Use GitHub Actions, use pre-commit formatting (#56)

* Use GitHub Actions instead of Travis (#54)

* Update readme file

* rename repos file

* Initial configuration

* Add CI configuration for dockersim

* Added pre-commit config

* Comment out the ur-sim ci

* Updated build configs

* correct tooling version

* Updated configs

* Linters and formater errors

* Reformated all files

* Add contributor guidelines to README.

Co-authored-by: Denis Štogl <[email protected]>
Co-authored-by: Denis Stogl <[email protected]>
Co-authored-by: AndyZe <[email protected]>

Author: 3 people

.ci.rosinstall

@@ -8,7 +8,6 @@ AllowAllParametersOfDeclarationOnNextLine: false
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
-AllowShortLoopsOnASingleLine: false
 AlwaysBreakTemplateDeclarations: true
 AlwaysBreakBeforeMultilineStrings: false
 BreakBeforeBinaryOperators: false
@@ -51,7 +50,7 @@ SpaceAfterCStyleCast: false
 BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
-BraceWrapping: {
+BraceWrapping:
     AfterCaseLabel: 'true'
     AfterClass: 'true'
     AfterControlStatement: 'true'
@@ -63,5 +62,4 @@ BraceWrapping: {
     BeforeCatch : 'true'
     BeforeElse : 'true'
     IndentBraces : 'false'
-}
 ...

.clang-format

@@ -0,0 +1,2 @@
+#
+#Thu May 28 16:20:13 BST 2020

.github/dockerursim/.vol/default.installation

@@ -0,0 +1 @@
+/ursim/programs.UR5

.github/dockerursim/.vol/default.variables

@@ -0,0 +1,121 @@
+# MIT License
+#
+# Original from https://github.com/ahobsonsayers/DockURSim
+# Copyright (c) 2019 Arran Hobson Sayers
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+FROM lsiobase/guacgui:latest
+
+# Set Version Information
+ARG BUILD_DATE="15/08/19"
+ARG VERSION="5.8.0.10253"
+LABEL build_version="URSim Version: ${VERSION} Build Date: ${BUILD_DATE}"
+LABEL maintainer="Arran Hobson Sayers"
+LABEL MAINTAINER="Arran Hobson Sayers"
+ENV APPNAME="URSim"
+
+# Set Timezone
+ARG TZ="Europe/London"
+ENV TZ ${TZ}
+
+# Setup Environment
+ENV DEBIAN_FRONTEND noninteractive
+
+# Set Home Directory
+ENV HOME /ursim
+
+# Set robot model - Can be UR3, UR5 or UR10
+ENV ROBOT_MODEL UR5
+
+RUN \
+    echo "**** Installing Dependencies ****" && \
+    apt-get update && \
+    apt-get install -qy --no-install-recommends \
+    openjdk-8-jre psmisc && \
+    # Change java alternatives so we use openjdk8 (required by URSim) not openjdk11 that comes with guacgui
+    update-alternatives --install /usr/bin/java java /usr/lib/jvm/java-8-openjdk-amd64/jre/bin/java 10000
+
+# Setup JAVA_HOME
+ENV JAVA_HOME /usr/lib/jvm/java-8-openjdk-amd64
+
+RUN \
+    echo "**** Downloading URSim ****" && \
+    # Make sure we are in the root
+    cd / && \
+    # Download URSim Linux tar.gz
+    curl https://s3-eu-west-1.amazonaws.com/ur-support-site/69987/URSim_Linux-5.8.0.10253.tar.gz -o URSim-Linux.tar.gz && \
+    #curl https://s3-eu-west-1.amazonaws.com/ur-support-site/54411/URSim_Linux-5.4.2.76197.tar.gz -o URSim-Linux.tar.gz && \
+    # Extract tarball
+    tar xvzf URSim-Linux.tar.gz && \
+    #Remove the tarball
+    rm URSim-Linux.tar.gz && \
+    # Rename the URSim folder to just ursim
+    mv  /ursim* /ursim
+
+RUN \
+    echo "**** Installing URSim ****" && \
+    # cd to ursim folder
+    cd /ursim && \
+    # Make URControl and all sh files executable
+    chmod +x ./*.sh ./URControl && \
+    #
+    # Stop install of unnecessary packages and install required ones quietly
+    sed -i 's|apt-get -y install|apt-get -qy install --no-install-recommends|g' ./install.sh && \
+    # Skip xterm command. We dont have a desktop
+    sed -i 's|tty -s|(exit 0)|g' install.sh && \
+    # Skip Check of Java Version as we have the correct installed and the command will fail
+    sed -i 's|needToInstallJava$|(exit 0)|g' install.sh && \
+    # Skip install of desktop shortcuts - we dont have a desktop
+    sed -i '/for TYPE in UR3 UR5 UR10/,$ d' ./install.sh  && \
+    # Remove commands that are not relevant on docker as we are root user
+    sed -i 's|pkexec ||g' ./install.sh && \
+    sed -i 's|sudo ||g' ./install.sh && \
+    sed -i 's|sudo ||g' ./ursim-certificate-check.sh && \
+    #
+    # Install URSim
+    ./install.sh && \
+    #
+    echo "Installed URSim"
+
+RUN \
+    echo "**** Clean Up ****" && \
+    rm -rf \
+    /tmp/* \
+    /var/lib/apt/lists/* \
+    /var/tmp/*
+
+# Copy ursim run service script
+COPY ursim /etc/services.d/ursim
+COPY safety.conf.UR5 /ursim/.urcontrol/
+# Expose ports
+# Guacamole web browser viewer
+EXPOSE 8080
+# VNC viewer
+EXPOSE 3389
+# Modbus Port
+EXPOSE 502
+# Interface Ports
+EXPOSE 29999
+EXPOSE 30001-30004
+
+# Mount Volumes
+VOLUME /ursim
+
+ENTRYPOINT ["/init"]

