Add CI (#8)

* add CI files

* lint

* redo job list

* lint

* lint

Author: SteveMacenski

.github/workflows/lint.yml

@@ -0,0 +1,24 @@
+name: Lint
+on:
+  pull_request:
+
+jobs:
+  ament_lint_general:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-latest
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [copyright, xmllint, pep257, flake8]
+    steps:
+    - uses: actions/checkout@v2
+    - uses: ros-tooling/[email protected]
+      with:
+        linter: ${{ matrix.linter }}
+        distribution: rolling
+        package-name: |
+            nav2_minimal_tb3_sim
+            nav2_minimal_tb4_description
+            nav2_minimal_tb4_sim

.github/workflows/test.yml

@@ -0,0 +1,33 @@
+name: Test
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  build_and_test:
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: ${{ matrix.ros_distro }}
+      RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
+    strategy:
+      fail-fast: false
+      matrix:
+          ros_distro: [rolling]
+    steps:
+    - uses: actions/checkout@v2
+    - name: Install Cyclone DDS
+      run: sudo apt install ros-${{ matrix.ros_distro }}-rmw-cyclonedds-cpp -y
+    - name: Build and run tests
+      id: action-ros-ci
+      uses: ros-tooling/[email protected]
+      with:
+        import-token: ${{ secrets.GITHUB_TOKEN }}
+        target-ros2-distro: ${{ matrix.ros_distro }}
+    - uses: actions/upload-artifact@v1
+      with:
+        name: colcon-logs
+        path: ros_ws/log

nav2_minimal_tb4_sim/launch/simulation.launch.py

@@ -29,10 +29,10 @@
     OpaqueFunction,
     RegisterEventHandler,
 )
-from launch.substitutions import Command
 from launch.conditions import IfCondition
 from launch.event_handlers import OnShutdown
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import Command
 from launch.substitutions import LaunchConfiguration, PythonExpression
 
 from launch_ros.actions import Node
@@ -46,14 +46,12 @@ def generate_launch_description():
 
     # Create the launch configuration variables
     namespace = LaunchConfiguration('namespace')
-    use_namespace = LaunchConfiguration('use_namespace')
     use_sim_time = LaunchConfiguration('use_sim_time')
 
     # Launch configuration variables specific to simulation
     rviz_config_file = LaunchConfiguration('rviz_config_file')
     use_simulator = LaunchConfiguration('use_simulator')
     use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
-    use_rviz = LaunchConfiguration('use_rviz')
     headless = LaunchConfiguration('headless')
     world = LaunchConfiguration('world')
     pose = {
@@ -80,12 +78,6 @@ def generate_launch_description():
         'namespace', default_value='', description='Top-level namespace'
     )
 
-    declare_use_namespace_cmd = DeclareLaunchArgument(
-        'use_namespace',
-        default_value='false',
-        description='Whether to apply a namespace to the navigation stack',
-    )
-
     declare_use_sim_time_cmd = DeclareLaunchArgument(
         'use_sim_time',
         default_value='True',
@@ -110,10 +102,6 @@ def generate_launch_description():
         description='Whether to start the robot state publisher',
     )
 
-    declare_use_rviz_cmd = DeclareLaunchArgument(
-        'use_rviz', default_value='True', description='Whether to start RVIZ'
-    )
-
     declare_simulator_cmd = DeclareLaunchArgument(
         'headless', default_value='False', description='Whether to execute gzclient)'
     )
@@ -143,7 +131,7 @@ def generate_launch_description():
         output='screen',
         parameters=[
             {'use_sim_time': use_sim_time,
-            'robot_description': Command(['xacro', ' ', robot_sdf])}
+             'robot_description': Command(['xacro', ' ', robot_sdf])}
         ],
         remappings=remappings,
     )
@@ -214,13 +202,11 @@ def generate_launch_description():
 
     # Declare the launch options
     ld.add_action(declare_namespace_cmd)
-    ld.add_action(declare_use_namespace_cmd)
     ld.add_action(declare_use_sim_time_cmd)
 
     ld.add_action(declare_rviz_config_file_cmd)
     ld.add_action(declare_use_simulator_cmd)
     ld.add_action(declare_use_robot_state_pub_cmd)
-    ld.add_action(declare_use_rviz_cmd)
     ld.add_action(declare_simulator_cmd)
     ld.add_action(declare_world_cmd)
     ld.add_action(declare_robot_name_cmd)

nav2_minimal_tb4_sim/launch/spawn_tb4.launch.py

@@ -15,14 +15,14 @@
 
 import os
 from pathlib import Path
+
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
 from launch.actions import AppendEnvironmentVariable
 from launch.actions import DeclareLaunchArgument
 from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration
-from launch.substitutions import Command
 
 from launch_ros.actions import Node
 
@@ -35,7 +35,7 @@ def generate_launch_description():
     namespace = LaunchConfiguration('namespace')
     use_simulator = LaunchConfiguration('use_simulator')
     robot_name = LaunchConfiguration('robot_name')
-    robot_sdf = LaunchConfiguration('robot_sdf')
+    # robot_sdf = LaunchConfiguration('robot_sdf')
     pose = {'x': LaunchConfiguration('x_pose', default='-8.00'),
             'y': LaunchConfiguration('y_pose', default='-0.50'),
             'z': LaunchConfiguration('z_pose', default='0.01'),
@@ -65,10 +65,10 @@ def generate_launch_description():
         default_value='turtlebot4',
         description='name of the robot')
 
-    declare_robot_sdf_cmd = DeclareLaunchArgument(
-        'robot_sdf',
-        default_value=os.path.join(desc_dir, 'urdf', 'standard', 'turtlebot4.urdf.xacro'),
-        description='Full path to robot sdf file to spawn the robot in gazebo')
+    # declare_robot_sdf_cmd = DeclareLaunchArgument(
+    #     'robot_sdf',
+    #     default_value=os.path.join(desc_dir, 'urdf', 'standard', 'turtlebot4.urdf.xacro'),
+    #     description='Full path to robot sdf file to spawn the robot in gazebo')
 
     bridge = Node(
         package='ros_gz_bridge',
@@ -128,7 +128,7 @@ def generate_launch_description():
     ld = LaunchDescription()
     ld.add_action(declare_namespace_cmd)
     ld.add_action(declare_robot_name_cmd)
-    ld.add_action(declare_robot_sdf_cmd)
+    # ld.add_action(declare_robot_sdf_cmd)
     ld.add_action(declare_use_simulator_cmd)
     ld.add_action(declare_use_sim_time_cmd)