Continuous Integration Testing

.github/workflows/ci.yml

@@ -7,18 +7,57 @@ on:
     - cron: "0 0 * * *" # every day at midnight
 
 jobs:
-  clearpath_robot_ci:
-    name: Humble
+  clearpath_robot_osrf_industrial_ci:
+    name: Humble OSRF Industrial
+    strategy:
+      matrix:
+        env:
+          - {ROS_REPO: testing, ROS_DISTRO: humble, ROSDEP_SKIP_KEYS: "micro_ros_agent sevcon_traction umx_driver valence_bms_driver"}
+          - {ROS_REPO: main, ROS_DISTRO: humble, ROSDEP_SKIP_KEYS: "micro_ros_agent sevcon_traction umx_driver valence_bms_driver"}
+      fail-fast: false
     runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v3
-      - uses: ros-tooling/[email protected]
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
+  clearpath_robot_cpr_ci:
+    name: Humble Clearpath Release
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/[email protected]
         with:
           required-ros-distributions: humble
+      - name: clearpath-package-server
+        run: |
+          sudo apt install wget
+          wget https://packages.clearpathrobotics.com/public.key -O - | sudo apt-key add -
+          sudo sh -c 'echo "deb https://packages.clearpathrobotics.com/stable/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/clearpath-latest.list'
+          sudo apt-get update
       - uses: ros-tooling/[email protected]
         id: action_ros_ci_step
         with:
           target-ros2-distro: humble
-
-          package-name: clearpath_robot
+          package-name: |
+            clearpath_diagnostics
+            clearpath_generator_robot
+            clearpath_robot
+            clearpath_sensors
+  clearpath_robot_src_ci:
+    name: Humble Clearpath Source
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: humble
+      - uses: ros-tooling/[email protected]
+        id: action_ros_ci_step
+        with:
+          target-ros2-distro: humble
+          package-name: |
+            clearpath_diagnostics
+            clearpath_generator_robot
+            clearpath_robot
+            clearpath_sensors
           vcs-repo-file-url: dependencies.repos

clearpath_diagnostics/CMakeLists.txt

@@ -11,10 +11,10 @@ find_package(ament_cmake_python REQUIRED)
 
 ament_python_install_package(${PROJECT_NAME})
 
-install(
-  PROGRAMS ${PROJECT_NAME}/diagnostics_updater
-           ${PROJECT_NAME}/battery_state/battery_state_estimator
-           ${PROJECT_NAME}/battery_state/battery_state_control
+install(PROGRAMS
+  ${PROJECT_NAME}/diagnostics_updater
+  ${PROJECT_NAME}/battery_state/battery_state_estimator
+  ${PROJECT_NAME}/battery_state/battery_state_control
   DESTINATION lib/${PROJECT_NAME}
 )
 

clearpath_diagnostics/clearpath_diagnostics/battery_state/battery.py

@@ -29,21 +29,18 @@
 # Redistribution and use in source and binary forms, with or without
 # modification, is not permitted without the express permission
 # of Clearpath Robotics.
-
-from clearpath_platform_msgs.msg import Power
-from sensor_msgs.msg import BatteryState
+from math import nan
 
 from clearpath_config.common.types.platform import Platform
 from clearpath_config.platform.battery import BatteryConfig
-
-from math import nan
+from clearpath_platform_msgs.msg import Power
+from sensor_msgs.msg import BatteryState
 
 
 # Base Battery
-
 class Battery:
     class BaseBattery:
-        """ Base Battery class. """
+        """Base Battery class."""
 
         """Battery configuration. Represents number of battery cells in series and parallel."""
         CONFIGURATIONS = {
@@ -102,7 +99,6 @@ def __init__(
                     self.power_msg_voltage_index = Power.D150_MEASURED_BATTERY
                     self.power_msg_current_index = Power.D150_TOTAL_CURRENT
 
-
             # System capacity
             self._msg.capacity = self._msg.design_capacity = self.system_capacity
 
@@ -189,6 +185,7 @@ def update_cells(self):
 
     class LiION(BaseBattery):
         """Base Lithium ION battery."""
+
         LUT = []
 
         def __init__(

clearpath_diagnostics/launch/diagnostics.launch.py

@@ -34,8 +34,8 @@
 
 from ament_index_python.packages import get_package_share_directory
 
-from clearpath_config.common.utils.yaml import read_yaml
 from clearpath_config.clearpath_config import ClearpathConfig
+from clearpath_config.common.utils.yaml import read_yaml
 
 from launch import LaunchDescription
 from launch.actions import (
@@ -50,24 +50,24 @@
 
 ARGUMENTS = [
     DeclareLaunchArgument(
-        "setup_path",
-        default_value="/etc/clearpath/",
-        description="Clearpath setup path",
+        'setup_path',
+        default_value='/etc/clearpath/',
+        description='Clearpath setup path',
     )
 ]
 
 
 def launch_setup(context, *args, **kwargs):
-    pkg_clearpath_diagnostics = get_package_share_directory("clearpath_diagnostics")
+    pkg_clearpath_diagnostics = get_package_share_directory('clearpath_diagnostics')
 
