[CI] Coverage + pre-commit (#49)

(cherry picked from commit 6b5d811) # Conflicts: # .github/workflows/ci-coverage-build.yml # .github/workflows/ci-format.yml # .github/workflows/ci-ros-lint.yml # codecov.yml
ros-controls · Feb 27, 2024 · 3f00661 · 3f00661
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diff --git a/.github/workflows/README.md b/.github/workflows/README.md
@@ -1,8 +1,8 @@
 
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
-**Rolling** | [`rolling`](https://github.com/ros-controls/kinematics_interface/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build-main.yml?branch=master) <br /> [![Rolling Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build-testing.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build-main.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build-testing.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-source-build.yml?branch=master) |   | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#rolling)
-**Humble** | [`humble`](https://github.com/ros-controls/kinematics_interface/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build-main.yml?branch=master) <br /> [![Humble Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build-testing.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build-main.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build-testing.yml?branch=master) <br /> [![Humble Source Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-source-build.yml?branch=master) |   | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#humble)
+**Rolling** | [`rolling`](https://github.com/ros-controls/kinematics_interface/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-source-build.yml?branch=master) |  [API](http://docs.ros.org/en/rolling/p/kinematics_interface/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#rolling)
+**Humble** | [`humble`](https://github.com/ros-controls/kinematics_interface/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build.yml?branch=master) <br />  [![Humble Source Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-source-build.yml?branch=master) | [API](http://docs.ros.org/en/humble/p/kinematics_interface/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#humble)
 
 ### Explanation of different build types
 

diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml
@@ -0,0 +1,18 @@
+name: Coverage Build - Humble
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - humble
+  pull_request:
+    branches:
+      - humble
+
+jobs:
+  coverage_humble:
+    name: coverage build - humble
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
+    secrets: inherit
+    with:
+      ros_distro: humble
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml
@@ -0,0 +1,18 @@
+name: Humble Pre-Commit
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
@@ -0,0 +1,18 @@
+name: Coverage Build - Rolling
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  coverage_rolling:
+    name: coverage build - rolling
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
+    secrets: inherit
+    with:
+      ros_distro: rolling
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
@@ -0,0 +1,18 @@
+name: Pre-Commit
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling, iron]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/update-pre-commit.yml b/.github/workflows/update-pre-commit.yml
@@ -0,0 +1,12 @@
+name: Auto Update pre-commit
+# Update pre-commit config and create PR if changes are detected
+# author: Christoph Fröhlich <[email protected]>
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 0 * * 0'  # Run every Sunday at midnight
+
+jobs:
+  auto_update_and_create_pr:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-update-pre-commit.yml@master
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -16,7 +16,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v4.5.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -36,7 +36,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.4.0
+    rev: v3.15.1
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -48,40 +48,39 @@ repos:
     - id: pydocstyle
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
+  - repo: https://github.com/psf/black
+    rev: 24.2.0
+    hooks:
+      - id: black
+        args: ["--line-length=99"]
+
   - repo: https://github.com/pycqa/flake8
-    rev: 6.0.0
+    rev: 7.0.0
     hooks:
     - id: flake8
       args: ["--extend-ignore=E501"]
 
   # CPP hooks
-  - repo: local
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.6
     hooks:
       - id: clang-format
-        name: clang-format
-        description: Format files with ClangFormat.
-        entry: clang-format-14
-        language: system
-        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=none', '-i']
 
   - repo: local
     hooks:
       - id: ament_cppcheck
         name: ament_cppcheck
         description: Static code analysis of C/C++ files.
-        stages: [commit]
-        entry: ament_cppcheck
+        entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
 
-  # Maybe use https://github.com/cpplint/cpplint instead
   - repo: local
     hooks:
       - id: ament_cpplint
         name: ament_cpplint
         description: Static code analysis of C/C++ files.
-        stages: [commit]
         entry: ament_cpplint
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
@@ -93,7 +92,6 @@ repos:
       - id: ament_lint_cmake
         name: ament_lint_cmake
         description: Check format of CMakeLists.txt files.
-        stages: [commit]
         entry: ament_lint_cmake
         language: system
         files: CMakeLists\.txt$
@@ -104,7 +102,6 @@ repos:
       - id: ament_copyright
         name: ament_copyright
         description: Check if copyright notice is available in all files.
-        stages: [commit]
         entry: ament_copyright
         language: system
 
@@ -127,8 +124,18 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.4
+    rev: v2.2.6
     hooks:
       - id: codespell
         args: ['--write-changes']
         exclude: CHANGELOG\.rst|\.(svg|pyc)$
+
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.28.0
+    hooks:
+      - id: check-github-workflows
+        args: ["--verbose"]
+      - id: check-github-actions
+        args: ["--verbose"]
+      - id: check-dependabot
+        args: ["--verbose"]
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -54,7 +54,9 @@ As this project, by default, uses the default GitHub issue labels
 
 
 ## Licensing
-Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license]:
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0.html):
 
 ~~~
 5. Submission of Contributions. Unless You explicitly state otherwise,
@@ -69,4 +71,3 @@ Any contribution that you make to this repository will be under the Apache 2 Lic
 [issues]: https://github.com/ros-controls/kinematics_interface/issues
 [closed-issues]: https://github.com/ros-controls/kinematics_interface/issues?utf8=%E2%9C%93&q=is%3Aissue%20is%3Aclosed%20
 [help-wanted]: https://github.com/ros-controls/kinematics_interface/issues?q=is%3Aopen+is%3Aissue+label%3A%22help+wanted%22
-[license]: http://www.apache.org/licenses/LICENSE-2.0.html
diff --git a/README.md b/README.md
@@ -1,4 +1,7 @@
 # kinematics_interface
+[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+[![codecov](https://codecov.io/gh/ros-controls/kinematics_interface/graph/badge.svg?token=NS73VKPG9V)](https://codecov.io/gh/ros-controls/kinematics_interface)
+
 This is a ROS 2 package for using C++ kinematics frameworks in the context of ROS 2 control. A kinematics interface is designed to allow ROS 2 controllers to control robots in Cartesian space. This package also contains a basic implementation of the interface using KDL.
 
 ## Build status

diff --git a/codecov.yml b/codecov.yml
@@ -0,0 +1,17 @@
+coverage:
+  precision: 2
+  round: down
+  range: "35...100"
+  status:
+    project:
+      default:
+        informational: true
+    patch: off
+fixes:
+  - "ros_ws/src/*/kinematics_interface/::"
+ignore:
+  - "**/test"
+  - "test"
+comment:
+  layout: "diff, flags, files"
+  behavior: default