Update CI to Humble

.github/workflows/build.yaml

@@ -3,22 +3,20 @@ on:
   push:
     branches: [ main ]
   pull_request:
+  schedule:
+    - cron: '0 0 * * *'
+
 jobs:
   build_and_test:
     name: Build and test
     runs-on: ubuntu-latest
     container:
-      image: rostooling/setup-ros-docker:ubuntu-focal-latest
-    strategy:
-      matrix:
-        ros_distribution:
-          - foxy
-          - galactic
+      image: rostooling/setup-ros-docker:ubuntu-jammy-latest
     steps:
       - name: deps
         uses: ros-tooling/setup-ros@v0.3
         with:
-          required-ros-distributions: ${{ matrix.ros_distribution }}
+          required-ros-distributions: humble
       - name: install_clang
         run: sudo apt update && sudo apt install -y clang clang-tools lld
       - name: build
@@ -27,7 +25,7 @@ jobs:
           CC: clang
           CXX: clang++
         with:
-          target-ros2-distro: ${{ matrix.ros_distribution }}
+          target-ros2-distro: humble
           # build all packages listed in the meta package
           package-name: |
             rmf_visualization
@@ -39,14 +37,20 @@ jobs:
             rmf_visualization_rviz2_plugins
             rmf_visualization_schedule
           vcs-repo-file-url: |
-            https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
+            https://raw.githubusercontent.com/open-rmf/rmf/humble-image/rmf.repos
           colcon-defaults: |
             {
               "build": {
                 "mixin": ["coverage-gcc", "lld"]
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - name: Upload failed test results
+        uses: actions/upload-artifact@v2
+        if: failure()
+        with:
+          name: test-results
+          path: ros_ws/build/*/test_results/*/*.catch2.xml
       - name: Upload coverage to Codecov
         uses: codecov/codecov-action@v1
         with:

.github/workflows/style.yaml

@@ -0,0 +1,24 @@
+name: style
+on:
+  pull_request:
+  push:
+    branches: [ main ]
+defaults:
+  run:
+    shell: bash
+jobs:
+  linter:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        docker_image: ['ros:humble-ros-base']
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - name: checkout
+        uses: actions/checkout@v2
+      - name: uncrustify
+        run: |
+          sudo apt update && sudo apt install wget
+          wget https://raw.githubusercontent.com/open-rmf/rmf_utils/main/rmf_utils/test/format/rmf_code_style.cfg
+          /ros_entrypoint.sh ament_uncrustify -c rmf_code_style.cfg . --language C++ --exclude rmf_visualization_schedule/include/json.hpp rmf_visualization_schedule/include/jwt/* rmf_visualization_schedule/include/jwt/*/*

README.md

@@ -1,6 +1,7 @@
 # rmf_schedule_visualizer
 
 ![](https://github.com/open-rmf/rmf_visualization/workflows/build/badge.svg)
+![](https://github.com/open-rmf/rmf_visualization/workflows/style/badge.svg)
 [![codecov](https://codecov.io/gh/open-rmf/rmf_visualization/branch/main/graph/badge.svg)](https://codecov.io/gh/open-rmf/rmf_visualization)
 
 This repository contains several packages that aid with visualizing various entities within RMF via RViz.

rmf_visualization_fleet_states/CMakeLists.txt

@@ -53,6 +53,7 @@ rclcpp_components_register_node(fleetstates_visualizer
 #===============================================================================
 if(BUILD_TESTING)
   find_package(ament_cmake_uncrustify REQUIRED)
+  find_package(rmf_utils REQUIRED)
   find_file(uncrustify_config_file
     NAMES "rmf_code_style.cfg"
     PATHS "${rmf_utils_DIR}/../../../share/rmf_utils/")

rmf_visualization_fleet_states/package.xml

@@ -19,6 +19,7 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>rmf_utils</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

rmf_visualization_fleet_states/src/FleetStatesVisualizer.cpp

@@ -67,76 +67,76 @@ FleetStatesVisualizer::FleetStatesVisualizer(const rclcpp::NodeOptions& options)
       using Location = rmf_fleet_msgs::msg::Location;
 
       auto set_body_pose =
-        [](const Location& loc, Marker& marker)
-        {
-          marker.pose.position.x = loc.x;
-          marker.pose.position.y = loc.y;
-          marker.pose.position.z = 0.0;
-          marker.pose.orientation.w = 1.0;
-        };
+      [](const Location& loc, Marker& marker)
+      {
+        marker.pose.position.x = loc.x;
+        marker.pose.position.y = loc.y;
+        marker.pose.position.z = 0.0;
+        marker.pose.orientation.w = 1.0;
+      };
 
