Merge pull request #61 from flynneva/devel

add back in ci for all ros distros

Author: flynneva

.github/workflows/dashing-release-candidate.yml

@@ -1,12 +1,12 @@
-name: rolling-release-candidate
+name: Release Candidate
 on:
   issues:
     types: [opened, edited]
 
 jobs:
   release-candidate:
     runs-on: ubuntu-latest
-    if: startsWith(github.event.issue.title, 'Release ') && contains(github.event.issue.body, 'rolling')
+    if: startsWith(github.event.issue.title, 'Release ')
     steps:
       - name: checkout
         uses: actions/checkout@v2
@@ -25,7 +25,7 @@ jobs:
         with:
           source_branch: ${{ steps.create_release.outputs.created_branch }}
           destination_branch: main
-          pr_title: Rolling Release ${{ steps.create_release.outputs.version}}
+          pr_title: Release ${{ steps.create_release.outputs.version}}
           pr_body: close \#${{ github.event.issue.number }}
           pr_assignee: ${{ github.actor }}
           github_token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/eloquent-release-candidate.yml

@@ -0,0 +1,34 @@
+name: Release
+
+on:
+ push:
+    paths:
+      - package.xml
+      - 'package.xml'
+    branches:
+      - main
+jobs:
+  bloom-release:
+    runs-on: ubuntu-latest
+    steps:
+    - name: checkout repo
+      uses: actions/checkout@v2
+    - name: bloom_release
+      id: bloom
+      uses: at-wat/bloom-release-action@v0
+      with:
+        ros_distro: dashing eloquent foxy rolling
+        release_repository_push_url: https://github.com/flynneva/grbl_ros-release.git
+        github_token_bloom: ${{ secrets.BLOOM_RELEASE_TOKEN }}
+        github_user: flynneva
+        git_user: Evan Flynn
+        git_email: evanflynn.msu@gmail.com
+        tag_and_release: true
+        open_pr: true
+    - name: create github release
+      uses: actions/create-release@v1
+      with:
+        tag_name: ${{ steps.bloom.outputs.version }}
+        release_name: ${{ steps.bloom.outputs.version }}
+      env:
+        GITHUB_TOKEN: ${{ secrets.BLOOM_RELEASE_TOKEN }}

.github/workflows/foxy-release-candidate.yml

@@ -1,4 +1,4 @@
-name: Rolling CI
+name: ROS2 CI
 
 on:
   pull_request:
@@ -13,8 +13,23 @@ jobs:
       fail-fast: false
       matrix:
         ros_distribution:
+          - dashing
+          - eloquent
+          - foxy
           - rolling
         include:
+          # Dashing Diademata (May 2019 - May 2021)
+          - docker_image: ubuntu:bionic
+            ros_distribution: dashing
+            ros_version: 2
+          # Eloquent Elusor (November 2019 - November 2020)
+          - docker_image: ubuntu:bionic
+            ros_distribution: eloquent
+            ros_version: 2
+          # Foxy Fitzroy (June 2020 - May 2023)
+          - docker_image: ubuntu:focal
+            ros_distribution: foxy
+            ros_version: 2
           # Rolling Ridley  (June 2020 - Present)
           - docker_image: ubuntu:focal
             ros_distribution: rolling
@@ -29,8 +44,9 @@ jobs:
         with:
           path: ros_ws/src
       - name: setup ROS environment
-        uses: ros-tooling/setup-ros@master
+        uses: flynneva/setup-ros@enable_ros2_testing
         with:
+          use-ros2-testing: true
           required-ros-distributions: ${{ matrix.ros_distribution }}
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.0.19

…/workflows/rolling-release-candidate.yml .github/workflows/release-candidate.yml.github/workflows/rolling-release-candidate.yml renamed to .github/workflows/release-candidate.yml .github/workflows/rolling-release-candidate.yml renamed to .github/workflows/release-candidate.yml

@@ -38,7 +38,6 @@ Unit tests are run on every PR and every release across every supported platform
 Here is a list of potential ideas/features this package could have. Eventually the plan is to add all of these.
 - full grbl command support & descriptions (non-modal commands, motion modes, etc.)
 - safety features that grbl already implements to be translated to ROS (door sensor, estop, endstop, etc.)
-- full file gcode streaming to grbl device
-- publish tf of grbl machine coordinates
+- ROS param control of GRBL settings
 - ROS services for jog control
 - im sure there are more but I cant think of them right now

.github/workflows/release.yml

@@ -0,0 +1,16 @@
+cnc_001:
+  ros__parameters:
+    machine_id: cnc_001
+    port: /dev/ttyUSB0
+    baudrate: 115200
+    x_max: 300  # mm
+    y_max: 200  # mm
+    z_max: 150  # mm
+    default_v: 100  # mm / min
+    x_max_v: 150  # mm / min
+    y_max_v: 150  # mm / min
+    z_max_v: 150  # mm / min
+    x_steps: 100  # steps / mm
+    y_steps: 100  # steps / mm
+    z_steps: 100  # steps / mm
+

.github/workflows/ros_ci.yml

@@ -28,28 +28,22 @@
 #   Future implementations might include control for other
 #   GCODE compatible systems
 
-from ._logging import MODE
+from ._command import command
+from ._configure import configure
+from ._control import control
+from ._logging import logging
 
 
-class grbl:
+class grbl(control, command, configure, logging):
 
-    from ._logging import getStatus, decodeStatus, STATUS, MODE
-    from ._configure import getPose, setSpeed, setOrigin, ensureMovementMode, \
-        blockUntilIdle, clearAlarm, enableSteppers, disableSteppers
-    from ._control import home, moveTo, moveRel, moveToOrigin
-    from ._command import startup, shutdown, gcode, stream
-
-    def __init__(self):
-        """
-        Summary line.
-
-        Initialize the grbl class with default parameters
-
-        """
+    def __init__(self, node):
         # Default parameter values set in startup
-        self.mode = MODE.NORMAL
+        self.mode = self.MODE.NORMAL
+        self.state = self.STATE.ALARM  # initalize to alarm state for safety
+        self.node = node  # so we can pass info to ROS
         self.s = None    # serial port object
         self.abs_move = None     # GRBL has 2 movement modes: relative and absolute
+        self.machine_id = 'cnc_000'
         self.baudrate = 0
         self.port = ''
         self.acceleration = 0