Implement automatic Tests

.github/dependabot.yaml

@@ -0,0 +1,6 @@
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "weekly"

.github/workflows/test_ubuntu.yaml

@@ -0,0 +1,67 @@
+name: Test on Ubuntu
+on:
+    workflow_dispatch:
+    push:
+        branches: [master]
+    pull_request:
+        branches: [master]
+
+jobs:
+    test_ubuntu:
+        strategy:
+            matrix:
+                os: [ubuntu-22.04]
+                ros-distribution: [humble]
+
+        runs-on: ${{ matrix.os }}
+
+        steps:
+        - name: Checkout source
+          uses: actions/checkout@v3
+
+        - name: Install .NET SDK 6.0
+          uses: actions/setup-dotnet@v3
+          with:
+              dotnet-version: "6"
+
+        - name: Update apt sources
+          run: sudo apt update
+
+        - name: Set locale
+          run: |
+            sudo apt install -y locales
+            sudo locale-gen en_US en_US.UTF-8
+            sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+
+        - name: Setup ROS2 apt sources
+          run: |
+            sudo apt install -y software-properties-common curl
+            sudo add-apt-repository universe
+            sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+            echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+            sudo apt update
+
+        - name: Setup ROS2
+          env:
+            LANG: en_US.UTF-8
+          run: |
+            sudo apt install -y \
+            ros-${{ matrix.ros-distribution }}-ros-base ros-dev-tools ros-${{ matrix.ros-distribution }}-test-msgs \
+            ros-${{ matrix.ros-distribution }}-fastrtps ros-${{ matrix.ros-distribution }}-rmw-fastrtps-cpp \
+            ros-${{ matrix.ros-distribution }}-cyclonedds ros-${{ matrix.ros-distribution }}-rmw-cyclonedds-cpp \
+            python3-vcstool 
+
+        - name: Invoke build script
+          env:
+            LANG: en_US.UTF-8
+          run: |
+            source /opt/ros/humble/setup.bash
+            ./get_repos.sh
+            ./build.sh --with-tests
+
+        - name: Invoke test script
+          env:
+            LANG: en_US.UTF-8
+          run: |
+            source /opt/ros/humble/setup.bash
+            ./test.sh