       auto set_nose_pose =
-        [](const Location& loc, const double radius, Marker& marker)
-        {
-          marker.pose.position.x = loc.x + radius * std::cos(loc.yaw);
-          marker.pose.position.y = loc.y + radius * std::sin(loc.yaw);
-          marker.pose.position.z = 0.0;
-          marker.pose.orientation.w = 1.0;
-        };
+      [](const Location& loc, const double radius, Marker& marker)
+      {
+        marker.pose.position.x = loc.x + radius * std::cos(loc.yaw);
+        marker.pose.position.y = loc.y + radius * std::sin(loc.yaw);
+        marker.pose.position.z = 0.0;
+        marker.pose.orientation.w = 1.0;
+      };
       auto set_text_pose =
-        [](const Location& loc, const double radius, Marker& marker)
-        {
-          marker.pose.position.x =
-            loc.x + 2.0 * radius * std::cos(loc.yaw - 0.7853);
-          marker.pose.position.y =
-            loc.y + 2.0 * radius * std::sin(loc.yaw - 0.7853);
-          marker.pose.position.z = 0.0;
-          marker.pose.orientation.w = 1.0;
-        };
+      [](const Location& loc, const double radius, Marker& marker)
+      {
+        marker.pose.position.x =
+        loc.x + 2.0 * radius * std::cos(loc.yaw - 0.7853);
+        marker.pose.position.y =
+        loc.y + 2.0 * radius * std::sin(loc.yaw - 0.7853);
+        marker.pose.position.z = 0.0;
+        marker.pose.orientation.w = 1.0;
+      };
       auto fill_markers =
-        [&](
-          const RobotState& state,
-          const double radius,
-          const std::size_t id,
-          MarkerArray& marker_array)
-        {
-          const auto& loc = state.location;
-
-          Marker body_marker;
-          body_marker.header.frame_id = "map";
-          body_marker.header.stamp = state.location.t;
-          body_marker.ns = "body";
-          body_marker.id = id;
-          body_marker.type = body_marker.SPHERE;
-          body_marker.action = body_marker.MODIFY;
-          set_body_pose(loc, body_marker);
-          body_marker.scale.x = 2.0 * radius;
-          body_marker.scale.y = 2.0 * radius;
-          body_marker.scale.z = 2.0 * radius;
-          // TODO(YV): Get the color to match that of the navigation graph
-          body_marker.color.r = 1.0;
-          body_marker.color.b = 1.0;
-          body_marker.color.a = 1.0;
-          body_marker.lifetime = rclcpp::Duration(std::chrono::seconds(1));
-
-          auto nose_marker = body_marker;
-          nose_marker.ns = "nose";
-          set_nose_pose(loc, radius, nose_marker);
-          nose_marker.scale.x = this->_nose_scale * radius;
-          nose_marker.scale.y = this->_nose_scale * radius;
-          nose_marker.scale.z = this->_nose_scale * radius;
-
-          auto text_marker = body_marker;
-          text_marker.ns = "name";
-          text_marker.type = text_marker.TEXT_VIEW_FACING;
-          set_text_pose(loc, radius, text_marker);
-          text_marker.text = state.name;
-          text_marker.scale.z = 0.3;
-
-          marker_array.markers.push_back(std::move(body_marker));
-          marker_array.markers.push_back(std::move(nose_marker));
-          marker_array.markers.push_back(std::move(text_marker));
-        };
+      [&](
+        const RobotState& state,
+        const double radius,
+        const std::size_t id,
+        MarkerArray& marker_array)
+      {
+        const auto& loc = state.location;
+
+        Marker body_marker;
+        body_marker.header.frame_id = "map";
+        body_marker.header.stamp = state.location.t;
+        body_marker.ns = "body";
+        body_marker.id = id;
+        body_marker.type = body_marker.SPHERE;
+        body_marker.action = body_marker.MODIFY;
+        set_body_pose(loc, body_marker);
+        body_marker.scale.x = 2.0 * radius;
+        body_marker.scale.y = 2.0 * radius;
+        body_marker.scale.z = 2.0 * radius;
+        // TODO(YV): Get the color to match that of the navigation graph
+        body_marker.color.r = 1.0;
+        body_marker.color.b = 1.0;
+        body_marker.color.a = 1.0;
+        body_marker.lifetime = rclcpp::Duration(std::chrono::seconds(1));
+
+        auto nose_marker = body_marker;
+        nose_marker.ns = "nose";
+        set_nose_pose(loc, radius, nose_marker);
+        nose_marker.scale.x = this->_nose_scale * radius;
+        nose_marker.scale.y = this->_nose_scale * radius;
+        nose_marker.scale.z = this->_nose_scale * radius;
+
+        auto text_marker = body_marker;
+        text_marker.ns = "name";
+        text_marker.type = text_marker.TEXT_VIEW_FACING;
+        set_text_pose(loc, radius, text_marker);
+        text_marker.text = state.name;
+        text_marker.scale.z = 0.3;
+
+        marker_array.markers.push_back(std::move(body_marker));
+        marker_array.markers.push_back(std::move(nose_marker));
+        marker_array.markers.push_back(std::move(text_marker));
+      };
 