.github/dockerursim/.vol/programs.UR5

@@ -0,0 +1,20 @@
+#!/bin/bash
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+
+docker network create --subnet=192.168.0.0/16 static_test_net
+
+docker build ${DIR} -t mydockerursim
+docker volume create dockerursim
+docker run --name="mydockerursim" -d \
+  -e ROBOT_MODEL=UR5 \
+  --net static_test_net \
+  --ip 192.168.56.101 \
+  -p 8080:8080 \
+  -p 29999:29999 \
+  -p 30001-30004:30001-30004 \
+  -v "${DIR}/.vol":/ursim/programs \
+  -v dockursim:/ursim \
+  --privileged \
+  --cpus=1 \
+  mydockerursim

.github/dockerursim/Dockerfile

@@ -0,0 +1,101 @@
+# Beware: This file is auto-generated from PolyScope.
+# NOTE: The SafetyParameters section is protected by a CRC checksum, please use the supplied tool
+
+## SafetyParameters ##
+[NormalModeSafetyLimits]
+maxTcpSpeed = 1.5
+maxForce = 150.0
+maxElbowSpeed = 1.5
+maxElbowForce = 150.0
+maxStoppingDistance = 0.5
+maxStoppingTime = 0.4
+maxPower = 300.0
+maxMomentum = 25.0
+maxJointSpeed = [3.3415926, 3.3415926, 3.3415926, 3.3415926, 3.3415926, 3.3415926]
+minJointPosition = [6.2308254, 6.2308254, 6.2308254, 6.2308254, 6.2308254, 6.2308254]
+maxJointPosition = [0.05235988, 0.05235988, 0.05235988, 0.05235988, 0.05235988, 0.05235988]
+minJointRevolutions = [-2, -2, -2, -2, -2, -2]
+maxJointRevolutions = [1, 1, 1, 1, 1, 1]
+plane0 = [0.0, 0.0, 0.0, 0.0, 0]
+plane1 = [0.0, 0.0, 0.0, 0.0, 0]
+plane2 = [0.0, 0.0, 0.0, 0.0, 0]
+plane3 = [0.0, 0.0, 0.0, 0.0, 0]
+plane4 = [0.0, 0.0, 0.0, 0.0, 0]
+plane5 = [0.0, 0.0, 0.0, 0.0, 0]
+plane6 = [0.0, 0.0, 0.0, 0.0, 0]
+plane7 = [0.0, 0.0, 0.0, 0.0, 0]
+tcpOrientationVector = [0.0, 0.0, 1.0]
+maximumTcpOrientationDeviation = 6.2831855
+
+[ReducedModeSafetyLimits]
+maxTcpSpeed = 0.75
+maxForce = 120.0
+maxElbowSpeed = 0.75
+maxElbowForce = 120.0
+maxStoppingDistance = 0.3
+maxStoppingTime = 0.3
+maxPower = 200.0
+maxMomentum = 10.0
+maxJointSpeed = [3.3415926, 3.3415926, 3.3415926, 3.3415926, 3.3415926, 3.3415926]
+minJointPosition = [6.2308254, 6.2308254, 6.2308254, 6.2308254, 6.2308254, 6.2308254]
+maxJointPosition = [0.05235988, 0.05235988, 0.05235988, 0.05235988, 0.05235988, 0.05235988]
+minJointRevolutions = [-2, -2, -2, -2, -2, -2]
+maxJointRevolutions = [1, 1, 1, 1, 1, 1]
+plane0 = [0.0, 0.0, 0.0, 0.0, 0]
+plane1 = [0.0, 0.0, 0.0, 0.0, 0]
+plane2 = [0.0, 0.0, 0.0, 0.0, 0]
+plane3 = [0.0, 0.0, 0.0, 0.0, 0]
+plane4 = [0.0, 0.0, 0.0, 0.0, 0]
+plane5 = [0.0, 0.0, 0.0, 0.0, 0]
+plane6 = [0.0, 0.0, 0.0, 0.0, 0]
+plane7 = [0.0, 0.0, 0.0, 0.0, 0]
+tcpOrientationVector = [0.0, 0.0, 1.0]
+maximumTcpOrientationDeviation = 6.2831855