.github/workflows/test_windows.yaml

@@ -0,0 +1,85 @@
+name: Test on Windows
+on:
+    workflow_dispatch:
+    push:
+        branches: [master]
+    pull_request:
+        branches: [master]
+
+jobs:
+    test_windows:
+        strategy:
+            matrix:
+                os: [windows-2019]
+
+        runs-on: ${{ matrix.os }}
+
+        steps:
+        - name: Checkout source
+          uses: actions/checkout@v3
+
+        - name: Install .NET SDK 6.0
+          uses: actions/setup-dotnet@v3
+          with:
+              dotnet-version: "6"
+
+        # setup with colcon fails
+        # (probably since it is already installed in the toolscache)
+        - name: Setup Python
+          uses: actions/setup-python@v4
+          with:
+              python-version: "3.8"
+
+        - name: Install dependencies
+          shell: pwsh
+          run: |  # junction is required since Python path is hardcoded
+            New-Item -ItemType Junction -Path "C:\Python38" -Target $Env:Python3_ROOT_DIR
+            choco install --no-progress -y vcredist2013 vcredist140 openssl cmake wget
+
+        - name: Install ROS2 dependencies
+          run: |
+            wget.exe --quiet https://github.com/ros2/choco-packages/releases/download/2022-03-15/asio.1.12.1.nupkg
+            wget.exe --quiet https://github.com/ros2/choco-packages/releases/download/2022-03-15/bullet.3.17.nupkg
+            wget.exe --quiet https://github.com/ros2/choco-packages/releases/download/2022-03-15/cunit.2.1.3.nupkg
+            wget.exe --quiet https://github.com/ros2/choco-packages/releases/download/2022-03-15/eigen.3.3.4.nupkg
+            wget.exe --quiet https://github.com/ros2/choco-packages/releases/download/2022-03-15/tinyxml-usestl.2.6.2.nupkg
+            wget.exe --quiet https://github.com/ros2/choco-packages/releases/download/2022-03-15/tinyxml2.6.0.0.nupkg
+            choco install --no-progress -y --source . asio bullet cunit eigen tinyxml-usestl tinyxml2
+
+        - name: Install Python Packages
+          run: |
+            python -m pip install -U pip setuptools==59.6.0
+            python -m pip install -U catkin_pkg cryptography empy importlib-metadata lark==1.1.1 lxml matplotlib netifaces numpy opencv-python PyQt5 pillow psutil pycairo pydot pyparsing==2.4.7 pyyaml rosdistro rosdep vcstool colcon-common-extensions
+
+        - name: Setup ROS2
+          shell: pwsh
+          run: |
+            wget.exe --quiet https://github.com/ros2/ros2/releases/download/release-humble-20230213/ros2-humble-20230127-windows-release-amd64.zip
+            Expand-Archive -Path ros2-humble-20230127-windows-release-amd64.zip -DestinationPath C:\dev
+
+        - name: Invoke Windows build
+          shell: pwsh
+          run: |  # prevent cmake from searching for higher Python versions in the toolscache
+            . C:/dev/ros2-windows/setup.ps1
+            ./get_repos.ps1
+            colcon build `
+            --merge-install `
+            --event-handlers console_direct+ `
+            --cmake-args `
+            -DCMAKE_BUILD_TYPE=Release `
+            -DBUILD_TESTING=1 `
+            -DPython3_ROOT_DIR=C:/Python38 `
+            -DPython3_FIND_STRATEGY=LOCATION `
+            -DPython3_FIND_REGISTRY=NEVER `
+            --no-warn-unused-cli `
+            --packages-up-to ros2cs_tests
+          env:
+            VisualStudioVersion: "16.0"
+
+        - name: Invoke Windows test script
+          shell: pwsh
+          run: |
+            . C:/dev/ros2-windows/setup.ps1
+            ./test.ps1
+          env:
+            VisualStudioVersion: "16.0"