-    setup_path = LaunchConfiguration("setup_path")
+    setup_path = LaunchConfiguration('setup_path')
 
     analyzer_params_filepath = PathJoinSubstitution(
-        [pkg_clearpath_diagnostics, "config", "diagnostics.yaml"]
+        [pkg_clearpath_diagnostics, 'config', 'diagnostics.yaml']
     )
 
     # Read robot YAML
-    config = read_yaml(setup_path.perform(context) + "robot.yaml")
+    config = read_yaml(setup_path.perform(context) + 'robot.yaml')
     # Parse robot YAML into config
     clearpath_config = ClearpathConfig(config)
 
@@ -77,25 +77,25 @@ def launch_setup(context, *args, **kwargs):
             PushRosNamespace(namespace),
             # Aggregator
             Node(
-                package="diagnostic_aggregator",
-                executable="aggregator_node",
-                output="screen",
+                package='diagnostic_aggregator',
+                executable='aggregator_node',
+                output='screen',
                 parameters=[analyzer_params_filepath],
                 remappings=[
-                    ("/diagnostics", "diagnostics"),
-                    ("/diagnostics_agg", "diagnostics_agg"),
-                    ("/diagnostics_toplevel_state", "diagnostics_toplevel_state"),
+                    ('/diagnostics', 'diagnostics'),
+                    ('/diagnostics_agg', 'diagnostics_agg'),
+                    ('/diagnostics_toplevel_state', 'diagnostics_toplevel_state'),
                 ],
             ),
             # Updater
             Node(
-                package="clearpath_diagnostics",
-                executable="diagnostics_updater",
-                output="screen",
+                package='clearpath_diagnostics',
+                executable='diagnostics_updater',
+                output='screen',
                 remappings=[
-                    ("/diagnostics", "diagnostics"),
-                    ("/diagnostics_agg", "diagnostics_agg"),
-                    ("/diagnostics_toplevel_state", "diagnostics_toplevel_state"),
+                    ('/diagnostics', 'diagnostics'),
+                    ('/diagnostics_agg', 'diagnostics_agg'),
+                    ('/diagnostics_toplevel_state', 'diagnostics_toplevel_state'),
                 ],
                 arguments=['-s', setup_path]
             ),

clearpath_generator_robot/CMakeLists.txt

@@ -27,6 +27,20 @@ if(BUILD_TESTING)
   # a copyright and license is added to all source files
   set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
+  # pytest
+  find_package(ament_cmake_pytest REQUIRED)
+  set(_pytest_tests
+    test/test_generator_launch.py
+    test/test_generator_param.py
+  )
+  foreach(_test_path ${_pytest_tests})
+    get_filename_component(_test_name ${_test_path} NAME_WE)
+    ament_add_pytest_test(${_test_name} ${_test_path}
+      APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+      TIMEOUT 60
+      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+    )
+  endforeach()
 endif()
 
 ament_package()

clearpath_generator_robot/clearpath_generator_robot/launch/generator.py

@@ -31,19 +31,18 @@
 # Redistribution and use in source and binary forms, with or without
 # modification, is not permitted without the express permission
 # of Clearpath Robotics.
+import os
 
+from clearpath_config.common.types.platform import Platform
 from clearpath_config.platform.battery import BatteryConfig
 from clearpath_generator_common.common import LaunchFile, Package
-from clearpath_generator_common.launch.writer import LaunchWriter
 from clearpath_generator_common.launch.generator import LaunchGenerator
+from clearpath_generator_common.launch.writer import LaunchWriter
 from clearpath_generator_robot.launch.sensors import SensorLaunch
 
-from clearpath_config.common.types.platform import Platform
-
-import os
-
 
 class RobotLaunchGenerator(LaunchGenerator):
+
     def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
         super().__init__(setup_path)
 
@@ -72,7 +71,7 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
             name='configure_mcu',
             cmd=[
                 ['export ROS_DOMAIN_ID=0;'],
-                [LaunchFile.Variable('FindExecutable(name=\'ros2\')'),
+                [LaunchFile.Variable("FindExecutable(name='ros2')"),
                  ' service call platform/mcu/configure',
                  ' clearpath_platform_msgs/srv/ConfigureMcu',
                  ' \"{{domain_id: {0},'.format(self.clearpath_config.system.domain_id),
@@ -153,18 +152,18 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
         # Valence BMS
         self.bms_launch_file = None
         if (self.clearpath_config.platform.battery.model in
-            [BatteryConfig.VALENCE_U24_12XP, BatteryConfig.VALENCE_U27_12XP]):
+                [BatteryConfig.VALENCE_U24_12XP, BatteryConfig.VALENCE_U27_12XP]):
 
             can_dev = 'can1'
             bms_id = '0'
 
             launch_args = self.clearpath_config.platform.battery.launch_args
 
             if launch_args:
-               if 'can_device' in launch_args:
-                   can_dev = launch_args['can_device']
-               if 'bms_id' in launch_args:
-                   bms_id = launch_args['bms_id']
+                if 'can_device' in launch_args:
+                    can_dev = launch_args['can_device']
+                if 'bms_id' in launch_args:
+                    bms_id = launch_args['bms_id']
 
             bms_launch_args = [
                 ('namespace', self.namespace),