Add ruff/ruff format to pre-commit & Add integration test

.pre-commit-config.yaml

@@ -43,10 +43,12 @@ repos:
       - id: requirements-txt-fixer
       - id: sort-simple-yaml
       - id: trailing-whitespace
-  - repo: https://github.com/psf/black
-    rev: 22.12.0
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.6.9
     hooks:
-      - id: black
+      - id: ruff
+        args: ['--output-format=full', '--fix', '--config', 'pyproject.toml']
+      - id: ruff-format
   - repo: https://github.com/codespell-project/codespell
     rev: v2.0.0
     hooks:

CMakeLists.txt

@@ -56,9 +56,12 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_pytest REQUIRED)
   find_package(ros2_control_test_assets REQUIRED)
+  find_package(ros_testing REQUIRED)
 
   # ROS2 linters, but disable copyright test. PickNik's copyright's may not conform
   # to this test
+  set(ament_cmake_flake8_FOUND TRUE)
+  set(ament_cmake_pep257_FOUND TRUE)
   set(ament_cmake_cpplint_FOUND TRUE)
   set(ament_cmake_uncrustify_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
@@ -68,6 +71,14 @@ if(BUILD_TESTING)
   target_link_libraries(topic_based_system_test
     ${PROJECT_NAME})
   ament_target_dependencies(topic_based_system_test ${THIS_PACKAGE_INCLUDE_DEPENDS} ros2_control_test_assets)
+
+  # Integration tests
+  add_ros_test(
+    test/ros2_control.test.py
+    TIMEOUT
+    120
+    ARGS
+    test_file:=${CMAKE_CURRENT_SOURCE_DIR}/test/test_topic_based_robot.py)
 endif()
 
 pluginlib_export_plugin_description_file(hardware_interface topic_based_ros2_control_plugin_description.xml)

package.xml

@@ -25,6 +25,7 @@
     <test_depend>picknik_ament_copyright</test_depend>
     <test_depend>ros2_control_test_assets</test_depend>
     <test_depend>ament_lint_common</test_depend>
+    <test_depend>ros_testing</test_depend>
 
     <export>
         <build_type>ament_cmake</build_type>

pyproject.toml

@@ -0,0 +1,20 @@
+[tool.ruff]
+extend-select = [
+  # Enabled by default
+  # pyflakes
+  # "F",
+  # pycodestyle
+  # "E",
+  "W",
+  # isort
+  "I",
+  # NumPy-specific rules
+  "NPY",
+  # Ruff-specific rules
+  "RUF",
+]
+# line-length = 88
+ignore = ["E501"]
+target-version = "py310"
+[tool.ruff.pydocstyle]
+convention = "google"

src/topic_based_system.cpp

@@ -91,6 +91,7 @@ CallbackReturn TopicBasedSystem::on_init(const hardware_interface::HardwareInfo&
         // Check the initial_value param is used
         if (!interface.initial_value.empty())
         {
+          joint_states_[index][i] = std::stod(interface.initial_value);
           joint_commands_[index][i] = std::stod(interface.initial_value);
         }
       }

test/control.launch.py

@@ -0,0 +1,70 @@
+# -*- coding: utf-8 -*-
+
+# Copyright 2024 PickNik Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the PickNik Inc. nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+from pathlib import Path
+
+import xacro
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+SCRIPT_PATH = Path(os.path.realpath(__file__)).parent
+
+
+def generate_launch_description():
+    ros2_controllers_file = Path(SCRIPT_PATH / "ros2_controllers.yaml")
+    robot_description = {
+        "robot_description": xacro.process_file(SCRIPT_PATH / "rrr.urdf.xacro").toxml(),
+    }
+    controllers = ["joint_state_broadcaster", "joint_trajectory_controller"]
+    return LaunchDescription(
+        [
+            Node(
+                package="robot_state_publisher",
+                executable="robot_state_publisher",
+                name="robot_state_publisher",
+                parameters=[robot_description],
+            ),
+            Node(
+                package="controller_manager",
+                executable="ros2_control_node",
+                parameters=[robot_description, ros2_controllers_file],
+                output="screen",
+            ),
+        ]
+        + [
+            Node(
+                package="controller_manager",
+                executable="spawner",
+                arguments=[controller],
+            )
+            for controller in controllers
+        ],
+    )

test/ros2_control.test.py

@@ -0,0 +1,92 @@
+# -*- coding: utf-8 -*-
+
+# Copyright 2024 PickNik Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the s nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+
+import os
+import unittest
+from pathlib import Path
+
+import launch_testing
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    TimerAction,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import (
+    LaunchConfiguration,
+    PathJoinSubstitution,
+)
+from launch_ros.actions import Node
+
+SCRIPT_PATH = Path(os.path.realpath(__file__)).parent
+
+
+def generate_test_description():
+    test_node = Node(
+        executable=LaunchConfiguration("test_file"),
+    )
+
+    return LaunchDescription(
+        [
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    [
+                        PathJoinSubstitution(
+                            [
+                                str(SCRIPT_PATH),
+                                "control.launch.py",
+                            ],
+                        ),
+                    ],
+                ),
+            ),
+            DeclareLaunchArgument("test_file"),
+            TimerAction(period=2.0, actions=[test_node]),
+            launch_testing.util.KeepAliveProc(),
+            launch_testing.actions.ReadyToTest(),
+        ],
+    ), {
+        "test_node": test_node,
+    }
+
+
+class TestWaitForCompletion(unittest.TestCase):
+    # Waits for test to complete, then waits a bit to make sure result files are generated
+    def test_run_complete(self, test_node):
+        self.proc_info.assertWaitForShutdown(test_node, timeout=4000.0)
+
+
+@launch_testing.post_shutdown_test()
+class TestProcessPostShutdown(unittest.TestCase):
+    # Checks if the test has been completed with acceptable exit codes (successful codes)
+    def test_pass(self, proc_info, test_node):
+        launch_testing.asserts.assertExitCodes(proc_info, process=test_node)

test/ros2_controllers.yaml

@@ -0,0 +1,25 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 50
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+    joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - joint_1
+      - joint_2
+      - joint_3
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    constraints:
+      stopped_velocity_tolerance: 0.0
+      goal_time: 0.0