Merge pull request #457 from husarion/ros2-lynx-devel

ROS 2 husarion UGV
husarion · Dec 6, 2024 · 4fc2d95 · 4fc2d95
2 parents ad89d1e + 05aab48
commit 4fc2d95
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Showing 377 changed files with 10,878 additions and 7,315 deletions.
diff --git a/.docs/panther_ros2_api.drawio.svg b/.docs/panther_ros2_api.drawio.svg
diff --git a/.docs/ros2_system_design.drawio.svg b/.docs/ros2_system_design.drawio.svg
diff --git a/.github/workflows/release-candidate.yaml b/.github/workflows/release-candidate.yaml
@@ -5,17 +5,31 @@ on:
   workflow_dispatch:
     inputs:
       version:
-        description: Release candidate version. IMPORTANT - required format `X.X.X`, eg `2.0.1`.
+        description: Release candidate version (format `X.X.X`, e.g. `2.0.1`).
         required: true
       date:
-        description: Release candidate date stamp. IMPORTANT - required format `YYYYMMDD`, eg `20240430`.
+        description: Release candidate date stamp (format `YYYYMMDD`, e.g. `20240430`).
         required: true
 
 env:
   RC_BRANCH_NAME: ${{ github.event.inputs.version }}-${{ github.event.inputs.date }}
 
 jobs:
-    # TODO: Add unit testing for panther_ros when ready
+  check_docs:
+    name: Check docs build
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Trigger repository build workflow
+        uses: convictional/[email protected]
+        with:
+          owner: husarion
+          repo: docs_new
+          github_token: ${{ secrets.GH_PAT }}
+          workflow_file_name: test-release.yml
+          ref: master
+          client_payload: '{"husarion_ugv_branch": "ros2-devel"}'
+
+  # TODO: Add unit testing for panther_ros when ready
   unit_test_panther_ros:
     name: Run unit tests for panther_ros
     runs-on: ubuntu-22.04
@@ -55,7 +69,6 @@ jobs:
           github_token: ${{ secrets.GH_PAT }}
           workflow_file_name: update-tags-in-compose.yaml
           ref: ${{ env.RC_BRANCH_NAME }}
-          wait_interval: 10
           client_payload: |
             {
               "branch_name": "${{ env.RC_BRANCH_NAME }}",
@@ -76,7 +89,6 @@ jobs:
           github_token: ${{ secrets.GH_PAT }}
           workflow_file_name: ros-docker-image.yaml
           ref: ${{ env.RC_BRANCH_NAME }}
-          wait_interval: 10
           client_payload: |
             {
               "panther_codebase_version": "${{ env.RC_BRANCH_NAME }}",
@@ -98,7 +110,6 @@ jobs:
           github_token: ${{ secrets.GH_PAT }}
           workflow_file_name: build_and_deploy_image.yaml
           ref: ${{ env.RC_BRANCH_NAME }}
-          wait_interval: 10
           client_payload: |
             {
               "dev_image": "true",
@@ -121,7 +132,6 @@ jobs:
           github_token: ${{ secrets.GH_PAT }}
           workflow_file_name: build_and_deploy_flash_os_image.yaml
           ref: ${{ env.RC_BRANCH_NAME }}
-          wait_interval: 10
           client_payload: |
             {
               "image_tag": "${{ github.event.inputs.version }}"

diff --git a/.github/workflows/release-project.yaml b/.github/workflows/release-project.yaml
@@ -1,5 +1,5 @@
 ---
-name: Release Panther project
+name: Release project
 
 on:
   workflow_dispatch:
@@ -30,19 +30,18 @@ env:
   MAIN_BRANCH: ros2
 
 jobs:
-  release_panther_msgs:
-    name: Release panther_msgs repository
+  release_project:
+    name: Release Husarion UGV project
     runs-on: ubuntu-22.04
     steps:
-      - name: Trigger repository release workflow
+      - name: Release panther_msgs repository
         uses: convictional/[email protected]
         with:
           owner: husarion
           repo: panther_msgs
           github_token: ${{ secrets.GH_PAT }}
           workflow_file_name: release-repository.yaml
           ref: ${{ env.RC_BRANCH_NAME }}
-          wait_interval: 10
           client_payload: |
             {
               "release_candidate": "${{ env.RC_BRANCH_NAME }}",
@@ -52,21 +51,14 @@ jobs:
               "prerelease": "${{ github.event.inputs.prerelease }}"
             }
 
