build ok

.github/workflows/build_and_test_humble.yaml

@@ -28,16 +28,10 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: ros-tooling/setup-ros@v0.7
-        #with:
-        #  use-ros2-testing: true
+        with:
+          use-ros2-testing: true
       - uses: ros-tooling/action-ros-ci@v0.3
         with:
           skip-tests: true
           target-ros2-distro: humble
-          colcon-defaults: |
-            {
-              "build": {
-                "symlink-install": false
-              }
-            }
           vcs-repo-file-url: dependencies.repos

.github/workflows/build_and_test_iron.yaml

@@ -28,16 +28,9 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: ros-tooling/setup-ros@v0.7
-        #with:
-        # use-ros2-testing: true
+        with:
+          use-ros2-testing: true
       - uses: ros-tooling/action-ros-ci@v0.3
         with:
-          skip-tests: true
           target-ros2-distro: iron
-          colcon-defaults: |
-            {
-              "build": {
-                "symlink-install": false
-              }
-            }
           vcs-repo-file-url: dependencies.repos

README.md

@@ -1,6 +1,6 @@
-[![Build (humble)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_humble.yaml/badge.svg)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_humble.yaml)
-[![Build (iron)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_iron.yaml/badge.svg)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_iron.yaml)
-[![Build (rolling)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_rolling.yaml/badge.svg)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_rolling.yaml)
+[![Build and test (humble)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_humble.yaml/badge.svg)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_humble.yaml)
+[![Build and test (iron)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_iron.yaml/badge.svg)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_iron.yaml)
+[![Build and test (rolling)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_rolling.yaml/badge.svg)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_rolling.yaml)
 
 # nao_led
 

nao_led_interfaces/CMakeLists.txt

@@ -15,17 +15,17 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/LedModes.msg"
   "action/LedsPlay.action"
   DEPENDENCIES geometry_msgs
- )
+)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights
   # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
+  #set(ament_cmake_copyright_FOUND TRUE)
   # the following line skips cpplint (only works in a git repo)
   # comment the line when this package is in a git repo and when
   # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
+  #set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
 

nao_led_interfaces/package.xml

@@ -10,14 +10,13 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>geometry_msgs</depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_clang_format</test_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>
 
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
   <export>
     <build_type>ament_cmake</build_type>
   </export>

nao_led_server/CMakeLists.txt

@@ -114,11 +114,11 @@ if(BUILD_TESTING)
 find_package(ament_lint_auto REQUIRED)
 # the following line skips the linter which checks for copyrights
 # comment the line when a copyright and license is added to all source files
-set(ament_cmake_copyright_FOUND TRUE)
+#set(ament_cmake_copyright_FOUND TRUE)
   # the following line skips cpplint (only works in a git repo)
   # comment the line when this package is in a git repo and when
   # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
+  #set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
 

nao_led_server/include/nao_led_server/led_action_client.hpp

@@ -18,68 +18,68 @@
 #include <functional>
 #include <future>
 #include <memory>
-#include <string>
 #include <sstream>
+#include <string>
 
 #include "ament_index_cpp/get_package_share_directory.hpp"
 #include "boost/filesystem.hpp"
-
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp_action/rclcpp_action.hpp"
-#include "rclcpp_components/register_node_macro.hpp"
-
+#include "nao_led_interfaces/action/leds_play.hpp"
+#include "nao_led_interfaces/msg/led_indexes.hpp"
+#include "nao_led_interfaces/msg/led_modes.hpp"
+#include "nao_lola_command_msgs/msg/chest_led.hpp"
 #include "nao_lola_command_msgs/msg/head_leds.hpp"
-#include "nao_lola_command_msgs/msg/right_eye_leds.hpp"
+#include "nao_lola_command_msgs/msg/left_ear_leds.hpp"
 #include "nao_lola_command_msgs/msg/left_eye_leds.hpp"
+#include "nao_lola_command_msgs/msg/left_foot_led.hpp"
 #include "nao_lola_command_msgs/msg/right_ear_leds.hpp"
-#include "nao_lola_command_msgs/msg/left_ear_leds.hpp"
-#include "nao_lola_command_msgs/msg/chest_led.hpp"
+#include "nao_lola_command_msgs/msg/right_eye_leds.hpp"
 #include "nao_lola_command_msgs/msg/right_foot_led.hpp"
-#include "nao_lola_command_msgs/msg/left_foot_led.hpp"
-
-#include "nao_led_interfaces/action/leds_play.hpp"
-#include "nao_led_interfaces/msg/led_indexes.hpp"
-#include "nao_led_interfaces/msg/led_modes.hpp"
-#include "nao_led_interfaces/action/leds_play.hpp"
-
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_action/rclcpp_action.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
 #include "std_msgs/msg/color_rgba.hpp"
 
