Refactor because of msg and srv migration, align to new base nodes, migrate to GH actions

.github/workflows/industrial_ci.yml

@@ -0,0 +1,66 @@
+name: CI
+
+# This determines when this workflow is run
+# on: [push, pull_request] # on all pushes and PRs
+
+# or more fine-grained
+on:
+  # When master or melodic-devel branch is pushed to
+  push:
+    branches:
+      - master
+      - feature/**
+      - fix/**
+    paths-ignore:
+      - doc/**
+      - captures/**
+      - lib/**
+      - '**.md'
+      - LICENSE
+  # When there is a pull request against master
+  pull_request:
+    branches:
+      - master
+      - feature/**
+      - fix/**
+    paths-ignore:
+      - doc/**
+      - captures/**
+      - lib/**
+      - '**.md'
+      - LICENSE
+
+jobs:
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+        - ROS_REPO: ros
+          BUILDER: colcon
+          ANALYZER: sonarqube
+          TEST_COVERAGE: true
+          UPSTREAM_WORKSPACE: 'github:kroshu/kroshu_ros2_core#master'
+          CMAKE_ARGS: '-DMOCK_FRI=ON'
+          ROS_DISTRO: foxy
+    env:
+      CCACHE_DIR: /github/home/.ccache # Directory for ccache (and how we enable ccache in industrial_ci)
+      EVENT_NAME: ${{ github.event_name }}
+      BRANCH: ${{ github.event.ref }}
+      PR_BRANCH: ${{ github.event.pull_request.head.ref }}
+      PR_BASE: ${{ github.event.pull_request.base.ref }}
+      PR_NUMBER: ${{ github.event.number }}
+      ANALYZER_TOKEN: ${{ secrets.ANALYZER_TOKEN }}
+      DEBUG_BASH: true
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+      # This step will fetch/store the directory used by ccache before/after the ci run
+      - uses: actions/cache@v2
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+      # Run industrial_ci
+      - uses: 'kroshu/industrial_ci@master'
+        env: ${{ matrix.env }}

CMakeLists.txt

@@ -24,7 +24,15 @@ find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(kroshu_ros2_core REQUIRED)
-find_package(cortex_interfaces REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(${PROJECT_NAME}
+        "msg/FrameOfData.msg"
+        "srv/CortexRequestInt.srv"
+        "srv/CortexRequestFloat.srv"
+        "srv/CortexRequestEmpty.srv"
+        "srv/CortexRequestEmptyWithArg.srv"
+        "srv/CortexRequestFod.srv")
 
 add_library(cortex_client SHARED
   src/CortexMock.cpp
@@ -34,17 +42,21 @@ add_executable(simple_fod_printer
     src/SimpleFodPrinter.cpp
     src/CortexClientNode.cpp)
 ament_target_dependencies(simple_fod_printer rclcpp rclcpp_lifecycle
-  lifecycle_msgs kroshu_ros2_core cortex_interfaces)
+  lifecycle_msgs kroshu_ros2_core)
 target_link_libraries(simple_fod_printer
   cortex_client ${kroshu_ros2_core_LIBRARIES})
+rosidl_target_interfaces(simple_fod_printer
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
 
 add_executable(marker_publisher
     src/MarkerPublisher.cpp
     src/CortexClientNode.cpp)
 ament_target_dependencies(marker_publisher rclcpp rclcpp_lifecycle visualization_msgs
-  lifecycle_msgs kroshu_ros2_core cortex_interfaces)
+  lifecycle_msgs kroshu_ros2_core)
 target_link_libraries(marker_publisher
   cortex_client ${kroshu_ros2_core_LIBRARIES})
+rosidl_target_interfaces(marker_publisher
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
 
 add_executable(motion_tracker
     src/MotionTracker.cpp)

README.md

@@ -1,6 +1,10 @@
 # ROS2 interface for Cortex MoCap system
 Repository of ROS2 interface for Cortex motion capture system.
 
