CI and formatting using pre-commit

.github/workflows/industrial_ci_action.yml

@@ -0,0 +1,42 @@
+# Copyright (C) 2024 Nobleo Autonomous Solutions B.V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see README (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: ros-industrial
+
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  industrial_ci:
+    name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO:
+          - humble
+          - jazzy
+          - kilted
+          - rolling
+        ROS_REPO:
+          - main
+    env:
+      CCACHE_DIR: "${{ github.workspace }}/.ccache"
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/cache@v4
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}
+          restore-keys: |
+            ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-
+      - uses: 'ros-industrial/industrial_ci@master'
+        env:
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+          ROS_REPO: ${{ matrix.ROS_REPO }}

.github/workflows/pre-commit.yml

@@ -0,0 +1,15 @@
+name: pre-commit
+
+on:
+  pull_request:
+  push:
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v5
+    - uses: actions/setup-python@v6
+    - uses: pre-commit/action@v3.0.1
+      with:
+        extra_args: --all-files --verbose

.pre-commit-config.yaml

@@ -0,0 +1,8 @@
+# Copyright (C) 2025 Nobleo Autonomous Solutions B.V.
+
+repos:
+  - repo: https://bitbucket.org/nobleo/nobleo-pre-commit
+    rev: 25.4.0
+    hooks:
+    - id: nobleo-hooks
+      verbose: true

CMakeLists.txt

@@ -50,8 +50,6 @@ set_property(TARGET ${PROJECT_NAME} PROPERTY AUTOMOC ON)
 
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
   find_package(ament_cmake_gtest REQUIRED)
 
   ament_add_gtest(test_field test/test_field.cpp)

README.md

@@ -33,54 +33,65 @@ Where the tokens `{z}`, `{x}`, `{y}` represent the zoom level, x coordinate, and
 These will automatically be substituted by rviz_satellite when making HTTP requests.
 
 Tiles can optionally be loaded from a local filesystem if downloaded beforehand
-for cases where robots do not have internet access. For example, the file URI
+for cases where robots do not have internet access.
+For example, the file URI
 `file:///tmp/tile/{z}/{y}/{x}.jpg` can be used to load files from the `/tmp/tile` directory.
 
 rviz_satellite doesn't come with any preconfigured tile URL.
 For example, you could use one of the following tile servers:
 
-* OpenStreetMap: https://tile.openstreetmap.org/{z}/{x}/{y}.png
-* TomTom: https://api.tomtom.com/map/1/tile/basic/main/{z}/{x}/{y}.png?tileSize=512&key=[TOKEN]
-* Mapbox: https://api.mapbox.com/styles/v1/mapbox/satellite-v9/tiles/256/{z}/{x}/{y}?access_token=[TOKEN]
+* OpenStreetMap: <https://tile.openstreetmap.org/{z}/{x}/{y}.png>
+* TomTom: <https://api.tomtom.com/map/1/tile/basic/main/{z}/{x}/{y}.png?tileSize=512&key=[TOKEN>]
+* Mapbox: <https://api.mapbox.com/styles/v1/mapbox/satellite-v9/tiles/256/{z}/{x}/{y}?access_token=[TOKEN>]
 
 For some of these, you have to request an access token first.
 Please refer to the respective terms of service and copyrights.
 
 ## Options
 
-- `Topic` is the topic of the GPS measurements.
-- `Alpha` is simply the display transparency.
-- `Draw Behind` will cause the map to be displayed below all other geometry.
-- `Zoom` is the zoom level of the map. Recommended values are 16-19, as anything smaller is _very_ low resolution. 22 is the current max.
-- `Blocks` number of adjacent tiles in addition to the center tile to load, 8 maximum.
-- `Timeout` specifies a timeout since the last received message timestamp, after which the map will be faded out; disable by setting to 0.
+* `Topic` is the topic of the GPS measurements.
+* `Alpha` is simply the display transparency.
+* `Draw Behind` will cause the map to be displayed below all other geometry.
+* `Zoom` is the zoom level of the map.
+Recommended values are 16-19, as anything smaller is _very_ low resolution. 22 is the current max.
+* `Blocks` number of adjacent tiles in addition to the center tile to load, 8 maximum.
+* `Timeout` specifies a timeout since the last received message timestamp, after which the map will be faded out; disable by setting to 0.
 
 ## Local Maps
 
-If you want to use a tile server which only supports a specific region instead of the whole world you can enable the `Use Local Map` option. This also means that the zoom levels and tile coverage (see [here](https://wiki.openstreetmap.org/wiki/Slippy_map_tilenames#Zoom_levels)) deviate and need to be defined manually. In particular, the `local origin` is the top-left corner of the local map region.
+If you want to use a tile server which only supports a specific region instead of the whole world you can enable the `Use Local Map` option.
+This also means that the zoom levels and tile coverage (see [here](https://wiki.openstreetmap.org/wiki/Slippy_map_tilenames#Zoom_levels)) deviate and need to be defined manually.
+In particular, the `local origin` is the top-left corner of the local map region.
 