-namespace nao_led_action_client {
-
-class LedsPlayActionClient : public rclcpp::Node {
-  public:
-	explicit LedsPlayActionClient(const rclcpp::NodeOptions & options = rclcpp::NodeOptions{});
-	virtual ~LedsPlayActionClient();
-
-	void eyesStatic( bool flag );
-	void headStatic( bool flag );
-	void earsStatic( bool flag );
-	void chestStatic( bool flag );
-	void earsLoop( bool flag );
-	void headLoop( bool flag );
-	void eyesLoop( bool flag );
-
-  private:
-
-	void goalResponseCallback(
-	    const rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr & goal_handle);
-	void feedbackCallback(
-	    rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr,
-	    const std::shared_ptr<const nao_led_interfaces::action::LedsPlay::Feedback> feedback);
-	void resultCallback(
-	    const rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::WrappedResult & result);
-
-
-	rclcpp_action::Client<nao_led_interfaces::action::LedsPlay>::SharedPtr client_ptr_;
-
-	rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr head_goal_handle_;
-	//std::shared_future<nao_led_interfaces::action::LedsPlay::Impl::CancelGoalService::Response::SharedPtr> head_goal_handle_;
-	rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr eyes_goal_handle_;
-	rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr ears_goal_handle_;
-
-
-}; // LedsPlayActionClient
-
-} // nao_led_action_client
-
-#endif // NAO_LED_SERVER__LED_ACTION_CLIENT_HPP_
+namespace nao_led_action_client
+{
+
+class LedsPlayActionClient : public rclcpp::Node
+{
+public:
+  explicit LedsPlayActionClient(const rclcpp::NodeOptions & options = rclcpp::NodeOptions{});
+  virtual ~LedsPlayActionClient();
+
+  void eyesStatic(bool flag);
+  void headStatic(bool flag);
+  void earsStatic(bool flag);
+  void chestStatic(bool flag);
+  void earsLoop(bool flag);
+  void headLoop(bool flag);
+  void eyesLoop(bool flag);
+
+private:
+  void goalResponseCallback(
+    const rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr &
+    goal_handle);
+  void feedbackCallback(
+    rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr,
+    const std::shared_ptr<const nao_led_interfaces::action::LedsPlay::Feedback> feedback);
+  void resultCallback(
+    const rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::WrappedResult &
+    result);
+
+  rclcpp_action::Client<nao_led_interfaces::action::LedsPlay>::SharedPtr client_ptr_;
+
+  rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr
+    head_goal_handle_;
+  // std::shared_future<nao_led_interfaces::action::LedsPlay::Impl::CancelGoalService::Response::SharedPtr>
+  // head_goal_handle_;
+  rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr
+    eyes_goal_handle_;
+  rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr
+    ears_goal_handle_;
+
+};  // LedsPlayActionClient
+
+}  // namespace nao_led_action_client
+
+#endif  // NAO_LED_SERVER__LED_ACTION_CLIENT_HPP_

nao_led_server/include/nao_led_server/led_action_server.hpp

@@ -21,97 +21,94 @@
 //#include <vector>
 #include <array>
 //#include <chrono>
-#include <string>     // std::string, std::stof
 #include <cstring>
-#include <iostream>   // std::cout
-
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp_action/rclcpp_action.hpp"
-#include "rclcpp_components/register_node_macro.hpp"
+#include <iostream>  // std::cout
+#include <string>    // std::string, std::stof
 
