Merge pull request #29 from PickNikRobotics/setup-ci-with-script

ci: setup CI using script

Author: moriarty

.clang-format

@@ -1,75 +1,20 @@
 ---
-BasedOnStyle:  Google
-ColumnLimit:    120
-MaxEmptyLinesToKeep: 1
-SortIncludes: false
+Language: Cpp
+BasedOnStyle: Google
 
-Standard:        Auto
-IndentWidth:     2
-TabWidth:        2
-UseTab:          Never
 AccessModifierOffset: -2
-ConstructorInitializerIndentWidth: 2
-NamespaceIndentation: None
-ContinuationIndentWidth: 4
-IndentCaseLabels: true
-IndentFunctionDeclarationAfterType: false
-
-AlignEscapedNewlinesLeft: false
-AlignTrailingComments: true
-
-AllowAllParametersOfDeclarationOnNextLine: false
-ExperimentalAutoDetectBinPacking: false
-ObjCSpaceBeforeProtocolList: true
-Cpp11BracedListStyle: false
-
-AllowShortBlocksOnASingleLine: true
-AllowShortIfStatementsOnASingleLine: false
-AllowShortLoopsOnASingleLine: false
-AllowShortFunctionsOnASingleLine: None
-AllowShortCaseLabelsOnASingleLine: false
-
-AlwaysBreakTemplateDeclarations: true
-AlwaysBreakBeforeMultilineStrings: false
-BreakBeforeBinaryOperators: false
-BreakBeforeTernaryOperators: false
-BreakConstructorInitializersBeforeComma: true
-
-BinPackParameters: true
-ConstructorInitializerAllOnOneLineOrOnePerLine: true
-DerivePointerBinding: false
-PointerBindsToType: true
-
-PenaltyExcessCharacter: 50
-PenaltyBreakBeforeFirstCallParameter: 30
-PenaltyBreakComment: 1000
-PenaltyBreakFirstLessLess: 10
-PenaltyBreakString: 100
-PenaltyReturnTypeOnItsOwnLine: 50
-
-SpacesBeforeTrailingComments: 2
-SpacesInParentheses: false
-SpacesInAngles:  false
-SpaceInEmptyParentheses: false
-SpacesInCStyleCastParentheses: false
-SpaceAfterCStyleCast: false
-SpaceAfterControlStatementKeyword: true
-SpaceBeforeAssignmentOperators: true
-
-# Configure each individual brace in BraceWrapping
-BreakBeforeBraces: Custom
-
-# Control of individual brace wrapping cases
+AlignAfterOpenBracket: AlwaysBreak
 BraceWrapping:
-    AfterCaseLabel: true
-    AfterClass: true
-    AfterControlStatement: true
-    AfterEnum: true
-    AfterFunction: true
-    AfterNamespace: true
-    AfterStruct: true
-    AfterUnion: true
-    BeforeCatch: true
-    BeforeElse: true
-    IndentBraces: false
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+  AfterEnum: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false
 ...

.codespell-ignore-words.txt

@@ -0,0 +1,10 @@
+[flake8]
+max-line-length = 88
+
+# Report all errors starting with E, F, W or C - or Bugbear's B590 rule, which is a "pragmatic" version of E501 (line too long)
+select = E,F,W,C,B590
+
+# Ignore W503 - Line break occurred before a binary operator - because this error is introduced by Black formatter.
+# Ignore E203 - whitespace before ':' - because Black includes spaces in formatting slice expressions.
+# Ignore E501 - line too long - in favor of B590, which is more forgiving of long strings and comments that would be silly to break up.
+extend-ignore = W503, E203, E501

