Merge pull request #22 from robotpilot/develop

Bump to 0.4.0

.github/workflows/lint.yml

@@ -12,16 +12,19 @@ jobs:
           linter: [cppcheck, cpplint, uncrustify, pep257, xmllint, flake8]
     steps:
     - uses: actions/checkout@v2
-    - uses: ros-tooling/setup-ros@0.1.0
-    - uses: ros-tooling/action-ros-lint@0.0.6
+    - uses: ros-tooling/setup-ros@master
+    - uses: ros-tooling/action-ros-lint@master
       with:
         distribution: foxy
         linter: ${{ matrix.linter }}
         package-name: |
-          time_rclcpp_example
+          logging_rclpy_example
+          msg_srv_action_interface_example
           my_first_ros_rclcpp_pkg
           my_first_ros_rclpy_pkg
-          msg_srv_action_interface_example
-          topic_service_action_rclpy_example
-          topic_service_action_rclcpp_example
           ros2env
+          rqt_example
+          time_rclcpp_example
+          time_rclpy_example
+          topic_service_action_rclcpp_example
+          topic_service_action_rclpy_example

README.md

@@ -78,3 +78,14 @@ ROS_PYTHON_VERSION = 3
 ROS_DOMAIN_ID      = 7
 RMW_IMPLEMENTATION = rmw_fastrtps_cpp
 ```
+
+## Run rqt_example package
+```
+ros2 run rqt_example rqt_example
+ros2 launch rqt_example turtlesim.launch.py
+```
+
+## Run logging_rclpy_example package
+```
+$ ros2 run logging_rclpy_example logging_example
+```

logging_rclpy_example/CHANGELOG.rst

@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package logging_rclpy_example
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.4.0 (2021-02-22)
+------------------
+* Added new ROS 2 logging example package using rclpy's logging module for ROS 2 seminar
+* Contributors: Darby Lim

logging_rclpy_example/logging_rclpy_example/logging_example/main.py

@@ -0,0 +1,79 @@
+# Copyright 2021 OROCA
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import rclpy
+from rclpy.logging import LoggingSeverity
+from rclpy.node import Node
+from std_msgs.msg import String
+
+
+class LoggerUsage(Node):
+
+    def __init__(self):
+        super().__init__('logger_usage_demo')
+        self.pub = self.create_publisher(String, 'logging_demo_count', 10)
+        self.timer = self.create_timer(0.500, self.on_timer)
+        self.count = 0
+
+    def on_timer(self):
+        self.get_logger().log(
+            'Timer callback called (this will only log once)',
+            LoggingSeverity.INFO,
+            once=True)
+
+        msg = String()
+        msg.data = 'Current count: {0}'.format(self.count)
+
+        self.get_logger().info('Publishing: {0}'.format(msg.data))
+        self.pub.publish(msg)
+
+        # DEBUG FUNCTION
+        if self.debug_function_to_evaluate():
+            self.get_logger().debug('Count divides into 12 (function evaluated to true)')
+
+        # DEBUG EXPRESSION
+        if self.count % 2 == 0:
+            self.get_logger().debug('Count is even (expression evaluated to true)')
+
+        self.count += 1
+        if self.count > 15:
+            self.get_logger().warn('Reseting count to 0')
+            self.count = 0
+
+    def debug_function_to_evaluate(self):
+        return is_divisor_of_twelve(self.count, self.get_logger())
+
+
+def is_divisor_of_twelve(val, logger):
+    if val == 0:
+        logger.error('Modulo divisor cannot be 0')
+        return False
+
+    return (12 % val) == 0
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = LoggerUsage()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        node.get_logger().info('Keyboard Interrupt (SIGINT)')
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

logging_rclpy_example/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>logging_rclpy_example</name>
+  <version>0.4.0</version>
+  <description>ROS 2 rclpy example package for understanding logging</description>
+  <maintainer email="[email protected]">Pyo</maintainer>
+  <license>Apache License 2.0</license>
+  <author email="[email protected]">Pyo</author>
+  <author email="[email protected]">Darby Lim</author>
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

logging_rclpy_example/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/logging_rclpy_example
+[install]
+install-scripts=$base/lib/logging_rclpy_example

logging_rclpy_example/setup.py

@@ -0,0 +1,35 @@
+from setuptools import find_packages
+from setuptools import setup
+
+package_name = 'logging_rclpy_example'
+
+setup(
+    name=package_name,
