ROS 2 add precommit

.github/workflows/ros-docker-image.yaml

@@ -1,77 +1,78 @@
+---
 name: Build/Publish ROS Docker Image
 
 on:
-  workflow_dispatch:
-    inputs:
-      build_type:
-        description: "Is it a \"development\" or a \"stable\" release?"
-        required: true
-        default: 'development'
-        type: choice
-        options:
-          - development
-          - stable
-      target_distro:
-        description: "In case of \"stable\" release specify the ROS distro of the existing docker image (eg. humble)"
-        type: string
-        default: "ardent"
-      target_release:
-        description: "In case of \"stable\" release specify the version of the existing docker image (eg. 1.0.12)"
-        type: string
-        default: "0.0.0"
-      target_date:
-        description: "In case of \"stable\" release specify the date of the existing docker image in format YYYYMMDD (eg. 20220124)"
-        type: string
-        default: "20131206"
-  repository_dispatch:
-    types: [rebuild, ros-package-update]
-  pull_request:
-    types:
-      - closed
-      - opened
+    workflow_dispatch:
+        inputs:
+            build_type:
+                description: Is it a "development" or a "stable" release?
+                required: true
+                default: development
+                type: choice
+                options:
+                    - development
+                    - stable
+            target_distro:
+                description: In case of "stable" release specify the ROS distro of the existing docker image (eg. humble)
+                type: string
+                default: ardent
+            target_release:
+                description: In case of "stable" release specify the version of the existing docker image (eg. 1.0.12)
+                type: string
+                default: 0.0.0
+            target_date:
+                description: In case of "stable" release specify the date of the existing docker image in format YYYYMMDD (eg. 20220124)
+                type: string
+                default: '20131206'
+    repository_dispatch:
+        types: [rebuild, ros-package-update]
+    pull_request:
+        types:
+            - closed
+            - opened
 
 jobs:
-  build:
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-      matrix:
+    build:
+        runs-on: ubuntu-22.04
+        strategy:
+            fail-fast: false
+            matrix:
 
-        include:
-          - dockerfile: Dockerfile.hardware
-            repo_name: ""
-            platforms: "linux/amd64, linux/arm64"
-            ros_distro: "humble"
-          - dockerfile: Dockerfile.simulation
-            repo_name: "rosbot-gazebo"
-            platforms: "linux/amd64"
-            ros_distro: "humble"
-          - dockerfile: Dockerfile.hardware
-            repo_name: ""
-            platforms: "linux/amd64, linux/arm64"
-            ros_distro: "iron"
-          - dockerfile: Dockerfile.simulation
-            repo_name: "rosbot-gazebo"
-            platforms: "linux/amd64"
-            ros_distro: "iron"
+                include:
+                    - dockerfile: Dockerfile.hardware
+                      repo_name: ''
+                      platforms: linux/amd64, linux/arm64
+                      ros_distro: humble
+                    - dockerfile: Dockerfile.simulation
+                      repo_name: rosbot-gazebo
+                      platforms: linux/amd64
+                      ros_distro: humble
+                    - dockerfile: Dockerfile.hardware
+                      repo_name: ''
+                      platforms: linux/amd64, linux/arm64
+                      ros_distro: iron
+                    - dockerfile: Dockerfile.simulation
+                      repo_name: rosbot-gazebo
+                      platforms: linux/amd64
+                      ros_distro: iron
 
-    steps:
+        steps:
 
-      - name: Checkout
-        uses: actions/checkout@v2
+            - name: Checkout
+              uses: actions/checkout@v2
 
-      - name: ${{ matrix.dockerfile }} | ${{ matrix.ros_distro }} | Build
-        uses: husarion-ci/[email protected]
-        with:
-          dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
-          dockerhub_token:  ${{ secrets.DOCKERHUB_TOKEN }}
-          main_branch_name: ros2
-          dockerfile: ${{ matrix.dockerfile }}
-          repo_name: ${{ matrix.repo_name }}
-          build_type: ${{ inputs.build_type }}
-          ros_distro: ${{ matrix.ros_distro }}
-          platforms: ${{ matrix.platforms }}
+            - name: ${{ matrix.dockerfile }} | ${{ matrix.ros_distro }} | Build
+              uses: husarion-ci/[email protected]
+              with:
+                  dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
+                  dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
+                  main_branch_name: ros2
+                  dockerfile: ${{ matrix.dockerfile }}
+                  repo_name: ${{ matrix.repo_name }}
+                  build_type: ${{ inputs.build_type }}
+                  ros_distro: ${{ matrix.ros_distro }}
+                  platforms: ${{ matrix.platforms }}
           # variables important only for stable release
-          target_distro: ${{ inputs.target_distro }}
-          target_release: ${{ inputs.target_release }}
-          target_date: ${{ inputs.target_date }}
+                  target_distro: ${{ inputs.target_distro }}
+                  target_release: ${{ inputs.target_release }}
+                  target_date: ${{ inputs.target_date }}