README-UBUNTU.md

@@ -47,8 +47,8 @@ sudo apt install patchelf
 - Clone this project
 - Source your ROS2 installation
   ```bash
-  # Change foxy to whatever version you are using
-  source /opt/ros/foxy/setup.bash
+  # Change humble to whatever version you are using
+  source /opt/ros/humble/setup.bash
   ```
 - Navigate to the top project folder and pull required repositories
   ```bash

README-WINDOWS.md

@@ -4,7 +4,7 @@
 
 ### Prerequisites
 
-*  ROS2 installed on the system (additionally you should go to [Building ROS2 section](https://docs.ros.org/en/foxy/Installation/Windows-Development-Setup.html) and check if all `pip` [Install dependencies](https://docs.ros.org/en/foxy/Installation/Windows-Development-Setup.html#install-dependencies) and [Developer tools](https://docs.ros.org/en/foxy/Installation/Windows-Development-Setup.html#install-developer-tools) are installed)
+*  ROS2 installed on the system (additionally you should go to [Building ROS2 section](https://docs.ros.org/en/humble/Installation/Windows-Development-Setup.html) and check if all [Prerequisites](https://docs.ros.org/en/humble/Installation/Windows-Development-Setup.html#installing-prerequisites) are installed.
 *  vcstool package - [see here](https://github.com/dirk-thomas/vcstool)
 *  .NET 6.0 sdk - [see here](https://dotnet.microsoft.com/download/dotnet/6.0)
 *  For tests only: xUnit testing framework - [see here](https://xunit.net/)
@@ -24,7 +24,7 @@
 ### Steps
 
 - Clone this project.
-- Source your ROS2 installation (`C:\dev\ros2_foxy\local_setup.ps1`)
+- Source your ROS2 installation (`C:\dev\ros2_humble\local_setup.ps1`)
 - Navigate to the top project folder and pull required repositories (`get_repos.ps1`)
   - You can run script with `--get-custom-messages` argument to fetch extra messages from `custom_messages.repos` file.
   - It will use `vcstool` to download required ROS2 packages. By default, this will get repositories as set in `${ROS_DISTRO}`.

README.md

@@ -18,7 +18,7 @@ Supported OSes:
 - Ubuntu 22.04 (bash)
 - Ubuntu 20.04 (bash)
 - Windows 10 (powershell)
-- Windows 11* (powershel)
+- Windows 11* (powershell)
 
 > \* ROS2 Galactic and Humble support only Windows 10 ([ROS 2 Windows system requirements](https://docs.ros.org/en/humble/Installation/Windows-Install-Binary.html#system-requirements)), but it is proven that it also works fine on Windows 11.
 
@@ -36,7 +36,7 @@ Supported ROS2 distributions:
 
 ### Generating custom messages
 
-After cloning the project and importing .repos, you can simply put your message package next to other packages in the `src/ros2` sub-folder. Then, build your project, and you have all messages generated. You can also modify and use the `custom_message.repos` template to automate the process with the `get_repos` script.
+After cloning the project and importing .repos, you can simply put your message package next to other packages in the `src/custom_packages` directory. Then, build your project, and you have all messages generated. You can also modify and use the `custom_messages.repos` template to automate the process with the `get_repos` script.
 
 ### Build instructions
 
@@ -45,6 +45,12 @@ Please follow the  OS-specific instructions for your build:
 - [Ubuntu 20.04 Instructions](README-UBUNTU.md)
 - [Windows 10 Instructions](README-WINDOWS.md)
 
+## Examples
+
+To built the examples pass the `--with-examples` flag to the OS-specific build script.
+After sourcing your ROS2 workspace you can execute examples with `ros2 run ros2cs_examples <example>`.
+Example commands are shown in the testing section.
+
 ## Testing
 
 Make sure your NuGet repositories can resolve `xUnit` dependency. You can call `dotnet nuget list source` to see your current sources for NuGet packages. Please note that `Microsoft Visual Studio Offline Packages` are usually insufficient. You can fix it by adding `nuget.org` repository: `dotnet nuget add source --name nuget.org https://api.nuget.org/v3/index.json`.
@@ -59,7 +65,7 @@ Make sure your NuGet repositories can resolve `xUnit` dependency. You can call `
     ```powershell
     test.sp1
     ```
-- Run a manual test with basic listener/publisher examples (you have to source your ROS2 first):