+    version='0.4.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    author='Pyo, Darby Lim',
+    author_email='[email protected], [email protected]',
+    maintainer='Pyo',
+    maintainer_email='[email protected]',
+    keywords=['ROS'],
+    classifiers=[
+        'Intended Audience :: Developers',
+        'License :: OSI Approved :: Apache Software License',
+        'Programming Language :: Python',
+        'Topic :: Software Development',
+    ],
+    description='ROS 2 rclpy example package for understanding logging',
+    license='Apache License, Version 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'logging_example = logging_rclpy_example.logging_example.main:main',
+        ],
+    },
+)

logging_rclpy_example/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

logging_rclpy_example/test/test_flake8.py

@@ -0,0 +1,23 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc = main(argv=[])
+    assert rc == 0, 'Found errors'

logging_rclpy_example/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

msg_srv_action_interface_example/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package msg_srv_action_interface_example
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.4.0 (2021-02-22)
+------------------
+
 0.3.0 (2021-01-28)
 ------------------
 

msg_srv_action_interface_example/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>msg_srv_action_interface_example</name>
-  <version>0.3.0</version>
+  <version>0.4.0</version>
   <description>
     ROS 2 example for message, service and action interface
   </description>

my_first_ros_rclcpp_pkg/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package my_first_ros_rclcpp_pkg
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.4.0 (2021-02-22)
+------------------
+
 0.3.0 (2021-01-28)
 ------------------
 

my_first_ros_rclcpp_pkg/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>my_first_ros_rclcpp_pkg</name>
-  <version>0.3.0</version>
+  <version>0.4.0</version>
   <description>ROS 2 rclcpp basic package for the ROS 2 seminar</description>
   <maintainer email="[email protected]">Pyo</maintainer>
   <license>Apache License 2.0</license>

my_first_ros_rclpy_pkg/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package my_first_ros_rclpy_pkg
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.4.0 (2021-02-22)
+------------------
+
 0.3.0 (2021-01-28)
 ------------------
 

my_first_ros_rclpy_pkg/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>my_first_ros_rclpy_pkg</name>
-  <version>0.3.0</version>
+  <version>0.4.0</version>
   <description>ROS 2 rclpy basic package for the ROS 2 seminar</description>
   <maintainer email="[email protected]">Pyo</maintainer>
   <license>Apache License 2.0</license>

my_first_ros_rclpy_pkg/setup.py

@@ -5,7 +5,7 @@
 
 setup(
     name=package_name,
-    version='0.3.0',
+    version='0.4.0',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages',

ros2env/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ros2env
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.4.0 (2021-02-22)
+------------------
+
 0.3.0 (2021-01-28)
 ------------------
 * Added ros2cli command and verbs for example of roc2cli

ros2env/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ros2env</name>
-  <version>0.3.0</version>
+  <version>0.4.0</version>
   <description>ROS 2 example package for the ROS 2 command line tools.</description>
   <maintainer email="[email protected]">Pyo</maintainer>
   <license>Apache License 2.0</license>

ros2env/setup.py

@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version='0.3.0',
+    version='0.4.0',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),

rqt_example/CHANGELOG.rst

@@ -0,0 +1,30 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package rqt_example
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.4.0 (2021-02-22)
+------------------
+* Added a launch file for running with turtlesim node
+* Code refactoring
+* Contributors: Pyo
+
+0.3.0 (2021-01-29)
+------------------
+* Changed code for new ROS 2 seminar
+* Contributors: Pyo
+
+0.2.1 (2019-08-09)
+------------------
+* Changed text of keypad for O/S's compatibility
+* Changed code for PEP-8 and bumped to new version
+* Contributors: Pyo
+
+0.2.0 (2019-08-01)
+------------------
+* Improved code using new code style guides
+* Contributors: Pyo
+
+0.1.0 (2019-06-18)
+------------------
+* Added examples_rqt as rqt plugin for visualizing messages and services
+* Contributors: Pyo, Darby Lim