mirror of
https://github.com/bjoernellens1/cps_loki_bringup.git
synced 2024-11-22 07:33:47 +00:00
initial commit
This commit is contained in:
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c37e0fa0d9
commit
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22
.vscode/c_cpp_properties.json
vendored
Normal file
22
.vscode/c_cpp_properties.json
vendored
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@ -0,0 +1,22 @@
|
||||
{
|
||||
"configurations": [
|
||||
{
|
||||
"browse": {
|
||||
"databaseFilename": "${default}",
|
||||
"limitSymbolsToIncludedHeaders": false
|
||||
},
|
||||
"includePath": [
|
||||
"/home/bjorn/Documents/ros-projects/cps_bot_mini_ws/install/odrive_hardware_interface/include/**",
|
||||
"/opt/ros/humble/include/**",
|
||||
"/home/bjorn/Documents/ros-projects/cps_bot_mini_ws/src/odrive_ros2_control/odrive_hardware_interface/include/**",
|
||||
"/usr/include/**"
|
||||
],
|
||||
"name": "ROS",
|
||||
"intelliSenseMode": "gcc-x64",
|
||||
"compilerPath": "/usr/bin/gcc",
|
||||
"cStandard": "gnu11",
|
||||
"cppStandard": "c++14"
|
||||
}
|
||||
],
|
||||
"version": 4
|
||||
}
|
||||
14
.vscode/settings.json
vendored
Normal file
14
.vscode/settings.json
vendored
Normal file
@ -0,0 +1,14 @@
|
||||
{
|
||||
"python.autoComplete.extraPaths": [
|
||||
"/home/bjorn/Documents/ros-projects/cps_bot_mini_ws/install/rmp220_teleop/lib/python3.10/site-packages",
|
||||
"/home/bjorn/Documents/ros-projects/cps_bot_mini_ws/install/cam_opencv/lib/python3.10/site-packages",
|
||||
"/opt/ros/humble/lib/python3.10/site-packages",
|
||||
"/opt/ros/humble/local/lib/python3.10/dist-packages"
|
||||
],
|
||||
"python.analysis.extraPaths": [
|
||||
"/home/bjorn/Documents/ros-projects/cps_bot_mini_ws/install/rmp220_teleop/lib/python3.10/site-packages",
|
||||
"/home/bjorn/Documents/ros-projects/cps_bot_mini_ws/install/cam_opencv/lib/python3.10/site-packages",
|
||||
"/opt/ros/humble/lib/python3.10/site-packages",
|
||||
"/opt/ros/humble/local/lib/python3.10/dist-packages"
|
||||
]
|
||||
}
|
||||
0
bot_mini_bringup/__init__.py
Normal file
0
bot_mini_bringup/__init__.py
Normal file
176
config/bot_mini.rviz
Normal file
176
config/bot_mini.rviz
Normal file
@ -0,0 +1,176 @@
|
||||
Panels:
|
||||
- Class: rviz_common/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /RobotModel1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 549
|
||||
- Class: rviz_common/Selection
|
||||
Name: Selection
|
||||
- Class: rviz_common/Tool Properties
|
||||
Expanded:
|
||||
- /2D Goal Pose1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz_common/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz_common/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz_default_plugins/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz_default_plugins/RobotModel
|
||||
Collision Enabled: false
|
||||
Description File: ""
|
||||
Description Source: Topic
|
||||
Description Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: ""
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: ""
|
||||
Mass Properties:
|
||||
Inertia: false
|
||||
Mass: false
|
||||
Name: RobotModel
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz_default_plugins/Image
|
||||
Enabled: false
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Image
|
||||
Normalize Range: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: ""
|
||||
Value: false
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: map
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz_default_plugins/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz_default_plugins/MoveCamera
|
||||
- Class: rviz_default_plugins/Select
|
||||
- Class: rviz_default_plugins/FocusCamera
|
||||
- Class: rviz_default_plugins/Measure
|
||||
Line color: 128; 128; 0
|
||||
- Class: rviz_default_plugins/SetInitialPose
|
||||
Covariance x: 0.25
|
||||
Covariance y: 0.25
|
||||
Covariance yaw: 0.06853891909122467
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /initialpose
|
||||
- Class: rviz_default_plugins/SetGoal
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /goal_pose
|
||||
- Class: rviz_default_plugins/PublishPoint
|
||||
Single click: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /clicked_point
|
||||
Transformation:
|
||||
Current:
|
||||
Class: rviz_default_plugins/TF
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz_default_plugins/Orbit
|
||||
Distance: 10
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.785398006439209
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 0.785398006439209
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 846
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
Image:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000231000000bc0000002800ffffff000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1200
|
||||
X: 2132
|
||||
Y: 96
|
||||
15
config/twist_mux.yaml
