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rafal-goreckiDominikNdelihus
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Jazzy - General code maintenance (#123)
* support for RPi5 * restart ros2_control_node if error * minor fixes * Update controller.launch.py * fix mecanum lauch * Fix controller namespace (#115) * Fix controller namespace * spellcheck fix * use husarion-controller from main branch (#116) * added docker setup for local build * ros2 humble works without custom controllers * Cleaner logs from flash script (#108) * Clean up output of flash script * Pre commit * Cleaner * Specify concrete commands * Simplify * pre-commit fix * Clean up usb firmware * Clean up unused arguments (#118) * Add scan filter * Clean up * undo * added docker setup for local build * broken ros2 controller - previous worked fine * Clean up unused arguments * Fix workflow: Remove spellcheck (redundant), fix integration check * Fix multiple robot spawn * fixes * Delete tools folder * Pre-commit update and remove redundant flake8 * Fix some tests and set hash in vcs * Clean up * Move controller test to bringup and reduce test time * Fix lidar in simulation * Rename test files * Fix tests * Add scan_filtered test and improve workpace tree --------- Co-authored-by: Dominik Nowak <dominik.nwk@gmail.com> * Applied xml schemas for xmllint (#101) * applied package.xml template Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * chronology Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Support Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Removed unnecessary dep Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * DDS xml lint --------- Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> Co-authored-by: rafal-gorecki <rafal.gorecki@husarion.com> * Some fixes * test * Pre-commit * pre-commit * Humble docker (#124) * Add hardware and sim Docker * Fix hardware docker * Fixes * Use packages-up-to * Add description to compose * Jazzy docker (#125) * Add hardware and sim Docker * Fix hardware docker * Fixes * Fixes * Simulation gz_gui fixes + use TwistStamped * Use packages-up-to * Add healthcheck + clean up * Add healthcheck + clean up * Remove combined.launch.py * Add User env to docker * Add devcontainer * Changes in healthcheck * Fix simulation * Red error info * Change healthcheck * Remove healthcheck arg * Fix workflow * Remove building imu_broadcaster * One more removal * update repos * Clean up * Update docs * Add launch arguments info * Add status info * add unsaved * fix * Simplify * Update URDF, fix mecanum sim, fix laser_filter ns, remove tf renaming * pre-commit * Fix ros2 controller with namespace * Fix building instructions * Fix indent * Fix mecanum controller * Remove camera test from sim * update * Adjust wheel_separation_multiplier param * Simplify docker --------- Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> Co-authored-by: dominikn <dominik.nwk@gmail.com> Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com>
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‎.devcontainer/Dockerfile

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FROM husarnet/ros:jazzy-ros-base
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ARG USERNAME=husarion
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ARG UID=1001
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ARG GID=$UID
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# Install development tools
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RUN apt update -q && \
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apt upgrade -q -y && \
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apt install -y --no-install-recommends \
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python3-pip \
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ros-dev-tools \
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ros-$ROS_DISTRO-plotjuggler \
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ros-$ROS_DISTRO-plotjuggler-ros \
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ros-$ROS_DISTRO-rqt* \
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ros-$ROS_DISTRO-rviz2 \
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ros-$ROS_DISTRO-teleop-twist-keyboard
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# Create and switch to user
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RUN groupadd -g $GID $USERNAME && \
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useradd -lm -u $UID -g $USERNAME -s /bin/bash $USERNAME && \
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echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
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USER $USERNAME
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# Setup workspace
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WORKDIR /home/$USERNAME/ros2_ws
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RUN mkdir -p /home/$USERNAME/ros2_ws/src && \
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echo 'source /opt/ros/'$ROS_DISTRO'/setup.bash' >> /home/$USERNAME/.bashrc && \
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echo 'source /home/'$USERNAME'/ros2_ws/install/setup.bash' >> /home/$USERNAME/.bashrc
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ENV TERM=xterm-256color
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ENV RCUTILS_COLORIZED_OUTPUT=1
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# Setup entrypoint
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COPY ./ros_entrypoint.sh /
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ENTRYPOINT ["/ros_entrypoint.sh"]
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CMD ["bash"]