-  release_panther_ros:
-    name: Release panther_ros repository
-    needs:
-      - release_panther_msgs
-    runs-on: ubuntu-22.04
-    steps:
-      - name: Trigger panther_ros release workflow
+      - name: Release panther_ros repository
         uses: convictional/[email protected]
         with:
           owner: husarion
           repo: panther_ros
           github_token: ${{ secrets.GITHUB_TOKEN }} # Use the default GITHUB_TOKEN for local repository
           workflow_file_name: release-repository.yaml
           ref: ${{ env.RC_BRANCH_NAME }}
-          wait_interval: 10
           client_payload: |
             {
               "release_candidate": "${{ env.RC_BRANCH_NAME }}",
@@ -76,43 +68,29 @@ jobs:
               "prerelease": "${{ github.event.inputs.prerelease }}"
             }
 
-  rebuild_and_push_docker_images:
-    name: Rebuild panther docker images with new version
-    runs-on: ubuntu-22.04
-    needs:
-      - release_panther_ros
-    steps:
-      - name: Trigger repository build workflow
+      - name: Rebuild panther docker images with new version
         uses: convictional/[email protected]
         with:
           owner: husarion
           repo: panther-docker
           github_token: ${{ secrets.GH_PAT }}
           workflow_file_name: ros-docker-image.yaml
           ref: ${{ env.RC_BRANCH_NAME }}
-          wait_interval: 10
           client_payload: |
             {
               "panther_codebase_version": "${{ github.event.inputs.version }}",
               "build_type": "development",
               "target_distro": "humble"
             }
 
-  release_panther_docker:
-    name: Release panther-docker repository
-    needs:
-      - rebuild_and_push_docker_images
-    runs-on: ubuntu-22.04
-    steps:
-      - name: Trigger repository release workflow
+      - name: Release panther-docker repository
         uses: convictional/[email protected]
         with:
           owner: husarion
           repo: panther-docker
           github_token: ${{ secrets.GH_PAT }}
           workflow_file_name: release-repository.yaml
           ref: ${{ env.RC_BRANCH_NAME }}
-          wait_interval: 10
           client_payload: |
             {
               "release_candidate": "${{ env.RC_BRANCH_NAME }}",
@@ -122,22 +100,14 @@ jobs:
               "prerelease": "${{ github.event.inputs.prerelease }}"
             }
 
-  release_panther_rpi_os_image:
-    name: Release panther-rpi-os-img repository
-    if: ${{ fromJSON(github.event.inputs.automatic_mode) == true }}
-    needs:
-      - release_panther_docker
-    runs-on: ubuntu-22.04
-    steps:
-      - name: Trigger repository release workflow
+      - name: Release panther-rpi-os-img repository
         uses: convictional/[email protected]
         with:
           owner: husarion
           repo: panther-rpi-os-img
           github_token: ${{ secrets.GH_PAT }}
           workflow_file_name: release-repository.yaml
           ref: ${{ env.RC_BRANCH_NAME }}
-          wait_interval: 10
           client_payload: |
             {
               "release_candidate": "${{ env.RC_BRANCH_NAME }}",
@@ -147,46 +117,41 @@ jobs:
               "prerelease": "${{ github.event.inputs.prerelease }}"
             }
 
-  build_and_publish_rpi_image:
-    name: Build panther system image
-    if: ${{ fromJSON(github.event.inputs.automatic_mode) == true }}
-    needs:
-      - release_panther_rpi_os_image
-    runs-on: ubuntu-22.04
-    steps:
-      - name: Trigger repository build workflow
+      - name: Build panther system image
+        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true }}
         uses: convictional/[email protected]
         with:
           owner: husarion
           repo: panther-rpi-os-img
           github_token: ${{ secrets.GH_PAT }}
           workflow_file_name: build_and_deploy_image.yaml
           ref: ${{ env.MAIN_BRANCH }}
-          wait_interval: 10
           client_payload: |
             {
               "dev_image": "false",
               "panther_codebase_version": "${{ github.event.inputs.version }}",
               "image_tag": "${{ github.event.inputs.version }}"
             }
 
