enable CI for the ROS2 branch

.github/workflows/ci.yaml

@@ -0,0 +1,68 @@
+#
+# continuous integration workflow
+#
+name: build repo
+
+on:
+  push:
+    branches: [ros2]
+  pull_request:
+    branches: [ros2]
+  workflow_dispatch:
+    branches: [ros2]
+
+jobs:
+  build_on_jammy:
+    name: build_jammy_${{ matrix.distro }}
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [humble, iron]
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          path: src/${{ github.event.repository.name }}
+          fetch-depth: 0
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ matrix.distro }}
+      - uses: ros-tooling/[email protected]
+        with:
+          target-ros2-distro: ${{ matrix.distro }}
+          colcon-defaults: |
+            {
+              "build": {
+                "cmake-args": [
+                    "-DCMAKE_BUILD_TYPE=RelWithDebInfo"
+                ]
+              }
+            }
+  build_on_noble:
+    name: build_noble_${{ matrix.distro }}
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:noble
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [jazzy, rolling]
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          path: src/${{ github.event.repository.name }}
+          fetch-depth: 0
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ matrix.distro }}
+      - uses: ros-tooling/[email protected]
+        with:
+          target-ros2-distro: ${{ matrix.distro }}
+          colcon-defaults: |
+            {
+              "build": {
+                "cmake-args": [
+                    "-DCMAKE_BUILD_TYPE=RelWithDebInfo"
+                ]
+              }
+            }

vectornav/.clang-format

@@ -0,0 +1 @@
+../.clang-format

vectornav/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.16)
 project(vectornav)
 
 # Default to C99
@@ -73,9 +73,25 @@ install(DIRECTORY
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-  list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_copyright)
+  find_package(ament_cmake REQUIRED)
+#  find_package(ament_cmake_copyright REQUIRED)
+  find_package(ament_cmake_cppcheck REQUIRED)
+  find_package(ament_cmake_cpplint REQUIRED)
+  find_package(ament_cmake_clang_format REQUIRED)
+  find_package(ament_cmake_flake8 REQUIRED)
+  find_package(ament_cmake_lint_cmake REQUIRED)
+  find_package(ament_cmake_pep257 REQUIRED)
+  find_package(ament_cmake_xmllint REQUIRED)
+
+#   ament_copyright()
+  ament_cppcheck(LANGUAGE c++)
+  ament_cpplint(FILTERS "-build/include,-runtime/indentation_namespace")
+  ament_clang_format(CONFIG_FILE .clang-format)
+  ament_flake8()
+  ament_lint_cmake()
+  ament_pep257()
+  ament_xmllint()
+
 endif()
 
 ament_export_dependencies(rosidl_default_runtime)

vectornav/CPPLINT.cfg

@@ -0,0 +1,2 @@
+# which files to exclude
+exclude_files=vnproglib-1.2.0.0

vectornav/launch/vectornav.launch.py

@@ -1,26 +1,27 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
-
 from launch import LaunchDescription
 from launch_ros.actions import Node
 
-def generate_launch_description():
 
+def generate_launch_description():
     this_dir = get_package_share_directory('vectornav')
-    
+
     # Vectornav
     start_vectornav_cmd = Node(
-        package='vectornav', 
+        package='vectornav',
         executable='vectornav',
         output='screen',
-        parameters=[os.path.join(this_dir, 'config', 'vectornav.yaml')])
-
+        parameters=[os.path.join(this_dir, 'config', 'vectornav.yaml')],
+    )
+
     start_vectornav_sensor_msgs_cmd = Node(
-        package='vectornav', 
+        package='vectornav',
         executable='vn_sensor_msgs',
         output='screen',
-        parameters=[os.path.join(this_dir, 'config', 'vectornav.yaml')])
+        parameters=[os.path.join(this_dir, 'config', 'vectornav.yaml')],
+    )
 