‎.devcontainer/compose.yaml

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services:
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devcontainer:
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build: .
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ipc: host
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network_mode: host
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privileged: true
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tty: true
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runtime: nvidia
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volumes:
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- ros2_ws_volume:/home/husarion/ros2_ws
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- ../:/home/husarion/ros2_ws/src/rosbot_ros:cached
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- /tmp/.X11-unix:/tmp/.X11-unix
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- /home/${USER}/.ssh:/home/husarion/.ssh
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- /lib/modules:/lib/modules:ro
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environment:
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- DISPLAY
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- RMW_IMPLEMENTATION
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- QT_X11_NO_MITSHM=1
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=all
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- PIP_BREAK_SYSTEM_PACKAGES=1
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command: sleep infinity
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volumes:
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ros2_ws_volume:

‎.devcontainer/devcontainer.json

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{
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"dockerComposeFile": "compose.yaml",
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"initializeCommand": "xhost +local:docker",
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"service": "devcontainer",
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"workspaceFolder": "/home/husarion/ros2_ws/src",
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// "postCreateCommand": "~/ros2_ws/src/ros/.vscode/scripts/install_dependencies.sh && ~/ros2_ws/src/ros/.vscode/scripts/install_dependencies.sh",
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"shutdownAction": "stopCompose",
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"customizations": {
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"vscode": {
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"extensions": [
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"althack.ament-task-provider",
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"charliermarsh.ruff",
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"eamodio.gitlens",
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"GitHub.copilot",
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"ms-python.python",
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"ms-iot.vscode-ros",
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"ms-vscode.cpptools-extension-pack",
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"smilerobotics.urdf",
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"redhat.vscode-xml",
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"tamasfe.even-better-toml",
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"timonwong.shellcheck",
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"streetsidesoftware.code-spell-checker",
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"yzhang.markdown-all-in-one"
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],
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"settings": {
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"files.associations": {
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"*.rviz": "yaml",
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"*.srdf": "xml",
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"*.urdf": "xml",
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"*.xacro": "xml"
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}
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}
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}
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}
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}

‎.devcontainer/ros_entrypoint.sh

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#!/bin/bash
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# shellcheck disable=SC1090,SC1091
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set -e
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exec "$@"

‎.github/workflows/tests.yaml

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workflow_dispatch:
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jobs:
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black:
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name: Black
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runs-on: ubuntu-24.04
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steps:
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- name: Checkout
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uses: actions/checkout@v3
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- name: Black
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uses: psf/black@23.11.0
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with:
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options: --line-length=99
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spellcheck:
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name: Spellcheck
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runs-on: ubuntu-24.04
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steps:
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- name: Checkout
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uses: actions/checkout@v3
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- name: Spellcheck
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uses: rojopolis/spellcheck-github-actions@0.33.1
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pre-commit:
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name: Pre-commit
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uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
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with:
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ros_distro: jazzy
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industrial_ci:
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name: Industrial CI
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ROS_DISTRO: [jazzy]
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steps:
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- name: Checkout
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uses: actions/checkout@v3
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- name: Act + Docker fix
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run: |
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sudo chown runner:docker /var/run/docker.sock
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uses: actions/checkout@v4
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- name: Setup ROS2 Workspace and Clone Repositories
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run: |
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mkdir -p src
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find . -maxdepth 1 -not -name src -not -name . -exec mv {} src/ \;
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mkdir -p src/rosbot_ros
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find . -maxdepth 1 -not -name src -not -name . -exec mv {} src/rosbot_ros \;
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python3 -m pip install -U vcstool
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vcs import src < src/rosbot/rosbot_hardware.repos
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vcs import src < src/rosbot/rosbot_simulation.repos
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vcs import src < src/rosbot_ros/rosbot/rosbot_hardware.repos
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vcs import src < src/rosbot_ros/rosbot/rosbot_simulation.repos
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cp -r src/ros2_controllers/diff_drive_controller src/
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cp -r src/ros2_controllers/imu_sensor_broadcaster src/
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rm -rf src/ros2_controllers
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# Package micro_ros_msgs does not have industrial ci and tests does not pass.
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# For more information see https://github.com/micro-ROS/micro_ros_msgs/issues/7
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- name: Leave only ROSbot tests
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shell: bash
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run: |
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sed '/if(BUILD_TESTING)/,/endif()/d' src/micro_ros_msgs/CMakeLists.txt -i
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- name: Fix pip
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shell: bash
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run: |
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echo -e "[global]\nbreak-system-packages = true" >> ~/.config/pip/pip.conf
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sed '/if(BUILD_TESTING)/,/endif()/d' src/ros_components_description/CMakeLists.txt -i
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- name: Running ROS Industrial CI
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uses: ros-industrial/industrial_ci@master
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env:
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PIP_BREAK_SYSTEM_PACKAGES: 1
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ROS_DISTRO: ${{matrix.ROS_DISTRO}}
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DOCKER_IMAGE: ros:${{matrix.ROS_DISTRO}}-ros-base
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IMMEDIATE_TEST_OUTPUT: true