+- Run a manual test with basic listener/publisher examples (you have to source your ROS2 first and built with examples):
     - ubuntu
     ```bash
     ros2 run ros2cs_examples ros2cs_talker
@@ -70,7 +76,7 @@ Make sure your NuGet repositories can resolve `xUnit` dependency. You can call `
     ros2 run ros2cs_examples ros2cs_talker.exe
     ros2 run ros2cs_examples ros2cs_listener.exe
     ```
-- Run a manual performance test (you have to source your ROS2 first):
+- Run a manual performance test (you have to source your ROS2 first and built with examples):
     - ubuntu
     ```bash
     ros2 run ros2cs_examples ros2cs_performance_talker

build.ps1

@@ -8,23 +8,42 @@
     build with tests
 .PARAMETER standalone
     standalone build
+.PARAMETER with_examples
+    build with examples
 #>
 Param (
     [Parameter(Mandatory=$false)][switch]$with_tests=$false,
-    [Parameter(Mandatory=$false)][switch]$standalone=$false
+    [Parameter(Mandatory=$false)][switch]$standalone=$false,
+    [Parameter(Mandatory=$false)][switch]$with_examples=$false
 )
 
 $msg="Build started."
+$packages=,"ros2cs_core"
 $tests_switch=0
 if($with_tests) {
     $msg+=" (with tests)"
+    $packages+="ros2cs_tests"
     $tests_switch=1
 }
 $standalone_switch=0
 if($standalone) {
     $msg+=" (standalone)"
     $standalone_switch=1
 }
+if ($with_examples) {
+    $msg+=" (with examples)"
+    $packages+="ros2cs_examples"
+}
 
 Write-Host $msg -ForegroundColor Green
-colcon build --merge-install --event-handlers console_direct+ --cmake-args -DSTANDALONE_BUILD:int=$standalone_switch -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING:int=$tests_switch --no-warn-unused-cli
+&"colcon" build `
+--merge-install `
+--event-handlers console_direct+ `
+--cmake-args `
+-DSTANDALONE_BUILD:int=$standalone_switch `
+-DCMAKE_BUILD_TYPE=Release `
+-DBUILD_TESTING:int=$tests_switch `
+--no-warn-unused-cli `
+--packages-up-to `
+@packages `
+@(colcon list --names-only --base-paths src/custom_packages)

build.sh

@@ -2,27 +2,30 @@
 
 display_usage() {
     echo "Usage: "
-    echo "build.sh [--with-tests] [--standalone]"
+    echo "build.sh [--with-tests] [--standalone] [--with-examples]"
     echo ""
     echo "Options:"
     echo "--with-tests - build with tests."
     echo "--standalone - standalone version"
+    echo "--with-examples - built with examples"
 }
 
 if [ -z "${ROS_DISTRO}" ]; then
-    echo "Source your ros2 distro first (foxy, galactic, humble or rolling are supported)"
+    echo "Source your ros2 distro first (galactic, humble or rolling)"
     exit 1
 fi
 
 TESTS=0
-MSG="Build started."
 STANDALONE=OFF
+PACKAGES="ros2cs_core"
+MSG="Build started."
 
 while [[ $# -gt 0 ]]; do
   key="$1"
   case $key in
     -t|--with-tests)
       TESTS=1
+      PACKAGES="$PACKAGES ros2cs_tests"
       MSG="$MSG (with tests)"
       shift # past argument
       ;;
@@ -31,24 +34,30 @@ while [[ $# -gt 0 ]]; do
       MSG="$MSG (standalone)"
       shift # past argument
       ;;
+    -e|--with-examples)
+      PACKAGES="$PACKAGES ros2cs_examples"
+      MSG="$MSG (with examples)"
+      shift # past argument
+      ;;
     -h|--help)
       display_usage
       exit 0
-      shift # past argument
       ;;
     *)    # unknown option
       shift # past argument
       ;;
   esac
 done
 
-echo $MSG
-colcon build \
+echo "$MSG"
+colcon list --names-only --base-paths src/custom_packages \
+| xargs -P 1 -d "\n" colcon build \
 --merge-install \
 --event-handlers console_direct+ \
 --cmake-args \
 -DCMAKE_BUILD_TYPE=Release \
 -DSTANDALONE_BUILD=$STANDALONE \
 -DBUILD_TESTING=$TESTS \
 -DCMAKE_SHARED_LINKER_FLAGS="-Wl,-rpath,'\$ORIGIN',-rpath=.,--disable-new-dtags" \
---no-warn-unused-cli
+--no-warn-unused-cli \
+--packages-up-to $PACKAGES

custom_messages.repos

@@ -1,11 +1,11 @@
-# NOTE: Use this file if you want to build with custom messages that reside in a separate remote repo.
+# NOTE: Use this file if you want to build with custom packages that reside in a separate remote repo.
 # NOTE: use the following format
 
 #repositories:
-#  custom_messages/<package_name>:
+#  custom_packages/<package_name>:
 #    type: git
 #    url: <repo_url>
 #    version: <repo_branch>
-#  custom_messages/<package2_name>:
+#  custom_packages/<package2_name>:
 #    ...
 #    ...