Add support for --ament-cmake-args option

.github/workflows/lint_build_test.yaml

@@ -2,10 +2,10 @@ name: Lint, Build & Test
 on:
   push:
     branches:
-      - master
+    - master
   pull_request:
     branches:
-      - master
+    - master
 defaults:
   run:
     shell: bash
@@ -15,53 +15,57 @@ jobs:
     name: Lint Code Base
     runs-on: ubuntu-latest
     steps:
-      - name: Checkout Code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Setup
-        run: |
-          sudo apt-get update && sudo apt-get install -y black libxml2-utils
-      - name: Lint package.xml
-        run: |
-          xmllint --noout --schema http://download.ros.org/schema/package_format3.xsd $(find . -name 'package.xml')
+    - name: Checkout Code
+      uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
 
-      - name: Lint Python code with black 
-        run: |
-          echo "Linting Python code..."
-          black --check . --diff
+    - name: Setup
+      run: |
+        sudo apt-get update && sudo apt-get install -y black clang-format cppcheck libxml2-utils
 
-  # Uncomment once tests have been added
-  # build-and-test:
-  #   needs: Linting
-  #   strategy:
-  #     matrix:
-  #       setup:
-  #         - rosdistro: jazzy
-  #           os: ubuntu-24.04
-  #         - rosdistro: rolling
-  #           os: ubuntu-latest
-  #   runs-on: ${{ matrix.setup.os }}
-  #   container:
-  #     image: ros:${{ matrix.setup.rosdistro }}-ros-base
-  #   steps:
-  #     - name: install build tools
-  #       run: |
-  #         sudo apt-get update
-  #         sudo apt-get install -y ros-dev-tools
-  #     - uses: actions/checkout@v4
-  #       with:
-  #         path: src/repo
-  #     - name: rosdep
-  #       run: |
-  #         rosdep update --rosdistro ${{ matrix.setup.rosdistro }} --include-eol-distros
-  #         rosdep install -y --from-paths src --ignore-src --rosdistro ${{ matrix.setup.rosdistro }} 
-  #     - name: build
-  #       run: |
-  #         source /opt/ros/${{ matrix.setup.rosdistro }}/setup.bash
-  #         colcon build
-  #     - name: test
-  #       run: |
-  #         source /opt/ros/${{ matrix.setup.rosdistro }}/setup.bash
-  #         colcon test
-  #         colcon test-result --verbose
+    - name: Set up Python
+      uses: actions/setup-python@v4
+
+    - name: Install and Run pre-commit
+      uses: pre-commit/[email protected]
+      with:
+        extra_args: --all-files
+
+  build-and-test:
+    needs: Linting
+    strategy:
+      matrix:
+        setup:
+        - rosdistro: jazzy
+          os: ubuntu-24.04
+        - rosdistro: rolling
+          os: ubuntu-latest
+    runs-on: ${{ matrix.setup.os }}
+    container:
+      image: ros:${{ matrix.setup.rosdistro }}-ros-base
+    steps:
+    - name: install build tools
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y ros-dev-tools
+    - uses: actions/checkout@v4
+      with:
+        repository: tu-darmstadt-ros-pkg/hector_ros2_utils
+        path: src/hector_ros2_utils
+    - uses: actions/checkout@v4
+      with:
+        path: src/repo
+    - name: rosdep
+      run: |
+        rosdep update --rosdistro ${{ matrix.setup.rosdistro }} --include-eol-distros
+        rosdep install -y --from-paths src --ignore-src --rosdistro ${{ matrix.setup.rosdistro }}
+    - name: build
+      run: |
+        source /opt/ros/${{ matrix.setup.rosdistro }}/setup.bash
+        colcon build
+    - name: test
+      run: |
+        source /opt/ros/${{ matrix.setup.rosdistro }}/setup.bash
+        colcon test
+        colcon test-result --verbose

.pre-commit-config.yaml

@@ -1,7 +1,88 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
 repos:
-  - repo: https://github.com/psf/black
-    rev: 24.2.0
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
     hooks:
-      - id: black
-        name: Black
-        language_version: python3
+      - id: check-added-large-files
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+        args: ["--allow-multiple-documents"]
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        exclude_types: [rst]
+
+  # CPP Checks
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v20.1.4
+    hooks:
+      - id: clang-format
+        name: Clang Format
+        args: [--style=file]
+        files: \.(cpp|hpp|h|c|cc)$
+
+  - repo: local
+    hooks:
+      - id: cppcheck
+        name: Cppcheck
+        entry: bash -c "cppcheck --force --quiet --inline-suppr --error-exitcode=1 --language=c++ $(find . -type d -name 'cmake-build-*' -prune -false -o -name '*.cpp' -o -name '*.hpp' -o -name '*.h' -o -name '*.c' -o -name '*.cc')"
+        language: system
+        files: \.(cpp|cc|hpp|h)$
+        pass_filenames: false
+
+  # Python hooks
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.12.7
+    hooks:
+      - id: ruff-check
+        args: [ --fix ]
+      - id: ruff-format
+
+  # CMake Formatting
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+    - id: cmake-format
+    - id: cmake-lint
+
+  # Package XML
+  - repo: https://github.com/Joschi3/package_xml_validation.git
+    rev: v1.2.3
+    hooks:
+      - id: format-package-xml
+        name: Validate and Format package.xml
+
+  # Spellcheck
+  - repo: https://github.com/crate-ci/typos
+    rev: v1.34.0
+    hooks:
+      - id: typos
+
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.33.2
+    hooks:
+      - id: check-github-workflows
+        args: ["--verbose"]
+      - id: check-github-actions
+        args: ["--verbose"]
+      - id: check-gitlab-ci
+        args: ["--verbose"]
+      - id: check-compose-spec
+        args: ["--verbose"]

scripts/build.py

@@ -58,6 +58,12 @@
         action="store_true",
         help="Clean CMake cache before building.",
     )
+    ament_cmake_args_arg = parser.add_argument(
+        "--ament-cmake-args",
+        default=None,
+        nargs="+",
+        help="Additional arguments to pass to ament_cmake. Such as VAR=VALUE.",
+    )
     parser.add_argument(
         "--verbose",
         "-v",
@@ -107,6 +113,7 @@
                 build_tests=args.build_tests,
                 verbose=args.verbose,
                 cmake_clean_cache=args.cmake_clean_cache,
+                ament_cmake_args=args.ament_cmake_args,
             )
         )
     except KeyboardInterrupt:

tuda_workspace_scripts/build.py

@@ -29,6 +29,7 @@ def build_packages(
     build_base: str = "build",
     install_base: str = "install",
     cmake_clean_cache: bool = False,
+    ament_cmake_args: list[str] = None,
 ) -> int:
     os.chdir(workspace_root)
     packages = packages or []
@@ -53,6 +54,10 @@ def build_packages(
         arguments += ["--cmake-args"] + list(
             map(lambda x: f"' {shlex.quote(x)}'", cmake_arguments)
         )
+    if ament_cmake_args:
+        arguments += ["--ament-cmake-args"] + list(
+            map(lambda x: f"{"-D" + x}", ament_cmake_args)
+        )
     if mixin and len(mixin) > 0:
         arguments += ["--mixin"] + mixin