Add coverage and fix lint

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>

.github/actions/build-and-test/action.yaml

@@ -35,6 +35,11 @@ runs:
             "build": {
               "cmake-args": [
                   "-DINTEGRATION_TESTING=${{ inputs.integration-testing }}"
-              ]
+              ],
+              "mixin": ["coverage-pytest"]
+            },
+            "test": {
+              "mixin": ["coverage-pytest"]
             }
           }
+        colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml

.github/workflows/integration-tests.yaml

@@ -34,3 +34,19 @@ jobs:
       - name: Stop test fixture containers
         if: always()
         run: docker-compose -f ".github/docker/integration-tests/docker-compose.yaml" down
+
+      - name: Upload failed test results
+        uses: actions/upload-artifact@v2
+        if: failure()
+        with:
+          name: test-results
+          path: ros_ws/build/*/test_results/*/*.catch2.xml
+
+      - name: Upload coverage to Codecov
+        uses: codecov/codecov-action@v4
+        with:
+          files: ros_ws/coveragepy/.coverage
+          flags: tests
+          fail_ci_if_error: true
+        env:
+          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

.github/workflows/unit-tests.yaml

@@ -22,3 +22,19 @@ jobs:
           ros-distribution: ${{ matrix.ros_distribution }}
           zenoh-version: 1.0.1
           integration-testing: OFF
+
+      - name: Upload failed test results
+        uses: actions/upload-artifact@v2
+        if: failure()
+        with:
+          name: test-results
+          path: ros_ws/build/*/test_results/*/*.catch2.xml
+
+      - name: Upload coverage to Codecov
+        uses: codecov/codecov-action@v4
+        with:
+          files: ros_ws/coveragepy/.coverage
+          flags: tests
+          fail_ci_if_error: true
+        env:
+          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

codecov.yaml

@@ -0,0 +1,16 @@
+# coverage:
+#   precision: 2
+#   round: down
+#   range: "35...100"
+#   status:
+#     project:
+#       default:
+#         informational: true
+#     patch: off
+fixes:
+  - "ros_ws/src/*/free_fleet/free_fleet/::"
+  - "ros_ws/src/*/free_fleet/free_fleet_adapter/::"
+  - "ros_ws/src/*/free_fleet/free_fleet_examples/::"
+# comment:
+#   layout: "diff, flags, files"
+#   behavior: default

free_fleet_adapter/tests/integration/test_nav2_robot_adapter.py

@@ -17,8 +17,8 @@
 import time
 
 from free_fleet_adapter.nav2_robot_adapter import Nav2RobotAdapter
-from tf2_ros import Buffer
 import rclpy
+from tf2_ros import Buffer
 from rclpy.node import Node
 
 import zenoh

free_fleet_adapter/tests/integration/test_nav2_tf_handler.py

@@ -17,8 +17,8 @@
 import time
 
 from free_fleet_adapter.nav2_robot_adapter import Nav2TfHandler
-from tf2_ros import Buffer
 import rclpy
+from tf2_ros import Buffer
 from rclpy.node import Node
 
 import zenoh