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Review CI by correcting the configurations (#71)
* Update license. * Update CI configs. Co-authored-by: Lovro <[email protected]> Co-authored-by: AndyZe <[email protected]>
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‎.github/workflows/ci-build-coverage.yml‎

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name: Coverage Build
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on:
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pull_request:
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push:
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branches:
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- master
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- develop
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '58 8 * * *'
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jobs:
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coverage:
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name: coverage build
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runs-on: ubuntu-20.04
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strategy:
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fail-fast: false
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steps:
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- uses: ros-tooling/[email protected]
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with:
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required-ros-distributions: foxy
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- uses: ros-tooling/[email protected]
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with:
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target-ros2-distro: foxy
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# build all packages listed in the meta package
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package-name:
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ur5_e_moveit_config
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ur5_moveit_config
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ur_bringup
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ur_controllers
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ur_dashboard_msgs
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ur_description
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ur_moveit_config
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ur_robot_driver
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vcs-repo-file-url: |
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https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/Universal_Robots_ROS2_Driver.repos
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colcon-defaults: |
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{
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"build": {
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"mixin": ["coverage-gcc"]
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}
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}
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colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
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- uses: codecov/[email protected]
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with:
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file: ros_ws/lcov/total_coverage.info
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flags: unittests
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name: codecov-umbrella
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- uses: actions/upload-artifact@v1
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with:
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name: colcon-logs-${{ matrix.os }}
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path: ros_ws/log

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

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target-ros2-distro: foxy
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# build all packages listed in the meta package
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package-name:
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Universal_Robots_ROS2_Driver
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ur5_e_moveit_config
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ur5_moveit_config
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ur_bringup
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ur_controllers
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ur_dashboard_msgs
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ur_description
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ur_moveit_config
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ur_robot_driver
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vcs-repo-file-url: |
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https://raw.githubusercontent.com/ros2/ros2/foxy/ros2.repos
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https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/Universal_Robots_ROS2_Driver.repos

‎.github/workflows/ci-build.yml‎

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name: Build
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name: Binary Build
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on:
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pull_request:
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push:
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- {ROS_DISTRO: foxy, ROS_REPO: main}
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- {ROS_DISTRO: foxy, ROS_REPO: testing}
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env:
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UPSTREAM_WORKSPACE: Universal_Robots_ROS2_Driver.ci.repos
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UPSTREAM_WORKSPACE: Universal_Robots_ROS2_Driver.repos
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steps:
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- uses: actions/checkout@v1
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{matrix.env}}
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coverage:
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name: coverage build
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runs-on: ubuntu-20.04
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strategy:
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fail-fast: false
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steps:
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- uses: ros-tooling/[email protected]
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with:
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required-ros-distributions: foxy
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- uses: ros-tooling/[email protected]
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with:
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target-ros2-distro: foxy
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# build all packages listed in the meta package
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package-name:
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Universal_Robots_ROS2_Driver
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vcs-repo-file-url: |
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https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/Universal_Robots_ROS2_Driver.repos
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colcon-defaults: |
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{
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"build": {
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"mixin": ["coverage-gcc"]
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}
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}
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colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
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- uses: codecov/[email protected]
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with:
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file: ros_ws/lcov/total_coverage.info
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flags: unittests
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name: codecov-umbrella
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- uses: actions/upload-artifact@v1
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with:
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name: colcon-logs-${{ matrix.os }}
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path: ros_ws/log

‎.github/workflows/ci-lint.yml‎

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‎.pre-commit-config.yaml‎

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- id: trailing-whitespace
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# Python hooks
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- repo: https://github.com/pycqa/isort
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rev: 5.8.0
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# PEP 257
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- repo: https://github.com/FalconSocial/pre-commit-mirrors-pep257
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rev: v0.3.3
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hooks:
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- id: isort
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- id: pep257
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args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
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#- repo: local
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#hooks:
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#- id: ament_pep257
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#name: ament_pep257
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#description: Find warnings/errors in ROS Python code.
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#entry: ament_pep257
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#language: python
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- repo: https://github.com/pycqa/flake8
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rev: 3.9.0
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hooks:
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- id: flake8
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args: ["--ignore=E501"]
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- repo: https://github.com/psf/black
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rev: 20.8b1
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hooks:
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- id: black
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args: [--line-length=100]
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args: ["--line-length=100"]
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# CPP hooks
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# The same options as in ament_cppcheck are used, but its not working...
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#- repo: https://github.com/pocc/pre-commit-hooks
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#rev: v1.1.1
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#hooks:
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#- id: cppcheck
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#args: ['--error-exitcode=1', '-f', '--inline-suppr', '-q', '-rp', '--suppress=internalAstError', '--suppress=unknownMacro', '--verbose']
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# Cpp hooks
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- repo: local
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hooks:
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- id: ament_cppcheck
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name: ament_cppcheck
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description: Find warnings/errors in ROS C/CPP code.
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description: Static code analysis of C/C++ files.
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entry: ament_cppcheck
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language: python
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files: \.(c|cc|cxx|cpp|h|hpp|hxx|m)$
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language: system
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files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
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# Maybe use https://github.com/cpplint/cpplint instead
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- repo: local
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hooks:
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- id: ament_cpplint
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name: ament_cpplint
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description: Static code analysis of C/C++ files.
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entry: ament_cpplint
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language: system
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files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
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args: ["--linelength=120"]
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- repo: local
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hooks:
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files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
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args: ['-fallback-style=none', '-i']
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# Cmake hooks
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- repo: local
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hooks:
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- id: ament_lint_cmake
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name: ament_lint_cmake
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description: Check format of CMakeLists.txt files.
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entry: ament_lint_cmake
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language: system
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files: CMakeLists.txt$
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# Copyright
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- repo: local
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hooks:
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- id: ament_copyright
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name: ament_copyright
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description: Check if copyright notice is available in all files.
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entry: ament_copyright
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language: system
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# Docs - RestructuredText hooks
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- repo: https://github.com/PyCQA/doc8
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rev: 0.9.0a1
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hooks:
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- id: doc8
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args: ['--max-line-length=100', '--ignore=D001']
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#- repo: https://github.com/codespell-project/codespell
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#rev: v2.0.0
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#hooks:
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#- id: codespell
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#args: ['--write-changes', '--skip="*.svg"']
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- repo: https://github.com/pre-commit/pygrep-hooks
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rev: v1.8.0
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hooks:
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- id: rst-backticks
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- id: rst-directive-colons
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- id: rst-inline-touching-normal
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# Spellcheck in comments and docs
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# skipping of *.svg files is not working...
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- repo: https://github.com/codespell-project/codespell
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rev: v2.0.0
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hooks:
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- id: codespell
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args: ['--write-changes']
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exclude: \.(svg|pyc)$