+#include "nao_led_interfaces/action/leds_play.hpp"
+#include "nao_led_interfaces/msg/led_indexes.hpp"
+#include "nao_led_interfaces/msg/led_modes.hpp"
+#include "nao_lola_command_msgs/msg/chest_led.hpp"
 #include "nao_lola_command_msgs/msg/head_leds.hpp"
-#include "nao_lola_command_msgs/msg/right_eye_leds.hpp"
+#include "nao_lola_command_msgs/msg/left_ear_leds.hpp"
 #include "nao_lola_command_msgs/msg/left_eye_leds.hpp"
+#include "nao_lola_command_msgs/msg/left_foot_led.hpp"
 #include "nao_lola_command_msgs/msg/right_ear_leds.hpp"
-#include "nao_lola_command_msgs/msg/left_ear_leds.hpp"
-#include "nao_lola_command_msgs/msg/chest_led.hpp"
+#include "nao_lola_command_msgs/msg/right_eye_leds.hpp"
 #include "nao_lola_command_msgs/msg/right_foot_led.hpp"
-#include "nao_lola_command_msgs/msg/left_foot_led.hpp"
-
-
-#include "nao_led_interfaces/msg/led_indexes.hpp"
-#include "nao_led_interfaces/msg/led_modes.hpp"
-#include "nao_led_interfaces/action/leds_play.hpp"
-
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_action/rclcpp_action.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
 #include "std_msgs/msg/color_rgba.hpp"
 
-
-namespace nao_led_action_server 
+namespace nao_led_action_server
 {
 
 using LedsPlay = nao_led_interfaces::action::LedsPlay;
 using GoalHandleLedsPlay = rclcpp_action::ServerGoalHandle<LedsPlay>;
 using LedIndexes = nao_led_interfaces::msg::LedIndexes;
 using LedModes = nao_led_interfaces::msg::LedModes;
 
