🔧 build: Add build and test

NOTE: `ament_cmake_clang_tidy` will be added when the PR will be merged. ros2/rclcpp#2718
SMBU-PolarBear-Robotics-Team · Dec 28, 2024 · e3a25bb · e3a25bb
1 parent 9d17b46
commit e3a25bb
Show file tree

Hide file tree

Showing 18 changed files with 382 additions and 9 deletions.
diff --git a/fake_vel_transform/.clang-format b/fake_vel_transform/.clang-format
@@ -0,0 +1,18 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false
diff --git a/fake_vel_transform/.clang-tidy b/fake_vel_transform/.clang-tidy
@@ -0,0 +1,62 @@
+---
+Checks:          '-*,
+                  performance-*,
+                  -performance-unnecessary-value-param,
+                  llvm-namespace-comment,
+                  modernize-redundant-void-arg,
+                  modernize-use-nullptr,
+                  modernize-use-default,
+                  modernize-use-override,
+                  modernize-loop-convert,
+                  modernize-make-shared,
+                  modernize-make-unique,
+                  misc-unused-parameters,
+                  readability-named-parameter,
+                  readability-redundant-smartptr-get,
+                  readability-redundant-string-cstr,
+                  readability-simplify-boolean-expr,
+                  readability-container-size-empty,
+                  readability-identifier-naming,
+                  '
+HeaderFilterRegex: ''
+CheckOptions:
+  - key:             llvm-namespace-comment.ShortNamespaceLines
+    value:           '10'
+  - key:             llvm-namespace-comment.SpacesBeforeComments
+    value:           '2'
+  - key:             misc-unused-parameters.StrictMode
+    value:           '1'
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '2'
+  # type names
+  - key:             readability-identifier-naming.ClassCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.EnumCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.UnionCase
+    value:           CamelCase
+  # method names
+  - key:             readability-identifier-naming.MethodCase
+    value:           camelBack
+  # variable names
+  - key:             readability-identifier-naming.VariableCase
+    value:           lower_case
+  # class member names
+  - key:             readability-identifier-naming.PrivateMemberCase
+    value:           lower_case
+  - key:             readability-identifier-naming.PrivateMemberSuffix
+    value:           '_'
+  - key:             readability-identifier-naming.ProtectedMemberCase
+    value:           lower_case
+  - key:             readability-identifier-naming.ProtectedMemberSuffix
+    value:           '_'
+  # const static or global variables are UPPER_CASE
+  - key:             readability-identifier-naming.EnumConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.StaticConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.ClassConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.GlobalVariableCase
+    value:           UPPER_CASE
+...
diff --git a/fake_vel_transform/CMakeLists.txt b/fake_vel_transform/CMakeLists.txt
@@ -37,10 +37,13 @@ rclcpp_components_register_node(${PROJECT_NAME}
 #############
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
+set(ament_cmake_clang_format_CONFIG_FILE "${CMAKE_SOURCE_DIR}/.clang-format")
+find_package(ament_lint_auto REQUIRED)
   list(APPEND AMENT_LINT_AUTO_EXCLUDE
     ament_cmake_copyright
     ament_cmake_uncrustify
+    ament_cmake_cpplint
+    ament_cmake_flake8
   )
   ament_lint_auto_find_test_dependencies()
 endif()

diff --git a/fake_vel_transform/package.xml b/fake_vel_transform/package.xml
@@ -4,9 +4,9 @@
   <name>fake_vel_transform</name>
   <version>1.0.0</version>
   <description>Adapts to NAV2 local path planner when `robot_base_frame` changes drastically.</description>
+  <maintainer email="lihanchen2004@163.com">Lihan Chen</maintainer>
   <license>MIT</license>
   <author email="lihanchen2004@163.com">Lihan Chen</author>
-  <maintainer email="lihanchen2004@163.com">Lihan Chen</maintainer>
 
   <!-- buildtool_depend: dependencies of the build process -->
   <buildtool_depend>ament_cmake</buildtool_depend>
@@ -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>
+  <test_depend>ament_cmake_black</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/ign_sim_pointcloud_tool/.clang-format b/ign_sim_pointcloud_tool/.clang-format
@@ -0,0 +1,18 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false
diff --git a/ign_sim_pointcloud_tool/.clang-tidy b/ign_sim_pointcloud_tool/.clang-tidy
@@ -0,0 +1,62 @@
+---
+Checks:          '-*,
+                  performance-*,
+                  -performance-unnecessary-value-param,
+                  llvm-namespace-comment,
+                  modernize-redundant-void-arg,
+                  modernize-use-nullptr,
+                  modernize-use-default,
+                  modernize-use-override,
+                  modernize-loop-convert,
+                  modernize-make-shared,
+                  modernize-make-unique,
+                  misc-unused-parameters,
+                  readability-named-parameter,
+                  readability-redundant-smartptr-get,
+                  readability-redundant-string-cstr,
+                  readability-simplify-boolean-expr,
+                  readability-container-size-empty,
+                  readability-identifier-naming,
+                  '
+HeaderFilterRegex: ''
+CheckOptions:
+  - key:             llvm-namespace-comment.ShortNamespaceLines
+    value:           '10'
+  - key:             llvm-namespace-comment.SpacesBeforeComments
+    value:           '2'
+  - key:             misc-unused-parameters.StrictMode
+    value:           '1'
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '2'
+  # type names
+  - key:             readability-identifier-naming.ClassCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.EnumCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.UnionCase
+    value:           CamelCase
+  # method names
+  - key:             readability-identifier-naming.MethodCase
+    value:           camelBack
+  # variable names
+  - key:             readability-identifier-naming.VariableCase
+    value:           lower_case
+  # class member names
+  - key:             readability-identifier-naming.PrivateMemberCase
+    value:           lower_case
+  - key:             readability-identifier-naming.PrivateMemberSuffix
+    value:           '_'
+  - key:             readability-identifier-naming.ProtectedMemberCase
+    value:           lower_case
+  - key:             readability-identifier-naming.ProtectedMemberSuffix
+    value:           '_'
+  # const static or global variables are UPPER_CASE
+  - key:             readability-identifier-naming.EnumConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.StaticConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.ClassConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.GlobalVariableCase
+    value:           UPPER_CASE
+...
diff --git a/ign_sim_pointcloud_tool/CMakeLists.txt b/ign_sim_pointcloud_tool/CMakeLists.txt
@@ -29,9 +29,25 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 
 rclcpp_components_register_node(${PROJECT_NAME}
   PLUGIN ign_sim_pointcloud_tool::PointCloudConverter
-  EXECUTABLE point_cloud_converter_node
+  EXECUTABLE ${PROJECT_NAME}_node
 )
 
