Add ROS2 build test

Fix format Remove wstool Run with bash
ethz-asl · Dec 1, 2023 · 615d9e7 · 615d9e7
1 parent 0196574
commit 615d9e7
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Showing 2 changed files with 40 additions and 42 deletions.
diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml
@@ -2,7 +2,8 @@ name: Build Test
 on:
   push:
     branches:
-    - 'master'
+    # - 'master'
+    - 'ros2'
   pull_request:
     branches:
     - '*'
@@ -14,8 +15,9 @@ jobs:
       fail-fast: false
       matrix:
         config:
-          - {rosdistro: 'melodic', container: 'px4io/px4-dev-ros-melodic:2021-12-11'}
-          - {rosdistro: 'noetic', container: 'px4io/px4-dev-ros-noetic:2021-12-11'}
+          - {rosdistro: 'humble', container: 'osrf/ros:humble-desktop'}
+          # - {rosdistro: 'melodic', container: 'px4io/px4-dev-ros-melodic:2021-12-11'}
+          # - {rosdistro: 'noetic', container: 'px4io/px4-dev-ros-noetic:2021-12-11'}
     container: ${{ matrix.config.container }}
     steps:
     - uses: actions/checkout@v1
@@ -31,26 +33,22 @@ jobs:
     - name: Build Test
       working-directory: 
       run: |
-        mkdir -p $HOME/catkin_ws/src;
-        cd $HOME/catkin_ws
-        catkin init
-        catkin config --extend "/opt/ros/${{matrix.config.rosdistro}}"
-        catkin config --merge-devel
-        cd $HOME/catkin_ws/src
+        mkdir -p $HOME/ros2_ws/src;
+        cd $HOME/ros2_ws
+        cd $HOME/ros2_ws/src
         ln -s $GITHUB_WORKSPACE
-        cd $HOME/catkin_ws
-        wstool init src src/grid_map_geo/dependencies.rosinstall
-        wstool update -t src -j4
+        cd $HOME/ros2_ws
+        source /opt/ros/humble/setup.bash
         rosdep update
         rosdep install --from-paths src --ignore-src -y --rosdistro ${{matrix.config.rosdistro}}
-        catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False
-        catkin build -j$(nproc) -l$(nproc) grid_map_geo
-    - name: unit_tests
-      working-directory:
-      run: |
-        cd $HOME/catkin_ws/src
-        catkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_ENABLE_TESTING=True
-        catkin build grid_map_geo --no-deps -i --catkin-make-args tests
-        source $HOME/catkin_ws/devel/setup.bash
-        status=0 && for f in $HOME/catkin_ws/devel/lib/*/*-test; do $f || exit 1; done
+        colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False --packages-up-to grid_map_geo
       shell: bash
+    # - name: unit_tests
+    #   working-directory:
+    #   run: |
+    #     cd $HOME/catkin_ws/src
+    #     catkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_ENABLE_TESTING=True
+    #     catkin build grid_map_geo --no-deps -i --catkin-make-args tests
+    #     source $HOME/catkin_ws/devel/setup.bash
+    #     status=0 && for f in $HOME/catkin_ws/devel/lib/*/*-test; do $f || exit 1; done
+    #   shell: bash
diff --git a/src/test_tif_loader.cpp b/src/test_tif_loader.cpp
@@ -48,32 +48,32 @@
 using namespace std::chrono_literals;
 
 class MapPublisher : public rclcpp::Node {
-  public:
-    MapPublisher() : Node("map_publisher") {
-      original_map_pub_ = this->create_publisher<grid_map_msgs::msg::GridMap>("elevation_map", 1);
+ public:
+  MapPublisher() : Node("map_publisher") {
+    original_map_pub_ = this->create_publisher<grid_map_msgs::msg::GridMap>("elevation_map", 1);
 
-      std::string file_path = this->declare_parameter("tif_path", ".");
-      std::string color_path = this->declare_parameter("tif_color_path", ".");
+    std::string file_path = this->declare_parameter("tif_path", ".");
+    std::string color_path = this->declare_parameter("tif_color_path", ".");
 
-      RCLCPP_INFO_STREAM(get_logger(), "file_path " << file_path);
-      RCLCPP_INFO_STREAM(get_logger(), "color_path " << color_path);
+    RCLCPP_INFO_STREAM(get_logger(), "file_path " << file_path);
+    RCLCPP_INFO_STREAM(get_logger(), "color_path " << color_path);
 
-      map_ = std::make_shared<GridMapGeo>();
-      map_->Load(file_path, false, color_path);
-      timer_ = this->create_wall_timer(5s, std::bind(&MapPublisher::timer_callback, this));
-    }
-  private:
-    void timer_callback() {
-      auto msg = grid_map::GridMapRosConverter::toMessage(map_->getGridMap());
-      original_map_pub_->publish(std::move(msg));
-    }
-    rclcpp::TimerBase::SharedPtr timer_;
-    rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr original_map_pub_;
-    std::shared_ptr<GridMapGeo> map_;
+    map_ = std::make_shared<GridMapGeo>();
+    map_->Load(file_path, false, color_path);
+    timer_ = this->create_wall_timer(5s, std::bind(&MapPublisher::timer_callback, this));
+  }
+
+ private:
+  void timer_callback() {
+    auto msg = grid_map::GridMapRosConverter::toMessage(map_->getGridMap());
+    original_map_pub_->publish(std::move(msg));
+  }
+  rclcpp::TimerBase::SharedPtr timer_;
+  rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr original_map_pub_;
+  std::shared_ptr<GridMapGeo> map_;
 };
 
 int main(int argc, char **argv) {
-
   rclcpp::init(argc, argv);
   rclcpp::spin(std::make_shared<MapPublisher>());
   rclcpp::shutdown();