Rename-package (#107)

* Add isort

* get_package_share_directory -> FindPackageShare

* husarion_office_gz -> husarion_gz_worlds

* Fix test_xacro.py

* Fix test

* only rosbot test

Author: rafal-gorecki

.github/workflows/tests.yaml

@@ -55,9 +55,12 @@ jobs:
 
         # Package micro_ros_msgs does not have industrial ci and tests does not pass.
         # For more information see https://github.com/micro-ROS/micro_ros_msgs/issues/7
-      - name: Remove tests from micro_ros_msgs
+      - name: Leave only ROSbot tests
         shell: bash
-        run: sed '/if(BUILD_TESTING)/,/endif()/d' src/micro_ros_msgs/CMakeLists.txt -i
+        run: |
+          sed '/if(BUILD_TESTING)/,/endif()/d' src/diff_drive_controller/CMakeLists.txt -i
+          sed '/if(BUILD_TESTING)/,/endif()/d' src/imu_sensor_broadcaster/CMakeLists.txt -i
+          sed '/if(BUILD_TESTING)/,/endif()/d' src/micro_ros_msgs/CMakeLists.txt -i
 
       - name: Running ROS Industrial CI
         uses: ros-industrial/industrial_ci@master

.gitignore

@@ -10,7 +10,7 @@ log
 rosbot_hardware_interfaces/
 ros_components_description/
 rosbot_controllers/
-husarion/husarion_office_gz
+husarion_gz_worlds
 gazebosim/gz_ros2_control
 diff_drive_controller
 imu_sensor_broadcaster

.pre-commit-config.yaml

@@ -32,12 +32,11 @@ repos:
         files: ^(?!.*compose)(?!.*ekf\.yaml$).*$
         args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
 
-  # Please keep this version until --experimental-string-processing come back or will be available by default
   - repo: https://github.com/psf/black
-    rev: 23.11.0
+    rev: 24.4.0
     hooks:
       - id: black
-        args: [--line-length=99, --experimental-string-processing]
+        args: [--line-length=99]
 
   - repo: https://github.com/PyCQA/flake8
     rev: 7.0.0
@@ -46,6 +45,12 @@ repos:
         args: ['--ignore=E501,W503']   # ignore too long line and line break before binary operator,
                                        # black checks it
 
+  - repo: https://github.com/PyCQA/isort
+    rev: 5.13.2
+    hooks:
+      - id: isort
+        args: [--profile, black]
+
   - repo: local
     hooks:
       - id: ament_lint_cmake

rosbot/rosbot_simulation.repos

@@ -1,5 +1,5 @@
 repositories:
-  husarion/husarion_office_gz:
+  husarion_gz_worlds:
     type: git
-    url: https://github.com/husarion/husarion_office_gz
+    url: https://github.com/husarion/husarion_gz_worlds
     version: main

rosbot_bringup/launch/bringup.launch.py

@@ -13,11 +13,15 @@
 # limitations under the License.
 
 from launch import LaunchDescription
-from launch_ros.actions import Node, SetParameter
-from ament_index_python.packages import get_package_share_directory
-from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import EnvironmentVariable, LaunchConfiguration, PathJoinSubstitution
+from launch.substitutions import (
+    EnvironmentVariable,
+    LaunchConfiguration,
+    PathJoinSubstitution,
+)
+from launch_ros.actions import Node, SetParameter
+from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
@@ -50,8 +54,8 @@ def generate_launch_description():
         choices=["ignition-gazebo", "gazebo-classic", "webots"],
     )
 
-    rosbot_controller = get_package_share_directory("rosbot_controller")
-    rosbot_bringup = get_package_share_directory("rosbot_bringup")
+    rosbot_controller = FindPackageShare("rosbot_controller")
+    rosbot_bringup = FindPackageShare("rosbot_bringup")
 
     mecanum = LaunchConfiguration("mecanum")
     declare_mecanum_arg = DeclareLaunchArgument(

rosbot_bringup/launch/combined.launch.py

@@ -12,18 +12,19 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
+
 from launch import LaunchDescription
-from launch_ros.substitutions import FindPackageShare
 from launch.actions import (
-    IncludeLaunchDescription,
     DeclareLaunchArgument,
-    SetEnvironmentVariable,
+    IncludeLaunchDescription,
     OpaqueFunction,
+    SetEnvironmentVariable,
 )
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import ThisLaunchFileDir, LaunchConfiguration
+from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
 from launch_ros.actions import Node
-import os
+from launch_ros.substitutions import FindPackageShare
 
 
 def generate_microros_agent_node(context, *args, **kwargs):

rosbot_bringup/setup.py

@@ -14,6 +14,7 @@
 
 import os
 from glob import glob
+
 from setuptools import find_packages, setup
 
 package_name = "rosbot_bringup"

rosbot_bringup/test/test_copyright.py

@@ -12,8 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ament_copyright.main import main
 import pytest
+from ament_copyright.main import main
 
