Merge pull request #11 from MrBearing/bug/fix_ci_settings

fix ci setting
MrBearing · Oct 23, 2024 · 461d0e3 · 461d0e3
2 parents 4f41e33 + ae69a48
commit 461d0e3
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Showing 9 changed files with 195 additions and 174 deletions.
diff --git a/.github/workflows/ci_jazzy.yaml b/.github/workflows/ci_jazzy.yaml
@@ -11,9 +11,9 @@ jobs:
   ci:
     runs-on: ${{ matrix.os }}
     if: |
-      ((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'main' )) ||
-      ((github.event.action == 'synchronize') && (github.base_ref == 'main') && contains(github.event.pull_request.labels.*.name, 'TESTING')) ||
-      (github.ref_name == 'main')
+      ((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'jazzy' )) ||
+      ((github.event.action == 'synchronize') && (github.base_ref == 'jazzy') && contains(github.event.pull_request.labels.*.name, 'TESTING')) ||
+      (github.ref_name == 'jazzy')
     container:
       image: osrf/ros:${{ matrix.ros_distribution }}-desktop
     timeout-minutes: 20
@@ -32,8 +32,8 @@ jobs:
         with:
           target-ros2-distro: ${{ matrix.ros_distribution }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
+          vcs-repo-file-url: build_depends.repos
           package-name: |
             sanehal
             sanehal_bringup
-            sanehal_description
-          vcs-repo-file-url: build_depends.repos
+            sanehal_vehicle_description
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -9,5 +9,8 @@
         "/opt/ros/jazzy/lib/python3.10/site-packages",
         "/opt/ros/jazzy/local/lib/python3.10/dist-packages"
     ],
-    "ros.distro": "jazzy"
+    "ros.distro": "jazzy",
+    "[python]": {
+        "editor.defaultFormatter": "ms-python.black-formatter"
+    }
 }
diff --git a/README.md b/README.md
@@ -1,5 +1,7 @@
 # Project SANEHAL
 
+[![ci_jazzy](https://github.com/MrBearing/sanehal/actions/workflows/ci_jazzy.yaml/badge.svg)](https://github.com/MrBearing/sanehal/actions/workflows/ci_jazzy.yaml)
+
 ## 事前準備
 
 - ROSのインストール

diff --git a/build_depends.repos b/build_depends.repos
@@ -14,7 +14,7 @@ repositories:
   ldlidar_stl_ros2:
     type: git
     url: https://github.com/MrBearing/ldlidar_stl_ros2.git
-    version: master
+    version: jazzy
   ldlidar_stl_utils:
     type: git
     url: https://github.com/MrBearing/ldlidar_stl_utils.git

diff --git a/sanehal_bringup/launch/diffbot.launch.py b/sanehal_bringup/launch/diffbot.launch.py
@@ -1,97 +1,111 @@
 # Copyright 2020 ros2_control Development Team
 #
-# Licensed under the Apache License, Version 2.0 (the "License");
+# Licensed under the Apache License, Version 2.0 (the 'License');
 # you may not use this file except in compliance with the License.
 # You may obtain a copy of the License at
 #
 #     http://www.apache.org/licenses/LICENSE-2.0
 #
 # Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
+# distributed under the License is distributed on an 'AS IS' BASIS,
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
 from launch import LaunchDescription
-from launch.actions import RegisterEventHandler
-from launch.event_handlers import OnProcessExit
-from launch.substitutions import Command, FindExecutable, PathJoinSubstitution,LaunchConfiguration
-from launch.actions import DeclareLaunchArgument
+from launch.actions import DeclareLaunchArgument, Node, RegisterEventHandler
 
-from launch_ros.actions import Node
+from launch.event_handlers import OnProcessExit
+from launch.substitutions import (
+    Command,
+    FindExecutable,
+    LaunchConfiguration,
+    PathJoinSubstitution,
+)
 from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
     # Get URDF via xacro
     robot_description_content = Command(
         [
-            PathJoinSubstitution([FindExecutable(name="xacro")]),
-            " ",
+            PathJoinSubstitution([FindExecutable(name='xacro')]),
+            ' ',
             PathJoinSubstitution(
-                [FindPackageShare("sanehal_vehicle_description"), "urdf", "diffbot.urdf.xacro"]
+                [
+                    FindPackageShare('sanehal_vehicle_description'),
+                    'urdf',
+                    'diffbot.urdf.xacro',
+                ]
             ),
         ]
     )
-    robot_description = {"robot_description": robot_description_content}
+    robot_description = {'robot_description': robot_description_content}
 
     robot_controllers = PathJoinSubstitution(
         [
-            FindPackageShare("sanehal_vehicle_description"),
-            "controllers",
-            "diffbot_controllers.yaml",
+            FindPackageShare('sanehal_vehicle_description'),
+            'controllers',
+            'diffbot_controllers.yaml',
         ]
     )
     rviz_config_file = PathJoinSubstitution(
-        [FindPackageShare("sanehal_vehicle_description"), "config", "diffbot.rviz"]
+        [FindPackageShare('sanehal_vehicle_description'), 'config', 'diffbot.rviz']
     )
 