 The options can be set after unfolding the top-level `Use Local Map` option:
 
-- `Meter per Pixel (Zoom 0)` defines the length of a pixel edge in the image in meter at zoom level 0. Default is 0.0.
-- `Origin CRS` is the [epsg code](https://epsg.io/) of the coordinate reference system (CRS) of the local origin (should be a cartesian coordinate system). Default is not set.
-- `Origin X` is the X position of the local origin in given CRS system. Default is 0.0.
-- `Origin Y` is the Y position of the local origin in given CRS system. Default is 0.0.
+* `Meter per Pixel (Zoom 0)` defines the length of a pixel edge in the image in meter at zoom level 0.
+Default is 0.0.
+* `Origin CRS` is the [epsg code](https://epsg.io/) of the coordinate reference system (CRS) of the local origin (should be a cartesian coordinate system).
+Default is not set.
+* `Origin X` is the X position of the local origin in given CRS system.
+Default is 0.0.
+* `Origin Y` is the Y position of the local origin in given CRS system.
+Default is 0.0.
 
 ### Example Usage
 
-Public orthographic photos are povided by [Geobasis NRW](https://www.bezreg-koeln.nrw.de/geobasis-nrw/webdienste/geodatendienste) and publicly available using the scheme described [here](https://www.wmts.nrw.de/geobasis/wmts_nw_dop/tiles/nw_dop/EPSG_25832_16/1.0.0/WMTSCapabilities.xml). The tiles only cover a smaller part of western Germany but have a very high resolution. The following options can be used and directly derived from the scheme.
+Public orthographic photos are povided by [Geobasis NRW](https://www.bezreg-koeln.nrw.de/geobasis-nrw/webdienste/geodatendienste) and publicly available using the scheme described [here](https://www.wmts.nrw.de/geobasis/wmts_nw_dop/tiles/nw_dop/EPSG_25832_16/1.0.0/WMTSCapabilities.xml).
+The tiles only cover a smaller part of western Germany but have a very high resolution.
+The following options can be used and directly derived from the scheme.
 
-- `Object URI: https://www.wmts.nrw.de/geobasis/wmts_nw_dop/tiles/nw_dop/EPSG_25832_16/{z}/{x}/{y}`
-- `Meter per Pixel (Zoom 0): 4891.97` 
-- `Origin CRS: EPSG:25832` 
-- `Origin X: -46133.17`
-- `Origin Y: 6301219.54`
+* `Object URI: https://www.wmts.nrw.de/geobasis/wmts_nw_dop/tiles/nw_dop/EPSG_25832_16/{z}/{x}/{y}`
+* `Meter per Pixel (Zoom 0): 4891.97`
+* `Origin CRS: EPSG:25832`
+* `Origin X: -46133.17`
+* `Origin Y: 6301219.54`
 
 ## Support and Contributions
 
 In case of questions or problems, do not hesitate to open an issue.
 
-Contributions are welcomed. Please add a summary of your changes to the [changelog](CHANGELOG.rst) under the section Forthcoming.
+Contributions are welcomed.
+Please add a summary of your changes to the [changelog](CHANGELOG.rst) under the section Forthcoming.
 
 ## Icon copyright
 

demo/publish_demo_data

@@ -2,16 +2,18 @@
 """
 Periodically publish gps positions in a circle around a given origin as NavSatFix messages.
 """
-import rclpy
+
 import math
-import numpy as np
 from argparse import ArgumentParser
-from sensor_msgs.msg import NavSatFix, NavSatStatus
 
+import numpy as np
+import rclpy
+from sensor_msgs.msg import NavSatFix, NavSatStatus
 
 CONVERSION_CONSTANT = 1e9
 
-class CircularTranslate():
+
+class CircularTranslate:
     """Translate fix periodically in a circle"""
 
     def update(self, t, fix):
@@ -23,8 +25,9 @@ class CircularTranslate():
         fix.longitude += math.sin(phi) * r
 
 
-class ApplyNoise():
+class ApplyNoise:
     """Translate fix position using gaussian noise"""
+
     def __init__(self, stddev):
         self.stddev = stddev
 
@@ -34,8 +37,9 @@ class ApplyNoise():
         fix.longitude += noise[1]
 
 
-class LooseFix():
+class LooseFix:
     """Set NavSatFix status to NO_FIX periodically"""
+
     def __init__(self, phase, period):
         self.phase = phase
         self.period = period
@@ -76,13 +80,14 @@ def main():
         fix = NavSatFix()
         t = node.get_clock().now()
         fix.header.stamp = t.to_msg()
-        fix.header.frame_id = "gps_sensor"
+        fix.header.frame_id = 'gps_sensor'
         fix.latitude = origin.latitude
         fix.longitude = origin.longitude
         for u in updaters:
             u.update(t, fix)
         node.get_logger().info(
-            f'Publishing NavSatFix at ({fix.latitude:.5f}, {fix.longitude:.5f})')
+            f'Publishing NavSatFix at ({fix.latitude:.5f}, {fix.longitude:.5f})'
+        )
         publisher.publish(fix)
 
     node.create_timer(0.1, timer_callback)

package.xml

@@ -25,8 +25,7 @@
   <build_depend>qtbase5-dev</build_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
+
   <export>
     <rviz plugin="plugin_description.xml"/>
     <build_type>ament_cmake</build_type>

plugin_description.xml

@@ -5,4 +5,4 @@
     </description>
     <message_type>sensor_msgs/msg/NavSatFix</message_type>
   </class>
-</library>
+</library>