‎.pre-commit-config.yaml

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---
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repos:
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v4.5.0
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rev: v5.0.0
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hooks:
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- id: check-merge-conflict
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- id: trailing-whitespace
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- id: end-of-file-fixer
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- id: check-yaml
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- id: check-xml
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- id: check-added-large-files
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# mesh files has to be taken into account
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args: [--maxkb=3000]
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- id: check-ast
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- id: check-json
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exclude: ^.vscode/|^.devcontainer/
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- id: check-merge-conflict
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- id: check-symlinks
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- id: check-xml
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- id: check-yaml
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- id: debug-statements
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- id: destroyed-symlinks
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- id: detect-private-key
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- id: end-of-file-fixer
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- id: fix-byte-order-marker
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- id: name-tests-test
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files: ^.*\/test\/.*$
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args: [--pytest-test-first]
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- id: mixed-line-ending
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- id: trailing-whitespace
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- repo: https://github.com/PyCQA/isort
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rev: 5.13.2
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hooks:
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- id: isort
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args: [--profile, black]
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- repo: https://github.com/cheshirekow/cmake-format-precommit
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rev: v0.6.13
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hooks:
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- id: cmake-format
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- repo: https://github.com/pre-commit/mirrors-clang-format
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rev: v19.1.4
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hooks:
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- id: clang-format
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- repo: https://github.com/codespell-project/codespell
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rev: v2.2.6
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rev: v2.3.0
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hooks:
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- id: codespell
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name: codespell
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description: Checks for common misspellings in text files.
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entry: codespell *
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entry: codespell
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exclude_types: [rst, svg]
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language: python
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types: [text]
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args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
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- repo: https://github.com/psf/black
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rev: 24.4.0
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rev: 24.10.0
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hooks:
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- id: black
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args: [--line-length=99]
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- repo: https://github.com/PyCQA/flake8
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rev: 7.0.0
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rev: 7.1.1
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hooks:
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- id: flake8
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args: ['--ignore=E501,W503'] # ignore too long line and line break before binary operator,
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# black checks it
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- repo: https://github.com/PyCQA/isort
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rev: 5.13.2
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hooks:
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- id: isort
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args: [--profile, black]
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args: ['--ignore=E501,W503']
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- repo: local
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hooks:
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- id: ament_copyright
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name: ament_copyright
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description: Check if copyright notice is available in all files.
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stages: [commit]
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stages: [pre-commit]
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entry: ament_copyright
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language: system
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exclude: ^.*\.md$
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# Docs - RestructuredText hooks
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- repo: https://github.com/PyCQA/doc8
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rev: v1.1.1
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rev: v1.1.2
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hooks:
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- id: doc8
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args: [--max-line-length=100, --ignore=D001]
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exclude: ^.*\/CHANGELOG\.rst/.*$
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- repo: https://github.com/tier4/pre-commit-hooks-ros
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rev: v0.10.0
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hooks:
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- id: prettier-package-xml
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- id: sort-package-xml

‎.pyspelling.yaml

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