     # for debug
-    logger = LaunchConfiguration("log_level")
+    logger = LaunchConfiguration('log_level')
     launch_arg = DeclareLaunchArgument(
-            "log_level",
-            default_value=["debug"],
-            description="Logging level",
+        'log_level',
+        default_value=['debug'],
+        description='Logging level',
     )
 
     control_node = Node(
-        package="controller_manager",
-        executable="ros2_control_node",
+        package='controller_manager',
+        executable='ros2_control_node',
         parameters=[robot_description, robot_controllers],
-        output="both",
-        arguments=['--ros-args',
-            # '--log-level', logger
-        ]
+        output='both',
+        arguments=[
+            '--ros-args',
+            '--log-level', logger
+        ],
     )
     robot_state_pub_node = Node(
-        package="robot_state_publisher",
-        executable="robot_state_publisher",
-        output="both",
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        output='both',
         parameters=[robot_description],
         remappings=[
-            ("/diff_drive_controller/cmd_vel_unstamped", "/cmd_vel"),
+            ('/diff_drive_controller/cmd_vel_unstamped', '/cmd_vel'),
         ],
     )
     rviz_node = Node(
-        package="rviz2",
-        executable="rviz2",
-        name="rviz2",
-        output="log",
-        arguments=["-d", rviz_config_file,
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='log',
+        arguments=[
+            '-d',
+            rviz_config_file,
             # '--ros-args', '--log-level', logger
         ],
     )
 
     joint_state_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+        package='controller_manager',
+        executable='spawner',
+        arguments=[
+            'joint_state_broadcaster',
+            '--controller-manager',
+            '/controller_manager',
+        ],
     )
 
     robot_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["diffbot_base_controller", "-c", "/controller_manager"],
+        package='controller_manager',
+        executable='spawner',
+        arguments=['diffbot_base_controller', '-c', '/controller_manager'],
     )
 
     # Delay rviz start after `joint_state_broadcaster`
@@ -103,10 +117,12 @@ def generate_launch_description():
     )
 
     # Delay start of robot_controller after `joint_state_broadcaster`
-    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
-        event_handler=OnProcessExit(
-            target_action=joint_state_broadcaster_spawner,
-            on_exit=[robot_controller_spawner],
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = (
+        RegisterEventHandler(
+            event_handler=OnProcessExit(
+                target_action=joint_state_broadcaster_spawner,
+                on_exit=[robot_controller_spawner],
+            )
         )
     )
 

diff --git a/sanehal_bringup/launch/diffbot_on_pi.launch.py b/sanehal_bringup/launch/diffbot_on_pi.launch.py
@@ -1,82 +1,76 @@
 # Copyright 2020 ros2_control Development Team
 #
-# Licensed under the Apache License, Version 2.0 (the "License");
+# Licensed under the Apache License, Version 2.0 (the 'License');
 # you may not use this file except in compliance with the License.
 # You may obtain a copy of the License at
 #
 #     http://www.apache.org/licenses/LICENSE-2.0
 #
 # Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
+# distributed under the License is distributed on an 'AS IS' BASIS,
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
 from launch import LaunchDescription
 from launch.actions import RegisterEventHandler
 from launch.event_handlers import OnProcessExit
-from launch.substitutions import Command, FindExecutable, PathJoinSubstitution,LaunchConfiguration
-from launch.actions import DeclareLaunchArgument
-
+from launch.substitutions import (
+    Command,
+    FindExecutable,
+    PathJoinSubstitution,
+)
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
     robot_description_content = Command(
         [
-            PathJoinSubstitution([FindExecutable(name="xacro")]),
-            " ",
+            PathJoinSubstitution([FindExecutable(name='xacro')]),
+            ' ',
             PathJoinSubstitution(
-                [FindPackageShare("sanehal_vehicle_description"), "urdf", "diffbot.urdf.xacro"]
+                [FindPackageShare('sanehal_vehicle_description'), 'urdf', 'diffbot.urdf.xacro']
             ),
         ]
     )
-    robot_description = {"robot_description": robot_description_content}
+    robot_description = {'robot_description': robot_description_content}
 
     robot_controllers = PathJoinSubstitution(
         [
-            FindPackageShare("sanehal_vehicle_description"),
-            "controllers",
-            "diffbot_controllers.yaml",
+            FindPackageShare('sanehal_vehicle_description'),
+            'controllers',
+            'diffbot_controllers.yaml',
         ]
     )
 
-    # for debug
-    # logger = LaunchConfiguration("log_level")
-    # launch_arg = DeclareLaunchArgument(
-    #         "log_level",
-    #         default_value=["debug"],
-    #         description="Logging level",
-    # )
-
     control_node = Node(
-        package="controller_manager",
-        executable="ros2_control_node",
+        package='controller_manager',
+        executable='ros2_control_node',
         parameters=[robot_description, robot_controllers],
-        output="both",
+        output='both',
         # arguments=['--ros-args', '--log-level', logger]
     )
     robot_state_pub_node = Node(
-        package="robot_state_publisher",
-        executable="robot_state_publisher",
-        output="both",
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        output='both',
         parameters=[robot_description],
         remappings=[
-            ("/diff_drive_controller/cmd_vel_unstamped", "/cmd_vel"),
+            ('/diff_drive_controller/cmd_vel_unstamped', '/cmd_vel'),
         ],
     )
 
     joint_state_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+        package='controller_manager',
+        executable='spawner',
+        arguments=['joint_state_broadcaster', '--controller-manager', '/controller_manager'],
     )
 
     robot_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["diffbot_base_controller", "-c", "/controller_manager"],
+        package='controller_manager',
+        executable='spawner',
+        arguments=['diffbot_base_controller', '-c', '/controller_manager'],
     )
 
     # Delay start of robot_controller after `joint_state_broadcaster`