+
+[MiscConfiguration]
+teach_pendant = 1
+euromap67 = 0
+
+[SafetyIOConfiguration]
+emergencyStopInputA = 255
+emergencyStopInputB = 255
+reducedModeInputA = 255
+reducedModeInputB = 255
+safeguardStopResetInputA = 0
+safeguardStopResetInputB = 1
+threePositionEnablingInputA = 255
+threePositionEnablingInputB = 255
+operationalModeInputA = 255
+operationalModeInputB = 255
+systemEmergencyStopOutputA = 255
+systemEmergencyStopOutputB = 255
+robotMovingOutputA = 255
+robotMovingOutputB = 255
+robotNotStoppingOutputA = 255
+robotNotStoppingOutputB = 255
+reducedModeOutputA = 255
+reducedModeOutputB = 255
+notReducedModeOutputA = 255
+notReducedModeOutputB = 255
+
+[ReducedModeTriggerPlanes]
+plane0 = [0.0, 0.0, 0.0, 0.0, 0]
+plane1 = [0.0, 0.0, 0.0, 0.0, 0]
+plane2 = [0.0, 0.0, 0.0, 0.0, 0]
+plane3 = [0.0, 0.0, 0.0, 0.0, 0]
+plane4 = [0.0, 0.0, 0.0, 0.0, 0]
+plane5 = [0.0, 0.0, 0.0, 0.0, 0]
+plane6 = [0.0, 0.0, 0.0, 0.0, 0]
+plane7 = [0.0, 0.0, 0.0, 0.0, 0]
+
+[WorkpieceConfiguration]
+toolSpheres = [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]
+toolDirectionInclination = 0.0
+toolDirectionAzimuth = 0.0
+
+
+## SafetyParameters ##
+[Checksum]
+safetyParameters = 3478627865
+majorVersion = 5
+minorVersion = 0

.github/dockerursim/build_and_run_docker_ursim.sh

@@ -0,0 +1,16 @@
+#!/bin/execlineb -P
+
+s6-envdir -fn -- /var/run/s6/container_environment
+importas -i ROBOT_MODEL ROBOT_MODEL
+
+# Redirect stderr to stdout.
+fdmove -c 2 1
+
+# Wait until openbox is running
+if { s6-svwait -t 10000 -U /var/run/s6/services/openbox/ }
+
+# Set env
+s6-env DISPLAY=:1
+
+# Execute URSim
+/ursim/start-ursim.sh ${ROBOT_MODEL}

.github/dockerursim/safety.conf.UR5

@@ -0,0 +1,32 @@
+name: Build Source
+on:
+  push:
+    branches:
+      - master
+      - develop
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '43 1 * * *'
+
+jobs:
+  source:
+    name: source build
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+    steps:
+      - uses: ros-tooling/[email protected]
+      - uses: ros-tooling/[email protected]
+        with:
+          target-ros2-distro: foxy
+          # build all packages listed in the meta package
+          package-name:
+            Universal_Robots_ROS2_Driver
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/ros2/ros2/foxy/ros2.repos
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/Universal_Robots_ROS2_Driver.repos
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - uses: actions/upload-artifact@v1
+        with:
+          name: colcon-logs-${{ matrix.os }}
+          path: ros_ws/log