+Github CI | SonarCloud
+------------| ---------------
+[![Build Status](https://github.com/kroshu/ros2_cortex/workflows/CI/badge.svg?branch=master)](https://github.com/kroshu/ros2_cortex/actions) | [![Quality Gate Status](https://sonarcloud.io/api/project_badges/measure?project=kroshu_ros2_cortex&metric=alert_status)](https://sonarcloud.io/dashboard?id=kroshu_ros2_cortex)
+
 The repository contains a mock version of the Cortex SDK. The CortexClient class provides a C++ wrapper, which can function with both the SDK and the mock, depending on what the user compiles. The CortexClientNode class creates a ROS2 node which uses the Cortex system through the wrapper. Deriving from this class and overriding the dataHandlerFunc_ funtion, the user is able to create its own ROS2 node with the custom frame of data handler function. The base class provides parameters and services which cover the requests provided by the SDK.
 
 One example is SimpleFodPrinter, which simply prints the frame id and the number of unidentified markers of the actual frame of data. Another example is MarkerPublisher, which publishes visualization_msgs/MarkerArray ROS2 messages, converting every frame of data to marker data. The MotionTracker node subscribes to the topic published py MarkerPublisher and controls a robot accordingly. Both the CortexClientNode classes and the MotionTracker class is derived from the ROS2BaseNode class implemented in https://github.com/kroshu/kroshu_ros2_core.

include/ros2_cortex/CortexClientNode.hpp

@@ -26,17 +26,17 @@
 
 #include "Cortex.h"
 #include "ros2_cortex/CortexClient.hpp"
-#include "kroshu_ros2_core/ROS2BaseNode.hpp"
-#include "cortex_interfaces/srv/cortex_request_int.hpp"
-#include "cortex_interfaces/srv/cortex_request_float.hpp"
-#include "cortex_interfaces/srv/cortex_request_empty.hpp"
-#include "cortex_interfaces/srv/cortex_request_empty_with_arg.hpp"
-#include "cortex_interfaces/srv/cortex_request_fod.hpp"
+#include "kroshu_ros2_core/ROS2BaseLCNode.hpp"
+#include "ros2_cortex/srv/cortex_request_int.hpp"
+#include "ros2_cortex/srv/cortex_request_float.hpp"
+#include "ros2_cortex/srv/cortex_request_empty.hpp"
+#include "ros2_cortex/srv/cortex_request_empty_with_arg.hpp"
+#include "ros2_cortex/srv/cortex_request_fod.hpp"
 
 namespace ros2_cortex
 {
 
-class CortexClientNode : public kroshu_ros2_core::ROS2BaseNode
+class CortexClientNode : public kroshu_ros2_core::ROS2BaseLCNode
 {
 public:
   explicit CortexClientNode(const std::string & node_name);
@@ -47,46 +47,47 @@ class CortexClientNode : public kroshu_ros2_core::ROS2BaseNode
     const std::string & log_message);
 
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_configure(const rclcpp_lifecycle::State & state) override;
+  on_configure(const rclcpp_lifecycle::State &) override;
 
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_activate(const rclcpp_lifecycle::State & state) override;
+  on_activate(const rclcpp_lifecycle::State &) override;
 
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_deactivate(const rclcpp_lifecycle::State & state) override;
+  on_deactivate(const rclcpp_lifecycle::State &) override;
 
 private:
   void setServices();
   void setIntServices();
   void setFloatServices();
   void setEmptyServices();
   void setEmptyWithArgServices();
-  bool onOutputFilenameChangeRequest(const std::string & new_value) const;
-  bool onPlayModeChangeRequest(const std::string & new_value) const;
+  bool onOutputFilenameChangeRequest(const std::string & new_value);
+  bool onPlayModeChangeRequest(const std::string & new_value);
 
-  rclcpp::Service<cortex_interfaces::srv::CortexRequestInt>::SharedPtr post_get_play_mode_service;
-  rclcpp::Service<cortex_interfaces::srv::CortexRequestInt>::SharedPtr
+  rclcpp::Service<ros2_cortex::srv::CortexRequestInt>::SharedPtr post_get_play_mode_service;
+  rclcpp::Service<ros2_cortex::srv::CortexRequestInt>::SharedPtr
     get_context_analog_bit_depth_service;
-  rclcpp::Service<cortex_interfaces::srv::CortexRequestInt>::SharedPtr get_up_axis_service;
+  rclcpp::Service<ros2_cortex::srv::CortexRequestInt>::SharedPtr get_up_axis_service;
 