.github/workflows/vulcanexus-docker-image.yaml

@@ -1,70 +1,71 @@
+---
 name: Build/Publish Vulcanexus Docker Image
 
 on:
-  workflow_dispatch:
-    inputs:
-      build_type:
-        description: "Is it a \"development\" or a \"stable\" release?"
-        required: true
-        default: 'development'
-        type: choice
-        options:
-          - development
-          - stable
-      target_distro:
-        description: "In case of \"stable\" release specify the ROS distro of the existing docker image (eg. humble)"
-        type: string
-        default: "ardent"
-      target_release:
-        description: "In case of \"stable\" release specify the version of the existing docker image (eg. 1.0.12)"
-        type: string
-        default: "0.0.0"
-      target_date:
-        description: "In case of \"stable\" release specify the date of the existing docker image in format YYYYMMDD (eg. 20220124)"
-        type: string
-        default: "20131206"
-  repository_dispatch:
-    types: [rebuild, ros-package-update]
-  pull_request:
-    types:
-      - closed
-      - opened
+    workflow_dispatch:
+        inputs:
+            build_type:
+                description: Is it a "development" or a "stable" release?
+                required: true
+                default: development
+                type: choice
+                options:
+                    - development
+                    - stable
+            target_distro:
+                description: In case of "stable" release specify the ROS distro of the existing docker image (eg. humble)
+                type: string
+                default: ardent
+            target_release:
+                description: In case of "stable" release specify the version of the existing docker image (eg. 1.0.12)
+                type: string
+                default: 0.0.0
+            target_date:
+                description: In case of "stable" release specify the date of the existing docker image in format YYYYMMDD (eg. 20220124)
+                type: string
+                default: '20131206'
+    repository_dispatch:
+        types: [rebuild, ros-package-update]
+    pull_request:
+        types:
+            - closed
+            - opened
 
 jobs:
-  build:
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-      matrix:
+    build:
+        runs-on: ubuntu-22.04
+        strategy:
+            fail-fast: false
+            matrix:
 
-        include:
-          - dockerfile: Dockerfile.hardware
-            repo_name: ""
-            platforms: "linux/amd64, linux/arm64"
-            ros_distro: "humble"
-          - dockerfile: Dockerfile.simulation
-            repo_name: "rosbot-gazebo"
-            platforms: "linux/amd64"
-            ros_distro: "humble"
+                include:
+                    - dockerfile: Dockerfile.hardware
+                      repo_name: ''
+                      platforms: linux/amd64, linux/arm64
+                      ros_distro: humble
+                    - dockerfile: Dockerfile.simulation
+                      repo_name: rosbot-gazebo
+                      platforms: linux/amd64
+                      ros_distro: humble
 
-    steps:
+        steps:
 
-      - name: Checkout
-        uses: actions/checkout@v2
+            - name: Checkout
+              uses: actions/checkout@v2
 
-      - name: ${{ matrix.dockerfile }} | ${{ matrix.ros_distro }} | Build
-        uses: husarion-ci/[email protected]
-        with:
-          dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
-          dockerhub_token:  ${{ secrets.DOCKERHUB_TOKEN }}
-          main_branch_name: ros2
-          dockerfile: ${{ matrix.dockerfile }}
-          repo_name: ${{ matrix.repo_name }}
-          build_type: ${{ inputs.build_type }}
-          ros_distro: ${{ matrix.ros_distro }}
-          platforms: ${{ matrix.platforms }}
-          prefix: "vulcanexus-"
+            - name: ${{ matrix.dockerfile }} | ${{ matrix.ros_distro }} | Build
+              uses: husarion-ci/[email protected]
+              with:
+                  dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
+                  dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
+                  main_branch_name: ros2
+                  dockerfile: ${{ matrix.dockerfile }}
+                  repo_name: ${{ matrix.repo_name }}
+                  build_type: ${{ inputs.build_type }}
+                  ros_distro: ${{ matrix.ros_distro }}
+                  platforms: ${{ matrix.platforms }}
+                  prefix: vulcanexus-
           # variables important only for stable release
-          target_distro: ${{ inputs.target_distro }}
-          target_release: ${{ inputs.target_release }}
-          target_date: ${{ inputs.target_date }}
+                  target_distro: ${{ inputs.target_distro }}
+                  target_release: ${{ inputs.target_release }}
+                  target_date: ${{ inputs.target_date }}