 
 @pytest.mark.copyright

rosbot_bringup/test/test_diff_drive_ekf.py

@@ -17,18 +17,17 @@
 import launch_pytest
 import pytest
 import rclpy
-
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
-from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import BringupTestNode
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_bringup = get_package_share_directory("rosbot_bringup")
+    rosbot_bringup = FindPackageShare("rosbot_bringup")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(

rosbot_bringup/test/test_flake8.py

@@ -12,8 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ament_flake8.main import main_with_errors
 import pytest
+from ament_flake8.main import main_with_errors
 
 
 @pytest.mark.flake8

rosbot_bringup/test/test_mecanum_ekf.py

@@ -17,18 +17,17 @@
 import launch_pytest
 import pytest
 import rclpy
-
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
-from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import BringupTestNode
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_bringup = get_package_share_directory("rosbot_bringup")
+    rosbot_bringup = FindPackageShare("rosbot_bringup")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(

rosbot_bringup/test/test_multirobot_ekf.py

@@ -17,20 +17,19 @@
 import launch_pytest
 import pytest
 import rclpy
-
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
-from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import BringupTestNode
 
 robot_names = ["robot1", "robot2", "robot3"]
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_bringup = get_package_share_directory("rosbot_bringup")
+    rosbot_bringup = FindPackageShare("rosbot_bringup")
     actions = []
     for i in range(len(robot_names)):
         bringup_launch = IncludeLaunchDescription(

rosbot_bringup/test/test_namespaced_diff_drive_ekf.py

@@ -17,18 +17,17 @@
 import launch_pytest
 import pytest
 import rclpy
-
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
-from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import BringupTestNode
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_bringup = get_package_share_directory("rosbot_bringup")
+    rosbot_bringup = FindPackageShare("rosbot_bringup")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(

rosbot_bringup/test/test_namespaced_mecanum_ekf.py

@@ -17,18 +17,17 @@
 import launch_pytest
 import pytest
 import rclpy
-
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
-from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import BringupTestNode
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_bringup = get_package_share_directory("rosbot_bringup")
+    rosbot_bringup = FindPackageShare("rosbot_bringup")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(

rosbot_bringup/test/test_pep257.py

@@ -12,8 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ament_pep257.main import main
 import pytest
+from ament_pep257.main import main
 
 
 @pytest.mark.linter

rosbot_bringup/test/test_utils.py

@@ -13,15 +13,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import rclpy
-
-from threading import Event
-from threading import Thread
-
-from rclpy.node import Node
+from threading import Event, Thread
 
-from sensor_msgs.msg import JointState, Imu
+import rclpy
 from nav_msgs.msg import Odometry
+from rclpy.node import Node
+from sensor_msgs.msg import Imu, JointState
 
 
 class BringupTestNode(Node):

rosbot_controller/launch/controller.launch.py

@@ -18,12 +18,11 @@
 from launch.conditions import UnlessCondition
 from launch.substitutions import (
     Command,
-    PythonExpression,
     FindExecutable,
-    PathJoinSubstitution,
     LaunchConfiguration,
+    PathJoinSubstitution,
+    PythonExpression,
 )
-
 from launch_ros.actions import Node, SetParameter
 from launch_ros.substitutions import FindPackageShare
 

rosbot_controller/setup.py

@@ -14,6 +14,7 @@
 
 import os
 from glob import glob
+
 from setuptools import find_packages, setup
 
 package_name = "rosbot_controller"

rosbot_controller/test/test_copyright.py

@@ -12,8 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ament_copyright.main import main
 import pytest
+from ament_copyright.main import main
 
 
 @pytest.mark.copyright

rosbot_controller/test/test_diff_drive_controllers.py

@@ -17,18 +17,17 @@
 import launch_pytest
 import pytest
 import rclpy
-
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
-from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import ControllersTestNode, controller_readings_test
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_controller = get_package_share_directory("rosbot_controller")
+    rosbot_controller = FindPackageShare("rosbot_controller")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(

rosbot_controller/test/test_flake8.py

@@ -12,8 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ament_flake8.main import main_with_errors
 import pytest
+from ament_flake8.main import main_with_errors
 
 
 @pytest.mark.flake8

rosbot_controller/test/test_mecanum_controllers.py

@@ -17,18 +17,17 @@
 import launch_pytest
 import pytest
 import rclpy
-
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
-from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import ControllersTestNode, controller_readings_test
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_controller = get_package_share_directory("rosbot_controller")
+    rosbot_controller = FindPackageShare("rosbot_controller")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(

rosbot_controller/test/test_multirobot_controllers.py

@@ -17,21 +17,19 @@
 import launch_pytest
 import pytest
 import rclpy
-
-
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription, TimerAction
-from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import ControllersTestNode, controller_readings_test
 
 robot_names = ["robot1", "robot2", "robot3"]
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_controller = get_package_share_directory("rosbot_controller")
+    rosbot_controller = FindPackageShare("rosbot_controller")
     actions = []
     for i in range(len(robot_names)):
         controller_launch = IncludeLaunchDescription(