Normal file
15
config/twist_mux.yaml
Normal file
@ -0,0 +1,15 @@
|
||||
twist_mux:
|
||||
ros__parameters:
|
||||
topics:
|
||||
navigation:
|
||||
topic : cmd_vel
|
||||
timeout : 0.5
|
||||
priority: 10
|
||||
tracker:
|
||||
topic : cmd_vel_tracker
|
||||
timeout : 0.5
|
||||
priority: 20
|
||||
joystick:
|
||||
topic : cmd_vel_joy
|
||||
timeout : 0.5
|
||||
priority: 100
|
||||
88
launch/joy_bot_mini.launch.py
Normal file
88
launch/joy_bot_mini.launch.py
Normal file
@ -0,0 +1,88 @@
|
||||
# Copyright 2022 Factor Robotics
|
||||
#
|
||||
# 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 launch import LaunchDescription
|
||||
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
robot_description_content = Command(
|
||||
[
|
||||
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
||||
" ",
|
||||
PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare("odrive_demo_description"),
|
||||
"urdf",
|
||||
"odrive_diffbot.urdf.xacro"
|
||||
]
|
||||
),
|
||||
]
|
||||
)
|
||||
robot_description = {"robot_description": robot_description_content}
|
||||
|
||||
robot_controllers = PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare("odrive_demo_bringup"),
|
||||
"config",
|
||||
"diffbot_controllers.yaml",
|
||||
]
|
||||
)
|
||||
|
||||
control_node = Node(
|
||||
package="controller_manager",
|
||||
executable="ros2_control_node",
|
||||
parameters=[robot_description, robot_controllers],
|
||||
output="both",
|
||||
)
|
||||
|
||||
robot_state_pub_node = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
output="both",
|
||||
parameters=[robot_description],
|
||||
)
|
||||
|
||||
joint_state_broadcaster_spawner = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
|
||||
)
|
||||
|
||||
robot_controller_spawner = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["diffbot_base_controller", "-c", "/controller_manager"],
|
||||
)
|
||||
|
||||
joystick_spawner = Node(
|
||||
package="joy",
|
||||
executable="joy_node"
|
||||
)
|
||||
|
||||
teleop_spawner = Node(
|
||||
package="rmp220_teleop",
|
||||
executable="rmp220_teleop"
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
control_node,
|
||||
robot_state_pub_node,
|
||||
joint_state_broadcaster_spawner,
|
||||
robot_controller_spawner,
|
||||
joystick_spawner,
|
||||
teleop_spawner
|
||||
])
|
||||
138
launch/sim_bot_mini.launch.py
Normal file
138
launch/sim_bot_mini.launch.py
Normal file
@ -0,0 +1,138 @@
|
||||
# Copyright 2022 Factor Robotics
|
||||
#
|
||||
# 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 launch import LaunchDescription
|
||||
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
import os
|
||||
from launch.actions import IncludeLaunchDescription
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
robot_description_content = Command(
|
||||
[
|
||||
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
||||
" ",
|
||||
PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare("odrive_demo_description"),
|
||||
"urdf",
|
||||
"odrive_diffbot.urdf.xacro"
|
||||
]
|
||||
),
|
||||
]
|
||||
)
|
||||
robot_description = {"robot_description": robot_description_content}
|
||||
|
||||
robot_controllers = PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare("odrive_demo_bringup"),
|
||||
"config",
|
||||
"diffbot_controllers.yaml",
|
||||
]
|
||||
)
|
||||
|
||||
rviz_config_file = PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare("bot_mini_bringup"),
|
||||
"config",
|
||||
"bot_mini.rviz"
|
||||
]
|
||||
)
|
||||
|
||||
control_node = Node(
|
||||
package="controller_manager",
|
||||
executable="ros2_control_node",
|
||||
parameters=[robot_description, robot_controllers],
|
||||
output="both",
|
||||
)
|
||||
|
||||
robot_state_pub_node = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
output="both",
|
||||
parameters=[robot_description],
|
||||
)
|
||||
|
||||
joint_state_broadcaster_spawner = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
|
||||
)
|
||||
|
||||
robot_controller_spawner = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["diffbot_base_controller", "-c", "/controller_manager"],
|
||||
)
|
||||
|
||||
rviz_node = Node(
|
||||
package="rviz2",
|
||||
executable="rviz2",
|
||||
name="rviz2",
|
||||
arguments=["-d", rviz_config_file],
|
||||
)
|
||||
|
||||
package_name='bot_mini_bringup'
|
||||
gazebo_params_file = os.path.join(get_package_share_directory(package_name),'config','gazebo_params.yaml')
|
||||
|
||||
# Include the Gazebo launch file, provided by the gazebo_ros package
|
||||
gazebo = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource([os.path.join(
|
||||
get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),
|
||||
launch_arguments={'extra_gazebo_args': '--ros-args --params-file ' + gazebo_params_file}.items()
|
||||
)
|
||||
|
||||
# Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot.
