ENPM808X-final-project-boilerplate

This repo provides a template for setting up:

• GitHub CI
  • "main" branch runs in a ROS 2 Humble container
• Codecov badges
• Colcon workspace structure
• C++ library that depends on other system libraries such as OpenCV and rclcpp.
  • The library is self-contained
  • In real life, we download source code of third-party modules all the time and often just stick the modules as-is into our colcon workspace.
• ROS 2 package that depends on a C++ library built in the same colcon workspace
• Establishing package dependency within the colcon workspace.
  • ie. the ROS 2 package will not be built before all of its dependent C++ libraries are built first
• Multiple subscriptions within a ROS2 node all listening to the same topic.
  • Only one callback function is needed.
  • More efficient than to have N callback functions.
  • More efficient than to have N ROS nodes.
• Unit test and integration test.
• Doxygen setup
• ROS2 launch file
• Bash scripts that can be invoked by the "ros2 run ..." command

How to generate package dependency graph

colcon graph --dot | dot -Tpng -o depGraph.png
open depGraph.png

How to build and run demo

rm -rf build/ install/
colcon build 
source install/setup.bash
ros2 launch my_controller run_demo.launch.py

How to build for tests (unit test and integration test)

rm -rf build/ install/
colcon build --cmake-args -DCOVERAGE=1 

How to run tests (unit and integration)

source install/setup.bash
colcon test

How to generate coverage reports after running colcon test

First make sure we have run the unit test already.

colcon test

Test coverage report for my_controller:

ros2 run my_controller generate_coverage_report.bash
open build/my_controller/test_coverage/index.html

Test coverage report for my_model:

colcon build \
       --event-handlers console_cohesion+ \
       --packages-select my_model \
       --cmake-target "test_coverage" \
       --cmake-arg -DUNIT_TEST_ALREADY_RAN=1
open build/my_model/test_coverage/index.html

combined test coverage report

./do-tests.bash

How to generate project documentation

./do-docs.bash

How to use GitHub CI to upload coverage report to Codecov

First, sign up Codecov with you GitHub account.

https://about.codecov.io/sign-up/

Then, follow the similar instruction provided in the cpp-boilerplate-v2 repo

https://github.com/TommyChangUMD/cpp-boilerplate-v2