Merge branch 'ros2' into ros2

.github/check_style.sh

@@ -0,0 +1,81 @@
+#!/usr/bin/env bash
+
+# Given a set of commits current script checks the style based on clang_format
+# on the list of changed files that exist in the commits.
+#
+# Script should be called from a travis.yml file.
+
+# Functions
+######################
+
+# This is run by travis automatically from the root of the project
+
+set +e
+set +x
+
+DIRS_IN="."
+DIRS_OUT="scripts"
+LANGS=cpp
+FORMAT_CODE_BIN="scripts/clang_git_format/format_code.py"
+
+function lint() {
+
+# Get list of changed files for lint to run on. Grep only .h, .cpp files and
+# mind the DIRS_IN, DIRS_OUT vars
+
+# Following command fails if you "git commit --amend" - Works correctly on
+# standard commits
+echo "commit_range: $TRAVIS_COMMIT_RANGE"
+changed_files=$(git diff --name-only $TRAVIS_COMMIT_RANGE)
+printf "Summary of changed files:\n\n${changed_files}\n\n"
+
+# include
+regexp_in=
+for i in $DIRS_IN; do
+  if [ -n "${regexp_in}" ]; then
+    regexp_in="${regexp_in}\|${i}"
+  else
+    regexp_in="${i}"
+  fi
+done
+
+# exclude
+regexp_out=
+for i in $DIRS_OUT; do
+  if [ -n "${regexp_out}" ]; then
+    regexp_out="${regexp_out}\|${i}"
+  else
+    regexp_out="${i}"
+  fi
+done
+
+echo "regexp_in: ${regexp_in}"
+echo "regexp_out: ${regexp_out}"
+
+valid_files=$(echo ${changed_files} \
+  | xargs -d' ' -n 1 \
+  | grep -i -e "${regexp_in}" \
+  | grep -v "${regexp_out}" \
+  | grep -ie ".*\.h$\|.*\.cpp")
+
+
+printf "Valid files for lint:\n\t${valid_files}\n"
+if [ -n "${valid_files}" ]; then
+  ${FORMAT_CODE_BIN} -g .  --lint_files ${valid_files}
+else
+  true
+fi
+exit $?
+
+}
+
+function lint_all() {
+
+${FORMAT_CODE_BIN} -g . --lang ${LANGS} \
+  -o ${DIRS_OUT} -i ${DIRS_IN} \
+  -l
+
+exit $?
+}
+
+lint_all

.github/python_clang_format_reqs.txt

@@ -0,0 +1,3 @@
+# Requisites for the clang-format linter script
+argparse
+colorlog

.github/workflows/check-clang-format.yml

@@ -0,0 +1,40 @@
+name: CI clang-format
+
+on: [push, pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }}
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          clang-format-check
+        ]
+
+        include:
+          - name: clang-format-check
+            os: ubuntu-latest
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+
+      - name: Git submodule
+        run: |
+          git submodule sync
+          git submodule update --init --recursive
+
+      - name: Install Dependencies
+        run: |
+          sudo apt install clang-format-14 -yq
+          pip3 install --user -r .github/python_clang_format_reqs.txt
+
+      - name: Check code style
+        run: |
+          echo "TASK=lint_all" >> $GITHUB_ENV
+          bash .github/check_style.sh

.github/workflows/ros-build.yml

@@ -0,0 +1,74 @@
+# Based on GTSAM file (by @ProfFan)
+name: CI Build colcon
+
+on: [push, pull_request]
+
+jobs:
+  build_docker: # On Linux, iterates on all ROS 1 and ROS 2 distributions.
+    runs-on: ubuntu-latest
+    env:
+      DEBIAN_FRONTEND: noninteractive
+    strategy:
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+#        ros_distribution:
+#          - humble
+#          - iron
+#          - rolling
+
+        # Define the Docker image(s) associated with each ROS distribution.
+        # The include syntax allows additional variables to be defined, like
+        # docker_image in this case. See documentation:
+        # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build
+        #
+        # Platforms are defined in REP 3 and REP 2000:
+        # https://ros.org/reps/rep-0003.html
+        # https://ros.org/reps/rep-2000.html
+        include:
+          # Humble Hawksbill (May 2022 - May 2027)
+          - docker_image: ubuntu:jammy
+            ros_distribution: humble
+            ros_version: 2
+
+          # Iron Irwini (May 2023 - November 2024)
+          - docker_image: ubuntu:jammy
+            ros_distribution: iron
+            ros_version: 2
+
+          # Jazzy (2024 - ??)
+          - docker_image: ubuntu:noble
+            ros_distribution: jazzy
+            ros_version: 2
+
+          # Rolling Ridley (No End-Of-Life)
+#          - docker_image: ubuntu:noble
+#            ros_distribution: rolling
+#            ros_version: 2
+
+    container:
+      image: ${{ matrix.docker_image }}
+
+    steps:
+      - name: Checkout
+        run: |
+          apt-get -y update
+          apt-get -y install git
+          git clone https://github.com/$GITHUB_REPOSITORY.git --recursive "$GITHUB_WORKSPACE"
+
+      - name: setup ROS environment
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+
+      - name: Install rosdep dependencies
+        run: |
+          . /opt/ros/*/setup.sh
+          rosdep update
+          rosdep install --from-paths . --ignore-src -r -y
+
+      - name: Build with colcon
+        run: |
+          . /opt/ros/*/setup.sh
+          env
+          MAKEFLAGS="-j2" colcon build --symlink-install --parallel-workers 2 --event-handlers console_direct+

README.md

@@ -1,3 +1,7 @@
+[![CI Build colcon](https://github.com/mrpt-ros-pkg/mrpt_sensors/actions/workflows/ros-build.yml/badge.svg)](https://github.com/mrpt-ros-pkg/mrpt_sensors/actions/workflows/ros-build.yml)
+[![CI clang-format](https://github.com/mrpt-ros-pkg/mrpt_sensors/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/mrpt-ros-pkg/mrpt_sensors/actions/workflows/check-clang-format.yml)
+
+
 | Distro | Build dev | Release |
 | --- | --- | --- |
 | ROS 2 Humble (u22.04) | [![Build Status](https://build.ros2.org/job/Hdev__mrpt_sensors__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Hdev__mrpt_sensors__ubuntu_jammy_amd64/) | [![Version](https://img.shields.io/ros/v/humble/mrpt_sensors)](https://index.ros.org/search/?term=mrpt_sensors) |

scripts/clang_git_format/.gitignore

@@ -0,0 +1,40 @@
+# Compiled source #
+###################
+*.com
+*.class
+*.dll
+*.exe
+*.o
+*.so
+*.pyc
+
+# Packages #
+############
+# it's better to unpack these files and commit the raw source
+# git has its own built in compression methods
+*.7z
+*.dmg
+*.gz
+*.iso
+*.jar
+*.rar
+*.tar
+*.zip
+
+# Logs and databases #
+######################
+*.log
+*.sql
+*.sqlite
+
+# OS generated files #
+######################
+.DS_Store
+.DS_Store?
+._*
+.Spotlight-V100
+.Trashes
+ehthumbs.db
+Thumbs.db
+
+build/