.gitignore

@@ -1 +1 @@
-rosbot_ros/
+rosbot_ros/

.pre-commit-config.yaml

@@ -0,0 +1,57 @@
+---
+repos:
+    - repo: https://github.com/pre-commit/pre-commit-hooks
+      rev: v4.5.0
+      hooks:
+          - id: check-merge-conflict
+          - id: trailing-whitespace
+          - id: end-of-file-fixer
+          - id: check-yaml
+          - id: check-xml
+          - id: check-added-large-files
+          - id: check-ast
+          - id: check-json
+          - id: name-tests-test
+            files: ^.*\/test\/.*$
+            args: [--pytest-test-first]
+
+    - repo: https://github.com/codespell-project/codespell
+      rev: v1.16.0
+      hooks:
+          - id: codespell
+            name: codespell
+            description: Checks for common misspellings in text files.
+            entry: codespell  *
+            language: python
+            types: [text]
+
+    - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+      rev: 0.2.1
+      hooks:
+          - id: yamlfmt
+            files: ^.github|./\.yaml
+
+    - repo: https://github.com/psf/black
+      rev: 22.12.0
+      hooks:
+        - id: black
+          args: ["--line-length=99"]
+
+    - repo: https://github.com/PyCQA/flake8
+      rev: 6.1.0
+      hooks:
+        - id: flake8
+          args: ["--ignore=E501,W503"] # ignore too long line and line break before binary operator,
+                                       # black checks it
+
+      # Docs - RestructuredText hooks
+    - repo: https://github.com/PyCQA/doc8
+      rev: v1.1.1
+      hooks:
+        - id: doc8
+          args: ['--max-line-length=100', '--ignore=D001']
+          exclude: ^.*\/CHANGELOG\.rst/.*$
+    - repo: https://github.com/pre-commit/mirrors-clang-format
+      rev: v16.0.6
+      hooks:
+        -   id: clang-format

Dockerfile.simulation

@@ -49,4 +49,4 @@ RUN MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
     apt-get clean && \
     rm -rf /var/lib/apt/lists/*
 
-RUN echo $(cat /ros2_ws/src/rosbot_gazebo/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') > /version.txt
+RUN echo $(cat /ros2_ws/src/rosbot_gazebo/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') > /version.txt

README.md

@@ -38,7 +38,7 @@ In *docker-compose.yaml* you have to change `device` passed to docker. For more
 docker run \
 --rm -it --privileged \
 husarion/rosbot:humble \
-print-serial-number.py 
+print-serial-number.py
 ```
 
 ## ROS node
@@ -49,6 +49,21 @@ For more details on what is being published and subscribed by nodes running in t
 - [rosbot_ros](https://github.com/husarion/rosbot_ros/tree/humble)
 - [rosbot_ros2_firmware](https://github.com/husarion/rosbot_ros2_firmware/)
 
+
+## Developing
+[pre-commit configuration](.pre-commit-config.yaml) prepares plenty of tests helping for developing and contributing. Usage:
+
+```bash
+# install pre-commit
+pip install pre-commit
+
+# initialize pre-commit workspace
+pre-commit install
+
+# manually run tests
+pre-commit run -a
+```
+
 ## How to use `rosbot` Docker image?
 
 Find available projects below:
@@ -57,5 +72,5 @@ Find available projects below:
 | - | - |
 | [rosbot-sensors](https://github.com/husarion/rosbot-sensors) | Visualize all ROSbot sensors |
 | [rosbot-gamepad](https://github.com/husarion/rosbot-gamepad) | Control the robot manually using a Logitech F710 gamepad |
-| [rosbot-mapping](https://github.com/husarion/rosbot-mapping) | Create a map (using [slam_toolbox](https://github.com/SteveMacenski/slam_toolbox)) of the unknow environment with ROSbot controlled in LAN or over the Internet |
+| [rosbot-mapping](https://github.com/husarion/rosbot-mapping) | Create a map (using [slam_toolbox](https://github.com/SteveMacenski/slam_toolbox)) of the unknown environment with ROSbot controlled in LAN or over the Internet |
 | [rosbot-navigation](https://github.com/husarion/rosbot-navigation) | Autonomous navigation (using [navigation2](https://github.com/ros-planning/navigation2)) on a given map.  |

demo/README.md

@@ -43,4 +43,4 @@ and run inside `teleop_twist_keyboard` to drive the ROSbot
 ros2 run teleop_twist_keyboard teleop_twist_keyboard
 ```
 
-With keys `i`, `j`, `l`, `,` you can drive forward, counter clockwise, clockwise and backwards. If you are using macanum wheels (see `demo/.env` file) hold `Shift` key that way the ROSbot goes left and right with `j` and `l` keys instead rotates.
+With keys `i`, `j`, `l`, `,` you can drive forward, counter clockwise, clockwise and backwards. If you are using macanum wheels (see `demo/.env` file) hold `Shift` key that way the ROSbot goes left and right with `j` and `l` keys instead rotates.

demo/compose.simulation.yaml

@@ -25,4 +25,4 @@ services:
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - /dev:/dev
-    command: ros2 launch rosbot_gazebo simulation.launch.py mecanum:=${MECANUM:-False}
+    command: ros2 launch rosbot_gazebo simulation.launch.py mecanum:=${MECANUM:-False}