  LoggerNode()
+  : Node("logger_node")
   {
     sub_ = create_subscription<std_msgs::msg::Int32>(
       "int_topic", 100, std::bind(&LoggerNode::cb, this, _1));
- 
+
     timer_ = create_wall_timer(10ms, std::bind(&LoggerNode::timer_cb, this));
   }
 
@@ -154,11 +157,11 @@ int main(int argc, char * argv[])
     [&]() {
       sched_param sch;
       sch.sched_priority = 90;
-      
+
       if (sched_setscheduler(0, SCHED_FIFO, &sch) == -1) {
         throw std::runtime_error{std::string("failed to set scheduler: ") + std::strerror(errno)};
       }
-      
+
       rt_executor.spin();
   });
 

br2_deep_ros/src/strategy_3.cpp

@@ -30,18 +30,19 @@ yaets::TraceSession session("strategy_3.log");
 void waste_time(rclcpp::Node::SharedPtr node, const rclcpp::Duration & duration)
 {
   auto start = node->now();
-  while (node->now() - start < duration);
+  while (node->now() - start < duration) {}
 }
 
 
 class SensorDriverNode : public rclcpp::Node
 {
 public:
-  SensorDriverNode() : Node("sensor_driver")
+  SensorDriverNode()
+  : Node("sensor_driver")
   {
     rt_callback_group_ = create_callback_group(
       rclcpp::CallbackGroupType::MutuallyExclusive, false);
-  
+
     pub_ = create_publisher<sensor_msgs::msg::Image>("image", 100);
     timer_scan_ = create_wall_timer(
       10ms, std::bind(&SensorDriverNode::produce_data, this), rt_callback_group_);
@@ -78,14 +79,15 @@ class SensorDriverNode : public rclcpp::Node
 class ObstacleDetectorNode : public rclcpp::Node
 {
 public:
-  ObstacleDetectorNode() : Node("obstacle_detector")
+  ObstacleDetectorNode()
+  : Node("obstacle_detector")
   {
     rt_callback_group_ = create_callback_group(
       rclcpp::CallbackGroupType::MutuallyExclusive, false);
 
     rclcpp::SubscriptionOptions sub_options;
     sub_options.callback_group = rt_callback_group_;
-  
+
     sub_ = create_subscription<sensor_msgs::msg::Image>(
       "image", 100,
       std::bind(&ObstacleDetectorNode::detect_obstacle, this, _1),
@@ -97,7 +99,7 @@ class ObstacleDetectorNode : public rclcpp::Node
   void detect_obstacle(const sensor_msgs::msg::Image::SharedPtr msg)
   {
     waste_time(shared_from_this(), 5ms);
-    
+
     vision_msgs::msg::Detection3D detection_msg;
     pub_->publish(detection_msg);
   }
@@ -115,7 +117,7 @@ class ObstacleDetectorNode : public rclcpp::Node
 
 private:
   rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr sub_;
-  rclcpp::Publisher< vision_msgs::msg::Detection3D>::SharedPtr pub_;
+  rclcpp::Publisher<vision_msgs::msg::Detection3D>::SharedPtr pub_;
   rclcpp::TimerBase::SharedPtr timer_state_;
   rclcpp::CallbackGroup::SharedPtr rt_callback_group_;
 };
@@ -124,11 +126,12 @@ class ObstacleDetectorNode : public rclcpp::Node
 class LoggerNode : public rclcpp::Node
 {
 public:
-  LoggerNode() : Node("logger_node")
+  LoggerNode()
+  : Node("logger_node")
   {
     sub_ = create_subscription<sensor_msgs::msg::Image>(
       "image", 100, std::bind(&LoggerNode::cb, this, _1));
- 
+
     timer_state_ = create_wall_timer(10ms, std::bind(&LoggerNode::print_state, this));
   }
 
@@ -152,14 +155,15 @@ class LoggerNode : public rclcpp::Node
 class BrakeActuatorNode : public rclcpp::Node
 {
 public:
-  BrakeActuatorNode() : Node("brake_actuator")
+  BrakeActuatorNode()
+  : Node("brake_actuator")
   {
     rt_callback_group_ = create_callback_group(
       rclcpp::CallbackGroupType::MutuallyExclusive, false);
 
     rclcpp::SubscriptionOptions sub_options;
     sub_options.callback_group = rt_callback_group_;
-  
+
     sub_ = create_subscription<vision_msgs::msg::Detection3D>(
       "obstacles", 100,
       std::bind(&BrakeActuatorNode::react_obstacle, this, _1),
@@ -224,11 +228,12 @@ int main(int argc, char * argv[])
     [&]() {
       // sched_param sch;
       // sch.sched_priority = 90;
-      // 
+      //
       // if (sched_setscheduler(0, SCHED_FIFO, &sch) == -1) {
-      //   throw std::runtime_error{std::string("failed to set scheduler: ") + std::strerror(errno)};
+      //   throw std::runtime_error{std::string("failed to set scheduler: ") +
+      //     std::strerror(errno)};
       // }
-      
+
       rt_executor.spin();
   });