       if (msg->name.empty() || msg->robots.empty())
         return;

rmf_visualization_floorplans/CMakeLists.txt

@@ -61,6 +61,7 @@ rclcpp_components_register_node(floorplan_visualizer
 #===============================================================================
 if(BUILD_TESTING)
   find_package(ament_cmake_uncrustify REQUIRED)
+  find_package(rmf_utils REQUIRED)
   find_file(uncrustify_config_file
     NAMES "rmf_code_style.cfg"
     PATHS "${rmf_utils_DIR}/../../../share/rmf_utils/")

rmf_visualization_floorplans/package.xml

@@ -20,6 +20,7 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>rmf_utils</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

rmf_visualization_navgraphs/CMakeLists.txt

@@ -64,6 +64,7 @@ rclcpp_components_register_node(navgraph_visualizer
 #===============================================================================
 if(BUILD_TESTING)
   find_package(ament_cmake_uncrustify REQUIRED)
+  find_package(rmf_utils REQUIRED)
   find_file(uncrustify_config_file
     NAMES "rmf_code_style.cfg"
     PATHS "${rmf_utils_DIR}/../../../share/rmf_utils/")

rmf_visualization_navgraphs/package.xml

@@ -21,6 +21,7 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>rmf_utils</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

rmf_visualization_navgraphs/src/NavGraphVisualizer.cpp

@@ -203,7 +203,8 @@ auto NavGraphVisualizer::FleetNavGraph::update_lane_states(
   std::optional<std::string> map_name_filter) -> std::vector<Marker::ConstSharedPtr>
 {
   if (!traffic_graph.has_value())
-    return {};
+    return {}
+  ;
 
   // TODO(YV): Avoid this copy by storing Maker::ConstSharedPtr in the cache
   std::vector<Marker::ConstSharedPtr> marker_updates = {};

rmf_visualization_obstacles/CMakeLists.txt

@@ -49,12 +49,13 @@ rclcpp_components_register_node(obstacle_visualizer
 #===============================================================================
 if(BUILD_TESTING)
   find_package(ament_cmake_uncrustify REQUIRED)
+  find_package(rmf_utils REQUIRED)
   find_file(uncrustify_config_file
     NAMES "rmf_code_style.cfg"
     PATHS "${rmf_utils_DIR}/../../../share/rmf_utils/")
 
   ament_uncrustify(
-    include/rmf_visualization_schedule src test
+    ARGN src
     CONFIG_FILE ${uncrustify_config_file}
     MAX_LINE_LENGTH 80
   )

rmf_visualization_obstacles/package.xml

@@ -18,6 +18,7 @@
   <depend>rmf_visualization_msgs</depend>
 
   <test_depend>ament_cmake_uncrustify</test_depend>
+  <test_depend>rmf_utils</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

rmf_visualization_rviz2_plugins/CMakeLists.txt

@@ -35,12 +35,13 @@ find_package(Qt5 REQUIRED COMPONENTS Widgets Test)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_uncrustify REQUIRED)
+  find_package(rmf_utils REQUIRED)
   find_file(uncrustify_config_file
     NAMES "rmf_code_style.cfg"
     PATHS "${rmf_utils_DIR}/../../../share/rmf_utils/")
 
   ament_uncrustify(
-    src test
+    ARGN src
     CONFIG_FILE ${uncrustify_config_file}
     MAX_LINE_LENGTH 80
   )

rmf_visualization_rviz2_plugins/package.xml

@@ -28,6 +28,7 @@
   <exec_depend>libqt5-widgets</exec_depend>
 
   <test_depend>ament_cmake_uncrustify</test_depend>
+  <test_depend>rmf_utils</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

rmf_visualization_schedule/CMakeLists.txt

@@ -32,12 +32,13 @@ find_package(Threads)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_uncrustify REQUIRED)
+  find_package(rmf_utils REQUIRED)
   find_file(uncrustify_config_file
     NAMES "rmf_code_style.cfg"
     PATHS "${rmf_utils_DIR}/../../../share/rmf_utils/")
 
   ament_uncrustify(
-    include/rmf_visualization_schedule src test
+    ARGN include/rmf_visualization_schedule src test
     CONFIG_FILE ${uncrustify_config_file}
     MAX_LINE_LENGTH 80
   )

rmf_visualization_schedule/package.xml

@@ -28,6 +28,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_cmake_uncrustify</test_depend>
+  <test_depend>rmf_utils</test_depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>