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Developing Beluga

Table of Contents

Environment

Beluga developers use Docker containers as development environment. These containers include both project dependencies and development tooling for each of the supported platforms. Source code bind mounts afford Beluga developers the freedom of applying their own personal programming workflows to Beluga (e.g. which editor to use), so long as they are compatible with the project guidelines.

To bring up a development environment:

  1. Clone the repository. You will need git.

    git clone --recursive git@github.com:Ekumen-OS/beluga.git

  2. Build and run the development container. You will need docker-compose v2.10+.

    (cd beluga && docker/run.sh)

    To rebuild the image before starting the container, use:

    (cd beluga && docker/run.sh --build)

    To target an specific ROS distribution, use:

    (cd beluga && ROSDISTRO=humble docker/run.sh)

    Supported distributions include noetic, humble, jazzy, and rolling.

Workflow

The Beluga project started as a ROS 2 project and therefore relies on a typical ROS 2 workflow. In particular, the Beluga project subscribes to REP-2004 and aims for Quality Level 1. For development, this translates to mandatory API documentation and a 95% code coverage policy for unit and integration testing.

Within a development environment:

  1. Build and test the project. You will usually use colcon.

    cd /ws
colcon build --symlink-install
colcon test

    You may also use catkin_make_isolated and catkin-tools for ROS 1 distributions.

  2. Update package dependencies. Listed in package.xml files.

    cd /ws
rosdep update
rosdep install --from-path src

For more advanced tooling, check repository tools.

CI/CD

Every pull request and every push to the project repository main branch will be subject to a continuous integration workflow. This workflow will lint project sources, static analyze, build, and test project packages against the project platform support matrix, enforcing its code coverage policy, and build project documentation (which will be deployed to Github Pages when pushing to main).

Pull request acceptance is predicated on these checks passing.

Next Steps