|
||||
spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
|
||||
arguments=['-topic', 'robot_description',
|
||||
'-entity', 'my_bot'],
|
||||
output='screen')
|
||||
|
||||
|
||||
diff_drive_spawner = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["diff_cont"],
|
||||
)
|
||||
|
||||
joint_broad_spawner = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["joint_broad"],
|
||||
)
|
||||
|
||||
twist_mux_params = os.path.join(get_package_share_directory(package_name),'config','twist_mux.yaml')
|
||||
twist_mux = Node(
|
||||
package="twist_mux",
|
||||
executable="twist_mux",
|
||||
parameters=[twist_mux_params, {'use_sim_time': True}],
|
||||
remappings=[('/cmd_vel_out','/diff_cont/cmd_vel_unstamped')]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
#control_node,
|
||||
robot_state_pub_node,
|
||||
joint_state_broadcaster_spawner,
|
||||
#robot_controller_spawner,
|
||||
rviz_node,
|
||||
gazebo,
|
||||
spawn_entity,
|
||||
diff_drive_spawner,
|
||||
#joint_broad_spawner,
|
||||
twist_mux
|
||||
])
|
||||
21
package.xml
Normal file
21
package.xml
Normal file
@ -0,0 +1,21 @@
|
||||
<?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>bot_mini_bringup</name>
|
||||
<version>0.0.0</version>
|
||||
<description>TODO: Package description</description>
|
||||
<maintainer email="bjoern.ellensohn@gmail.com">bjorn</maintainer>
|
||||
<license>TODO: License declaration</license>
|
||||
|
||||
<test_depend>ament_copyright</test_depend>
|
||||
<test_depend>ament_flake8</test_depend>
|
||||
<test_depend>ament_pep257</test_depend>
|
||||
<test_depend>python3-pytest</test_depend>
|
||||
|
||||
<exec_depend>odrive_demo_description</exec_depend>
|
||||
<exec_depend>rmp220_teleop</exec_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_python</build_type>
|
||||
</export>
|
||||
</package>
|
||||
0
resource/bot_mini_bringup
Normal file
0
resource/bot_mini_bringup
Normal file
4
setup.cfg
Normal file
4
setup.cfg
Normal file
@ -0,0 +1,4 @@
|
||||
[develop]
|
||||
script_dir=$base/lib/bot_mini_bringup
|
||||
[install]
|
||||
install_scripts=$base/lib/bot_mini_bringup
|
||||
28
setup.py
Normal file
28
setup.py
Normal file
@ -0,0 +1,28 @@
|
||||
from setuptools import setup
|
||||
import os
|
||||
from glob import glob
|
||||
|
||||
package_name = 'bot_mini_bringup'
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version='0.0.1',
|
||||
packages=[package_name],
|
||||
data_files=[
|
||||
('share/ament_index/resource_index/packages',
|
||||
['resource/' + package_name]),
|
||||
('share/' + package_name, ['package.xml']),
|
||||
(os.path.join('share', package_name), glob('launch/*.launch.py')),
|
||||
],
|
||||
install_requires=['setuptools'],
|
||||
zip_safe=True,
|
||||
maintainer='bjorn',
|
||||
maintainer_email='bjoern.ellensohn@gmail.com',
|
||||
description='Launch Files for CPS Robot Mini',
|
||||
license='TODO: License declaration',
|
||||
tests_require=['pytest'],
|
||||
entry_points={
|
||||
'console_scripts': [
|
||||
],
|
||||
},
|
||||
)
|
||||
25
test/test_copyright.py
Normal file
25
test/test_copyright.py
Normal file
@ -0,0 +1,25 @@
|
||||
# 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
|
||||
|
||||
|
||||
# Remove the `skip` decorator once the source file(s) have a copyright header
|
||||
@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
|
||||
@pytest.mark.copyright
|
||||
@pytest.mark.linter
|
||||
def test_copyright():
|
||||
rc = main(argv=['.', 'test'])
|
||||
assert rc == 0, 'Found errors'
|
||||
25
test/test_flake8.py
Normal file
25
test/test_flake8.py
Normal file
@ -0,0 +1,25 @@
|
||||
# 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_with_errors
|
||||
import pytest
|
||||
|
||||
|
||||
@pytest.mark.flake8
|
||||
@pytest.mark.linter
|
||||
def test_flake8():
|
||||
rc, errors = main_with_errors(argv=[])
|
||||
assert rc == 0, \
|
||||
'Found %d code style errors / warnings:\n' % len(errors) + \
|
||||
'\n'.join(errors)
|
||||
23
test/test_pep257.py
Normal file
23
test/test_pep257.py
Normal file
@ -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'
|
||||
Loading…
Reference in New Issue
Block a user