‎CONTRIBUTING.md‎

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# Contributing Guidelines
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Thank you for your interest in contributing to `Universal_Robots_ROS2_Driver`.
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Whether it's a bug report, new feature, correction, or additional
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documentation, we greatly value feedback and contributions from our community.
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Please read through this document before submitting any issues or pull requests to ensure we have all the necessary
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information to effectively respond to your bug report or contribution.
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## Reporting Bugs/Feature Requests
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We welcome you to use the GitHub issue tracker to report bugs or suggest features.
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When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure
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somebody else hasn't already reported the issue.
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Please try to include as much information as you can. Details like these are incredibly useful:
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* A reproducible test case or series of steps
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* The version of our code being used
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* Any modifications you've made relevant to the bug
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* Anything unusual about your environment or deployment
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## Contributing via Pull Requests
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Contributions via pull requests are much appreciated.
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Before sending us a pull request, please ensure that:
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1. You are working against the latest source on the *master* branch.
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2. You check existing open, and recently merged, pull requests to make sure someone else hasn't addressed the problem already.
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3. You open an issue to discuss any significant work - we would hate for your time to be wasted.
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To send us a pull request, please:
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1. Fork the repository.
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2. Modify the source; please focus on the specific change you are contributing.
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If you also reformat all the code, it will be hard for us to focus on your change.
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3. Ensure local tests pass.
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4. Commit to your fork using clear commit messages.
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5. Send a pull request, answering any default questions in the pull request interface.
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6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
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GitHub provides additional documentation on [forking a repository](https://help.github.com/articles/fork-a-repo/) and
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[creating a pull request](https://help.github.com/articles/creating-a-pull-request/).

‎ur_controllers/LICENSE‎ renamed to ‎LICENSE‎

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Copyright 2019 FZI Forschungszentrum Informatik
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Apache License
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Version 2.0, January 2004
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of your accepting any such warranty or additional liability.
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END OF TERMS AND CONDITIONS
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APPENDIX: How to apply the Apache License to your work.
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To apply the Apache License to your work, attach the following
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boilerplate notice, with the fields enclosed by brackets "[]"
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replaced with your own identifying information. (Don't include
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the brackets!) The text should be enclosed in the appropriate
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comment syntax for the file format. We also recommend that a
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file or class name and description of purpose be included on the
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same "printed page" as the copyright notice for easier
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identification within third-party archives.
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Copyright 2021 PickNik, Inc.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.

‎README.md‎

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Now you should be able to use MoveIt Plugin in rviz2 to plan and execute trajectories with the robot.
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**NOTE**: This results in two instances of rviz2. You can safely close the one without *MotionPlanning* panel.
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If you have **issues** shows the correct configuration5 of the robot, try removing and re-adding *MotionPlanning* display.
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## Expected Changes in the Near Future
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- Using upstream `force_torque_sensor_broadcaster` (ros-controls/ros2_controllers#152)

‎ur_bringup/CMakeLists.txt‎

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install(DIRECTORY config launch
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DESTINATION share/${PROJECT_NAME}
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)
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)
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ament_package()

‎ur_bringup/package.xml‎

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<name>ur_bringup</name>
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<version>0.0.0</version>
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<description>Launch file and run-time configurations, e.g. controllers.</description>
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<author>Lovro Ivanov</author>
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<author>Denis Stogl</author>
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<maintainer email="[email protected]">Marvin Große Besselmann</maintainer>
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<maintainer email="[email protected]">Lovro Ivanov</maintainer>
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<maintainer email="[email protected]">Denis Stogl</maintainer>
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<maintainer email="[email protected]">Andy Zelenak</maintainer>
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<license>Apache License 2.0</license>
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<license>Apache-2.0</license>
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<license>BSD-2-Clause</license>
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<license>Zlib</license>
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<url type="bugtracker">https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues</url>
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<url type="repository">https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver</url>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<exec_depend>controller_manager</exec_depend>
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<exec_depend>joint_state_publisher</exec_depend>
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<exec_depend>launch</exec_depend>
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<exec_depend>launch_ros</exec_depend>
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<exec_depend>moveit_ros_move_group</exec_depend>
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<exec_depend>rviz2</exec_depend>
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<exec_depend>urdf</exec_depend>
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<exec_depend>warehouse_ros_mongo</exec_depend>
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<exec_depend>xacro</exec_depend>
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