-  rclcpp::Service<cortex_interfaces::srv::CortexRequestFloat>::SharedPtr
+  rclcpp::Service<ros2_cortex::srv::CortexRequestFloat>::SharedPtr
     get_context_frame_rate_service;
-  rclcpp::Service<cortex_interfaces::srv::CortexRequestFloat>::SharedPtr
+  rclcpp::Service<ros2_cortex::srv::CortexRequestFloat>::SharedPtr
     get_context_analog_sample_rate_service;
-  rclcpp::Service<cortex_interfaces::srv::CortexRequestFloat>::SharedPtr
+  rclcpp::Service<ros2_cortex::srv::CortexRequestFloat>::SharedPtr
     get_conversion_to_millimeters_service;
 
-  rclcpp::Service<cortex_interfaces::srv::CortexRequestEmpty>::SharedPtr start_recording_service;
-  rclcpp::Service<cortex_interfaces::srv::CortexRequestEmpty>::SharedPtr stop_recording_service;
+  rclcpp::Service<ros2_cortex::srv::CortexRequestEmpty>::SharedPtr start_recording_service;
+  rclcpp::Service<ros2_cortex::srv::CortexRequestEmpty>::SharedPtr stop_recording_service;
 
-  rclcpp::Service<cortex_interfaces::srv::CortexRequestEmptyWithArg>::SharedPtr reset_ids_service;
+  rclcpp::Service<ros2_cortex::srv::CortexRequestEmptyWithArg>::SharedPtr reset_ids_service;
 
-  rclcpp::Service<cortex_interfaces::srv::CortexRequestFod>::SharedPtr get_frame_of_data_service;
+  rclcpp::Service<ros2_cortex::srv::CortexRequestFod>::SharedPtr get_frame_of_data_service;
 
   sFrameOfData current_fod_;
-  std::shared_ptr<Parameter<std::string>> play_mode_;
-  std::shared_ptr<Parameter<std::string>> output_filename_;
-  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr param_callback;
+  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr param_callback_;
+
+  std::string play_mode_;
+  std::string output_filename_;
 
 protected:
   std::shared_ptr<CortexClient> cortex_client_ = CortexClient::getInstance();

include/ros2_cortex/MotionTracker.hpp

@@ -31,7 +31,7 @@
 namespace ros2_cortex
 {
 
-class MotionTracker : public kroshu_ros2_core::ROS2BaseNode
+class MotionTracker : public kroshu_ros2_core::ROS2BaseLCNode
 {
 public:
   MotionTracker();
@@ -77,8 +77,8 @@ class MotionTracker : public kroshu_ros2_core::ROS2BaseNode
     const geometry_msgs::msg::Point & second);
   bool onLowerLimitsChangeRequest(const std::vector<double> & new_value);
   bool onUpperLimitsChangeRequest(const std::vector<double> & new_value);
-  std::shared_ptr<Parameter<std::vector<double>>> lower_limits_param_;
-  std::shared_ptr<Parameter<std::vector<double>>> upper_limits_param_;
+  std::vector<double> lower_limits_param_;
+  std::vector<double> upper_limits_param_;
   rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr param_callback;
 };
 

msg/FrameOfData.msg

@@ -0,0 +1,2 @@
+int64 frame_id
+int64 num_of_ui_markers

package.xml

@@ -18,7 +18,7 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>kroshu_ros2_core</build_depend>
-  <build_depend>cortex_interfaces</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
 
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>rclcpp_lifecycle</exec_depend>
@@ -28,7 +28,7 @@
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>kroshu_ros2_core</exec_depend>
-  <exec_depend>cortex_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
 
   <test_depend>ament_cmake_copyright</test_depend>
   <test_depend>ament_cmake_cppcheck</test_depend>
@@ -38,6 +38,8 @@
   <test_depend>ament_cmake_lint_cmake</test_depend>
   <test_depend>ament_cmake_xmllint</test_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>