+#############
+## Testing ##
+#############
+
+if(BUILD_TESTING)
+set(ament_cmake_clang_format_CONFIG_FILE "${CMAKE_SOURCE_DIR}/.clang-format")
+find_package(ament_lint_auto REQUIRED)
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE
+    ament_cmake_copyright
+    ament_cmake_uncrustify
+    ament_cmake_cpplint
+    ament_cmake_flake8
+  )
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 #############
 ## Install ##
 #############

diff --git a/loam_interface/.clang-format b/loam_interface/.clang-format
@@ -0,0 +1,18 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false
diff --git a/loam_interface/.clang-tidy b/loam_interface/.clang-tidy
@@ -0,0 +1,62 @@
+---
+Checks:          '-*,
+                  performance-*,
+                  -performance-unnecessary-value-param,
+                  llvm-namespace-comment,
+                  modernize-redundant-void-arg,
+                  modernize-use-nullptr,
+                  modernize-use-default,
+                  modernize-use-override,
+                  modernize-loop-convert,
+                  modernize-make-shared,
+                  modernize-make-unique,
+                  misc-unused-parameters,
+                  readability-named-parameter,
+                  readability-redundant-smartptr-get,
+                  readability-redundant-string-cstr,
+                  readability-simplify-boolean-expr,
+                  readability-container-size-empty,
+                  readability-identifier-naming,
+                  '
+HeaderFilterRegex: ''
+CheckOptions:
+  - key:             llvm-namespace-comment.ShortNamespaceLines
+    value:           '10'
+  - key:             llvm-namespace-comment.SpacesBeforeComments
+    value:           '2'
+  - key:             misc-unused-parameters.StrictMode
+    value:           '1'
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '2'
+  # type names
+  - key:             readability-identifier-naming.ClassCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.EnumCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.UnionCase
+    value:           CamelCase
+  # method names
+  - key:             readability-identifier-naming.MethodCase
+    value:           camelBack
+  # variable names
+  - key:             readability-identifier-naming.VariableCase
+    value:           lower_case
+  # class member names
+  - key:             readability-identifier-naming.PrivateMemberCase
+    value:           lower_case
+  - key:             readability-identifier-naming.PrivateMemberSuffix
+    value:           '_'
+  - key:             readability-identifier-naming.ProtectedMemberCase
+    value:           lower_case
+  - key:             readability-identifier-naming.ProtectedMemberSuffix
+    value:           '_'
+  # const static or global variables are UPPER_CASE
+  - key:             readability-identifier-naming.EnumConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.StaticConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.ClassConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.GlobalVariableCase
+    value:           UPPER_CASE
+...
diff --git a/loam_interface/CMakeLists.txt b/loam_interface/CMakeLists.txt
@@ -29,9 +29,21 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 
 rclcpp_components_register_node(${PROJECT_NAME}
   PLUGIN loam_interface::LoamInterfaceNode
-  EXECUTABLE loam_interface_node
+  EXECUTABLE ${PROJECT_NAME}_node
 )
 
+if(BUILD_TESTING)
+set(ament_cmake_clang_format_CONFIG_FILE "${CMAKE_SOURCE_DIR}/.clang-format")
+find_package(ament_lint_auto REQUIRED)
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE
+    ament_cmake_copyright
+    ament_cmake_uncrustify
+    ament_cmake_cpplint
+    ament_cmake_flake8
+  )
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 #############
 ## Install ##
 #############

diff --git a/loam_interface/package.xml b/loam_interface/package.xml
@@ -19,6 +19,8 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_clang_format</test_depend>
+  <test_depend>ament_cmake_black</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/pb2025_nav_bringup/launch/rm_sentry_simulation_launch.py b/pb2025_nav_bringup/launch/rm_sentry_simulation_launch.py
@@ -112,7 +112,7 @@ def generate_launch_description():
 
     start_velodyne_convert_tool = Node(
         package="ign_sim_pointcloud_tool",
-        executable="point_cloud_converter_node",
+        executable="ign_sim_pointcloud_tool_node",
         name="point_cloud_converter",
         output="screen",
         namespace=namespace,

diff --git a/pb2025_nav_bringup/package.xml b/pb2025_nav_bringup/package.xml
@@ -6,6 +6,7 @@
   <description>pb2025_nav_bringup</description>
   <maintainer email="lihanchen2004@163.com">Lihan Chen</maintainer>
   <license>MIT</license>
+  <author email="lihanchen2004@163.com">Lihan Chen</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

diff --git a/sensor_scan_generation/.clang-format b/sensor_scan_generation/.clang-format
@@ -0,0 +1,18 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false