-  build_and_publish_rpi_flash_os_image:
-    name: Build panther flash OS image
-    if: ${{ fromJSON(github.event.inputs.automatic_mode) == true }}
-    needs:
-      - build_and_publish_rpi_image
-    runs-on: ubuntu-22.04
-    steps:
-      - name: Trigger repository build workflow
+      - name: Build panther flash OS image
+        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true }}
         uses: convictional/[email protected]
         with:
           owner: husarion
           repo: panther-rpi-os-img
           github_token: ${{ secrets.GH_PAT }}
           workflow_file_name: build_and_deploy_flash_os_image.yaml
           ref: ${{ env.MAIN_BRANCH }}
-          wait_interval: 10
           client_payload: |
             {
               "image_tag": "${{ github.event.inputs.version }}"
             }
+
+      - name: Trigger repository build workflow
+        uses: convictional/[email protected]
+        with:
+          owner: husarion
+          repo: docs_new
+          github_token: ${{ secrets.GH_PAT }}
+          workflow_file_name: build.yml
+          ref: master
diff --git a/.github/workflows/run-unit-tests.yaml b/.github/workflows/run-unit-tests.yaml
@@ -1,5 +1,5 @@
 ---
-name: Run panther unit tests
+name: Run unit tests
 
 on:
   workflow_dispatch:
@@ -28,12 +28,12 @@ jobs:
         uses: actions/checkout@v3
         with:
           ref: ${{ github.ref }}
-          path: ros2_ws/src/panther_ros
+          path: ros2_ws/src/husarion_ugv
 
       - name: Resolve dependencies
         working-directory: ros2_ws
         run: |
-          vcs import < src/panther_ros/panther/panther_hardware.repos src
+          vcs import < src/husarion_ugv/husarion_ugv/hardware_deps.repos src
           sudo apt update
           rosdep update --rosdistro $ROS_DISTRO
           rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
@@ -43,15 +43,15 @@ jobs:
         run: |
           source /opt/ros/$ROS_DISTRO/setup.bash
           if [ -f install/setup.bash ]; then source install/setup.bash; fi
-          colcon build --symlink-install --parallel-workers $(nproc) --packages-up-to panther --cmake-args -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage'
+          colcon build --symlink-install --parallel-workers $(nproc) --packages-up-to husarion_ugv --cmake-args -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage'
 
       - name: Test
         working-directory: ros2_ws
         run: |
           source install/setup.bash
-          colcon test --packages-up-to panther --retest-until-pass 10 --event-handlers console_cohesion+ --return-code-on-test-failure
+          colcon test --packages-up-to husarion_ugv --retest-until-pass 10 --event-handlers console_cohesion+ --return-code-on-test-failure
           echo "result=$?" >> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }}
-          colcon lcov-result --packages-up-to panther --verbose >> ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}
+          colcon lcov-result --packages-up-to husarion_ugv --verbose >> ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}
           lines_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }} | grep -E 'lines' | head -1)
           functions_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}  | grep -E 'functions' | head -1)
           branches_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}  | grep -E 'branches' | head -1)

diff --git a/.gitignore b/.gitignore
@@ -1,6 +1,6 @@
-devel/
-logs/
 build/
+log/
+install/
 bin/
 lib/
 msg_gen/
@@ -13,8 +13,6 @@ msg/*Feedback.msg
 msg/*Goal.msg
 msg/*Result.msg
 msg/_*.py
-build_isolated/
-devel_isolated/
 
 # Generated by dynamic reconfigure
 *.cfgc

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -47,7 +47,7 @@ repos:
         entry: codespell
         args:
           [
-            "--exclude-file=panther_hardware_interfaces/config/roboteq_motor_controllers_v80_21a.eds",
+            "--exclude-file=husarion_ugv_hardware_interfaces/config/roboteq_motor_controllers_v80_21a.eds",
             "--ignore-words-list",
             "ned" # north, east, down (NED)
           ]