.flake8

@@ -0,0 +1,72 @@
+
+ROS2 Distro | Branch | Build status | Documentation | Released packages
+:---------: | :----: | :----------: | :-----------: | :---------------:
+**Rolling** | [`rolling`](https://github.com/PickNikRobotics/ros2_robotiq_gripper/tree/rolling) | [![Rolling Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-binary-build-main.yml?branch=main) <br /> [![Rolling Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-binary-build-testing.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-binary-build-testing.yml?branch=main) <br /> [![Rolling Semi-Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-semi-binary-build-main.yml?branch=main) <br /> [![Rolling Semi-Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-semi-binary-build-testing.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-semi-binary-build-testing.yml?branch=main) <br /> [![Rolling Source Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-source-build.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-source-build.yml?branch=main) | [![Doxygen Doc Deployment](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/doxygen-deploy.yml/badge.svg)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/doxygen-deploy.yml) <br /> [Generated Doc](https://PickNikRobotics.github.io/ros2_robotiq_gripper_Documentation/rolling/html/index.html) | [ros2_robotiq_gripper](https://index.ros.org/p/ros2_robotiq_gripper/#rolling)
+
+## Build status
+
+
+### Explanation of different build types
+
+**NOTE**: There are three build stages checking current and future compatibility of the package.
+
+[Detailed build status](.github/workflows/README.md)
+
+1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
+
+   Uses repos file: `$NAME$-not-released.<ros-distro>.repos`
+
+1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.
+   Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
+
+   Uses repos file: `$NAME$.repos`
+
+1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.
+
+ROS2 Distro | Branch | Build status | Documentation | Released packages
+:---------: | :----: | :----------: | :-----------: | :---------------:
+**Humble** | [`humble`](https://github.com/PickNikRobotics/ros2_robotiq_gripper/tree/humble) | [![Humble Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-binary-build-main.yml?branch=main) <br /> [![Humble Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-binary-build-testing.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-binary-build-testing.yml?branch=main) <br /> [![Humble Semi-Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-semi-binary-build-main.yml?branch=main) <br /> [![Humble Semi-Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-semi-binary-build-testing.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-semi-binary-build-testing.yml?branch=main) <br /> [![Humble Source Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-source-build.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-source-build.yml?branch=main) | [![Doxygen Doc Deployment](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/doxygen-deploy.yml/badge.svg)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/doxygen-deploy.yml) <br /> [Generated Doc](https://PickNikRobotics.github.io/ros2_robotiq_gripper_Documentation/humble/html/index.html) | [ros2_robotiq_gripper](https://index.ros.org/p/ros2_robotiq_gripper/#humble)
+
+## Build status
+
+
+### Explanation of different build types
+
+**NOTE**: There are three build stages checking current and future compatibility of the package.
+
+[Detailed build status](.github/workflows/README.md)
+
+1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
+
+   Uses repos file: `$NAME$-not-released.<ros-distro>.repos`
+
+1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.
+   Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
+
+   Uses repos file: `$NAME$.repos`
+
+1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.
+
+ROS2 Distro | Branch | Build status | Documentation | Released packages
+:---------: | :----: | :----------: | :-----------: | :---------------:
+**Iron** | [`iron`](https://github.com/PickNikRobotics/ros2_robotiq_gripper/tree/iron) | [![Iron Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-binary-build-main.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-binary-build-main.yml?branch=main) <br /> [![Iron Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-binary-build-testing.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-binary-build-testing.yml?branch=main) <br /> [![Iron Semi-Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-semi-binary-build-main.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-semi-binary-build-main.yml?branch=main) <br /> [![Iron Semi-Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-semi-binary-build-testing.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-semi-binary-build-testing.yml?branch=main) <br /> [![Iron Source Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-source-build.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-source-build.yml?branch=main) | [![Doxygen Doc Deployment](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/doxygen-deploy.yml/badge.svg)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/doxygen-deploy.yml) <br /> [Generated Doc](https://PickNikRobotics.github.io/ros2_robotiq_gripper_Documentation/iron/html/index.html) | [ros2_robotiq_gripper](https://index.ros.org/p/ros2_robotiq_gripper/#iron)
+
+## Build status
+
+
+### Explanation of different build types
+
+**NOTE**: There are three build stages checking current and future compatibility of the package.
+
+[Detailed build status](.github/workflows/README.md)
+
+1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
+
+   Uses repos file: `$NAME$-not-released.<ros-distro>.repos`
+
+1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.
+   Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
+
+   Uses repos file: `$NAME$.repos`
+
+1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.

.github/workflows/README.md

@@ -0,0 +1,50 @@
+name: Coverage Build
+on:
+  workflow_dispatch:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  coverage:
+    name: coverage build
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+    env:
+      ROS_DISTRO: rolling
+    steps:
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ env.ROS_DISTRO }}
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/[email protected]
+        with:
+          target-ros2-distro: ${{ env.ROS_DISTRO }}
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          # build all packages listed in the meta package
+          package-name:
+            robotiq_driver
+            robotiq_controllers
+            robotiq_description
+
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_robotiq_gripper-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
+          colcon-defaults: |
+            {
+              "build": {
+                "mixin": ["coverage-gcc"]
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - uses: codecov/[email protected]
+        with:
+          file: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+      - uses: actions/[email protected]
+        with:
+          name: colcon-logs-coverage-rolling
+          path: ros_ws/log

.github/workflows/ci-coverage-build.yml

@@ -0,0 +1,26 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+    - uses: actions/[email protected]
+      with:
+        python-version: '3.10'
+    - name: Install system hooks
+      run: sudo apt install -qq clang-format-14 cppcheck
+    - uses: pre-commit/[email protected]
+      with:
+        extra_args: --all-files --hook-stage manual

.github/workflows/ci-format.yml

@@ -0,0 +1,45 @@
+name: ROS Lint
+on:
+  pull_request:
+
+jobs:
+  ament_lint:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [cppcheck, copyright, lint_cmake]
+    steps:
+    - uses: actions/checkout@v3
+    - uses: ros-tooling/[email protected]
+    - uses: ros-tooling/[email protected]
+      with:
+        distribution: rolling
+        linter: ${{ matrix.linter }}
+        package-name:
+          robotiq_driver
+          robotiq_controllers
+          robotiq_description
+
+
+  ament_lint_100:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [cpplint]
+    steps:
+    - uses: actions/checkout@v3
+    - uses: ros-tooling/[email protected]
+    - uses: ros-tooling/[email protected]
+      with:
+        distribution: rolling
+        linter: cpplint
+        arguments: "--linelength=100 --filter=-whitespace/newline"
+        package-name:
+          robotiq_driver
+          robotiq_controllers
+          robotiq_description
+          ros2_robotiq_gripper

.github/workflows/ci-ros-lint.yml

@@ -0,0 +1,26 @@
+name: Humble Binary Build - main
+# author: Denis Štogl <[email protected]>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+  push:
+    branches:
+      - main
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: humble
+      ros_repo: main
+      upstream_workspace: ros2_robotiq_gripper-not-released.humble.repos
+      ref_for_scheduled_build: main

.github/workflows/humble-binary-build-main.yml

@@ -0,0 +1,26 @@
+name: Humble Binary Build - testing
+# author: Denis Štogl <[email protected]>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+  push:
+    branches:
+      - main
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      upstream_workspace: ros2_robotiq_gripper-not-released.humble.repos
+      ref_for_scheduled_build: main

.github/workflows/humble-binary-build-testing.yml

@@ -0,0 +1,25 @@
+name: Humble Semi-Binary Build - main
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+  push:
+    branches:
+      - main
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: humble
+      ros_repo: main
+      upstream_workspace: ros2_robotiq_gripper.humble.repos
+      ref_for_scheduled_build: main