-
-class LedsPlayActionServer : public rclcpp::Node 
+class LedsPlayActionServer : public rclcpp::Node
 {
-  public:
-	explicit LedsPlayActionServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions{});
-	virtual ~LedsPlayActionServer();
-
-  private:
-
-	rclcpp_action::Server<nao_led_interfaces::action::LedsPlay>::SharedPtr action_server_;
-	std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle_;
-
-
-	rclcpp::Publisher<nao_lola_command_msgs::msg::HeadLeds>::SharedPtr        head_pub_;
-	rclcpp::Publisher<nao_lola_command_msgs::msg::RightEyeLeds>::SharedPtr    right_eye_pub_;
-	rclcpp::Publisher<nao_lola_command_msgs::msg::LeftEyeLeds>::SharedPtr     left_eye_pub_;
-	rclcpp::Publisher<nao_lola_command_msgs::msg::RightEarLeds>::SharedPtr    right_ear_pub_;
-	rclcpp::Publisher<nao_lola_command_msgs::msg::LeftEarLeds>::SharedPtr     left_ear_pub_;
-	rclcpp::Publisher<nao_lola_command_msgs::msg::ChestLed>::SharedPtr        chest_pub_;
-	rclcpp::Publisher<nao_lola_command_msgs::msg::RightFootLed>::SharedPtr    right_foot_pub_;
-	rclcpp::Publisher<nao_lola_command_msgs::msg::LeftFootLed>::SharedPtr     left_foot_pub_;
-
-	std_msgs::msg::ColorRGBA color_off_;
-	//color_off_.r=0.0; color_off_.g=0.0; color_off_.b=0.0;
-	nao_led_interfaces::msg::LedIndexes led_indexes_msg_;
-	nao_led_interfaces::msg::LedModes led_modes_msg_;
-
-
-	rclcpp_action::GoalResponse handleGoal(
-		const rclcpp_action::GoalUUID & uuid,
-		std::shared_ptr<const nao_led_interfaces::action::LedsPlay::Goal> goal);
-
-	rclcpp_action::CancelResponse handleCancel( 
-		const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle);
-
-	void handleAccepted(
-		const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle);
-
-	void execute(
-		const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle);
-
-	void steadyMode(
-		const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle, 
-		std::array<uint8_t, 2> & leds, 
-		float frequency,
-        std::array<std_msgs::msg::ColorRGBA, 8> & colors, std::array<float, 12> & intensities);
-
-	bool blinkingMode(
-		const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle,
-	 	std::array<uint8_t, 2> & leds, float frequency,
-    	std::array<std_msgs::msg::ColorRGBA, 8> & colors);
-
-	bool loopMode(
-		const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle,
-	 	std::array<uint8_t, 2> & leds, float frequency,
-        std::array<std_msgs::msg::ColorRGBA, 8> & colors);
+public:
+  explicit LedsPlayActionServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions{});
+  virtual ~LedsPlayActionServer();
+
+private:
+  rclcpp_action::Server<nao_led_interfaces::action::LedsPlay>::SharedPtr action_server_;
+  std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>>
+  goal_handle_;
+
+  rclcpp::Publisher<nao_lola_command_msgs::msg::HeadLeds>::SharedPtr head_pub_;
+  rclcpp::Publisher<nao_lola_command_msgs::msg::RightEyeLeds>::SharedPtr right_eye_pub_;
+  rclcpp::Publisher<nao_lola_command_msgs::msg::LeftEyeLeds>::SharedPtr left_eye_pub_;
+  rclcpp::Publisher<nao_lola_command_msgs::msg::RightEarLeds>::SharedPtr right_ear_pub_;
+  rclcpp::Publisher<nao_lola_command_msgs::msg::LeftEarLeds>::SharedPtr left_ear_pub_;
+  rclcpp::Publisher<nao_lola_command_msgs::msg::ChestLed>::SharedPtr chest_pub_;
+  rclcpp::Publisher<nao_lola_command_msgs::msg::RightFootLed>::SharedPtr right_foot_pub_;
+  rclcpp::Publisher<nao_lola_command_msgs::msg::LeftFootLed>::SharedPtr left_foot_pub_;
+
+  std_msgs::msg::ColorRGBA color_off_;
+  // color_off_.r=0.0; color_off_.g=0.0; color_off_.b=0.0;
+  nao_led_interfaces::msg::LedIndexes led_indexes_msg_;
+  nao_led_interfaces::msg::LedModes led_modes_msg_;
+
+  rclcpp_action::GoalResponse handleGoal(
+    const rclcpp_action::GoalUUID & uuid,
+    std::shared_ptr<const nao_led_interfaces::action::LedsPlay::Goal> goal);
+
+  rclcpp_action::CancelResponse handleCancel(
+    const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>>
+    goal_handle);
+
+  void handleAccepted(
+    const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>>
+    goal_handle);
+
+  void execute(
+    const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>>
+    goal_handle);
+
+  void steadyMode(
+    const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>>
+    goal_handle,
+    std::array<uint8_t, 2> & leds, float frequency,
+    std::array<std_msgs::msg::ColorRGBA, 8> & colors, std::array<float, 12> & intensities);
+
+  bool blinkingMode(
+    const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>>
+    goal_handle,
+    std::array<uint8_t, 2> & leds, float frequency,
+    std::array<std_msgs::msg::ColorRGBA, 8> & colors);
+
+  bool loopMode(
+    const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>>
+    goal_handle,
+    std::array<uint8_t, 2> & leds, float frequency,
+    std::array<std_msgs::msg::ColorRGBA, 8> & colors);
 };
 
-}
+}  // namespace nao_led_action_server
 
-#endif  // NAO_LED_SERVER__LED_ACTION_SERVER_HPP_
+#endif  // NAO_LED_SERVER__LED_ACTION_SERVER_HPP_