     # Create the launch description and populate
     ld = LaunchDescription()

vectornav/launch/vectornav_composable.launch.py

@@ -1,16 +1,14 @@
-
 #
 # launch file for composable node container
 #
 from launch import LaunchDescription
-from launch_ros.substitutions import FindPackageShare
 from launch.substitutions import PathJoinSubstitution
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
+from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
-
     con = ComposableNodeContainer(
         name='vectornav_container',
         namespace='',
@@ -21,22 +19,28 @@ def generate_launch_description():
                 package='vectornav',
                 plugin='vectornav::Vectornav',
                 name='vectornav',
-                parameters=[PathJoinSubstitution(
-                    [FindPackageShare('vectornav'),
-                     'config', 'vectornav_composable.yaml'])],
+                parameters=[
+                    PathJoinSubstitution(
+                        [FindPackageShare('vectornav'), 'config', 'vectornav_composable.yaml']
+                    )
+                ],
                 remappings=[],
-                extra_arguments=[{'use_intra_process_comms': True}]),
+                extra_arguments=[{'use_intra_process_comms': True}],
+            ),
             ComposableNode(
                 package='vectornav',
                 plugin='vectornav::VnSensorMsgs',
                 name='vn_sensor_msgs',
-                parameters=[PathJoinSubstitution(
-                    [FindPackageShare('vectornav'),
-                     'config', 'vn_sensor_msgs_composable.yaml'])],
+                parameters=[
+                    PathJoinSubstitution(
+                        [FindPackageShare('vectornav'), 'config', 'vn_sensor_msgs_composable.yaml']
+                    )
+                ],
                 remappings=[],
-                extra_arguments=[{'use_intra_process_comms': True}])
-            ],
-        output='screen')
-
-    return LaunchDescription([con])
+                extra_arguments=[{'use_intra_process_comms': True}],
+            ),
+        ],
+        output='screen',
+    )
 
+    return LaunchDescription([con])

vectornav/package.xml

@@ -22,6 +22,7 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_clang_format</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

vectornav/src/vectornav.cc

@@ -30,7 +30,8 @@
 using namespace std::chrono_literals;
 using namespace std::placeholders;
 
-// Assure that the serial port is set to async low latency in order to reduce delays and package pilup.
+// Assure that the serial port is set to async low latency in order
+// to reduce delays and package pilup.
 // These changes will stay effective until the device is unplugged
 
 namespace vectornav
@@ -253,7 +254,8 @@ rclcpp_action::GoalResponse Vectornav::handle_cal_goal(
   return rclcpp_action::GoalResponse::REJECT;
 }
 
-rclcpp_action::CancelResponse Vectornav::handle_cal_cancel(const std::shared_ptr<MagCalGH> goal_handle)
+rclcpp_action::CancelResponse Vectornav::handle_cal_cancel(
+  const std::shared_ptr<MagCalGH> goal_handle)
 {
   RCLCPP_INFO(get_logger(), "Recieved request to stop magnetic calibration");
 
@@ -417,7 +419,7 @@ void Vectornav::execute_cal(const std::shared_ptr<MagCalGH> goal_handle)
     loopRate.sleep();
   }
 
-  //if we exited normally and are not cancelling
+  // if we exited normally and are not cancelling
   if (!goal_handle->is_canceling()) {
     // turn HSI mode to off to stop sampling
     // turn HSI output to enabled
@@ -431,9 +433,11 @@ void Vectornav::execute_cal(const std::shared_ptr<MagCalGH> goal_handle)
 
   // reconfigure IMU but do not save
   // attempt reconfiguration of the device
-  // configure_sensor(); // ONLY FOR GDB DEBUGGING! THE BLOCK BELOW WILL HAVE NO EFFECT IF THIS IS LEFT
+  // re-instate the following line ONLY FOR GDB DEBUGGING!
+  // THE BLOCK BELOW WILL HAVE NO EFFECT IF THIS IS LEFT
+  // configure_sensor();
   try {
-    // TODO Figure out why this will fail when called a second time
+    // TODO(Unknown) Figure out why this will fail when called a second time
     configure_sensor();
   } catch (const std::exception & e) {
     RCLCPP_FATAL_STREAM(