Fix CI (#191)

* Fix CI

* Trigger

* Trigger

* Underscore

* Update

Author: lukicdarkoo

.github/workflows/test.yml

@@ -1,22 +1,21 @@
 name: CI
 
-on: 
+on:
   pull_request:
-    types: [opened, synchronize, reopened, ready_for_review]
+    types: [opened, synchronize, reopened, labeled, unlabeled]
 
 jobs:
   industrial_ci:
     strategy:
       matrix:
-        env:
-          - {ROS_DISTRO: foxy, ROS_REPO: testing}
-          - {ROS_DISTRO: foxy, ROS_REPO: main}
-          - {ROS_DISTRO: rolling, ROS_REPO: testing}
-          - {ROS_DISTRO: rolling, ROS_REPO: main}
+        ROS_REPO: [main, testing]
+        ROS_DISTRO: [foxy, rolling]
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v1
         with:
          submodules: recursive
       - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{matrix.env}}
+        env: 
+          ROS_REPO: ${{matrix.ROS_REPO}}
+          ROS_DISTRO: ${{matrix.ROS_DISTRO}}

webots_ros2_core/webots_ros2_core/trajectory_follower.py

@@ -245,17 +245,17 @@ def update(self, goal_handle):
             last_point_start = Duration.from_msg(trajectory.joint_trajectory.points[-1].time_from_start)
             if (now - trajectory.start_time) <= last_point_start:
                 # Sending intermediate points
-                trajectory.lastPointSent = False
+                trajectory.last_point_sent = False
                 setpoint = sample_trajectory(trajectory.joint_trajectory,
                                              now - trajectory.start_time)
                 for name in trajectory.joint_trajectory.joint_names:
                     index = trajectory.joint_trajectory.joint_names.index(name)
                     set_position_in_limit(self.__motors[name], setpoint.positions[index])
                     # Velocity control is not used on the real robot and gives
                     # bad results in the simulation
-            elif not trajectory.lastPointSent:
+            elif not trajectory.last_point_sent:
                 # All intermediate points sent, sending last point to make sure we reach the goal
-                trajectory.lastPointSent = True
+                trajectory.last_point_sent = True
                 setpoint = sample_trajectory(trajectory.joint_trajectory, last_point_start)
                 for name in trajectory.joint_trajectory.joint_names:
                     index = trajectory.joint_trajectory.joint_names.index(name)
@@ -268,7 +268,7 @@ def update(self, goal_handle):
                 tolerances = [0.1] * len(last_point.positions)
                 for name in trajectory.joint_trajectory.joint_names:
                     reference_positions.append(position[name])
-                    for tolerance in trajectory.goalTolerance:
+                    for tolerance in trajectory.goal_tolerance:
                         if tolerance.name == name:
                             tolerances[len(reference_positions) - 1] = tolerance.position
                             break

webots_ros2_importer/webots_ros2_importer/urdf2proto.py

@@ -22,6 +22,7 @@
 from ament_index_python.packages import get_package_share_directory
 
 sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), 'urdf2webots'))
+#  deepcode ignore C0413: We need to import the library first
 from urdf2webots.importer import convert2urdf   # noqa: E402
 
 
@@ -53,7 +54,7 @@ def main(args=None, input=None):
                         'the first 3 joints of your robot to the specified values, '
                         'and leave the rest with their default value.')
     # use 'parse_known_args' because ROS2 adds a lot of internal arguments
-    arguments, unknown = parser.parse_known_args()
+    arguments, _ = parser.parse_known_args()
     file = os.path.abspath(input) if input is not None else os.path.abspath(arguments.inFile)
     if not file:
         sys.exit('Input file not specified (should be specified with the "--input" argument).')
@@ -65,24 +66,24 @@ def main(args=None, input=None):
     with open(file, 'r') as f:
         content = f.read()
     # look for package-relative file path and replace them
-    urdfFile = file
-    generatedFile = False
+    urdf_file = file
+    generated_file = False
     packages = re.findall(r'filename="package:\/\/([^\/]*)', content)
     for package in set(packages):  # do the replacement
-        packagePath = ''
+        package_path = ''
         try:
-            packagePath = get_package_share_directory(package)
+            package_path = get_package_share_directory(package)
         except LookupError:
             sys.exit('This urdf depends on the "%s" package, but this package could not be found' %
                      package)
-        content = content.replace('package://%s' % package, '%s' % packagePath)
+        content = content.replace('package://%s' % package, '%s' % package_path)
     if packages:  # some package-relative file paths have been found
         # generate a temporary file with the replacement content
-        urdfFile = tempfile.mkstemp(suffix='.urdf')[1]
-        generatedFile = True
-        with open(urdfFile, 'w') as f:
+        urdf_file = tempfile.mkstemp(suffix='.urdf')[1]
+        generated_file = True
+        with open(urdf_file, 'w') as f:
             f.write(content)
-    convert2urdf(inFile=urdfFile,
+    convert2urdf(inFile=urdf_file,
                  outFile=arguments.outFile,
                  normal=arguments.normal,
                  boxCollision=arguments.boxCollision,
@@ -93,8 +94,8 @@ def main(args=None, input=None):
                  initRotation=arguments.initRotation,
                  initPos=arguments.initPos)
     # remove temporary file
-    if generatedFile:
-        os.remove(urdfFile)
+    if generated_file:
+        os.remove(urdf_file)
 
 
 if __name__ == '__main__':

webots_ros2_importer/webots_ros2_importer/xacro2proto.py

@@ -17,16 +17,15 @@
 import copy
 import os
 import sys
-import xacro
-
 from tempfile import mkstemp
+import xacro
 from webots_ros2_importer import urdf2proto
 
 
 def main(args=None):
     # remvove arguments specific to the urdf2proto converter
-    savedArgv = copy.copy(sys.argv)
-    argsToRemove = [
+    saved_argv = copy.copy(sys.argv)
+    args_to_remove = [
         '--normal',
         '--box-collision',
         '--disable-mesh-optimization',
@@ -36,25 +35,25 @@ def main(args=None):
         '--tool-slot',
         '--rotation'
     ]
-    for arg in savedArgv:
-        for argToRemove in argsToRemove:
-            if arg.startswith(argToRemove):
+    for arg in saved_argv:
+        for arg_to_remove in args_to_remove:
+            if arg.startswith(arg_to_remove):
                 sys.argv.remove(arg)
                 break
-    for arg in argsToRemove:
+    for arg in args_to_remove:
         if arg in sys.argv:
             sys.argv.remove(arg)
     # redirect stdout to temporary urdf file
     orig_stdout = sys.stdout
-    file, path = mkstemp(suffix='.urdf')
+    _, path = mkstemp(suffix='.urdf')
     with open(path, 'w') as f:
         sys.stdout = f
         # run xacro to urdf conversio
         sys.argv.append('--inorder')
         xacro.main()
     # restore stdout and arguments and then run urdf to proto conversion
     sys.stdout = orig_stdout
-    sys.argv = savedArgv
+    sys.argv = saved_argv
     urdf2proto.main(input=path)
     os.remove(path)