Add Lint and Test CI Pipelines

.cruft.json

@@ -1,13 +1,14 @@
 {
-  "template": "git@github.com:UrbanMachine/create-ros-app.git",
-  "commit": "a4e77fcc6f6764f18d0785c030c60dda90e17ed6",
+  "template": "https://github.com/UrbanMachine/create-ros-app.git",
+  "commit": "8c8e34317b3cf0db5459958d7a50accfd0cc93cd",
   "checkout": null,
   "context": {
     "cookiecutter": {
       "email": "alex@urbanmachine.build",
       "github_username_or_org": "urbanmachine",
       "dockerhub_username_or_org": "urbanmachine",
       "project_name": "node_helpers",
+      "__project_name_slug": "node_helpers",
       "project_description": "An opinionated ROS2 framework that minimizes boilerplate while maximizing reliability. Features intuitive APIs for parameter management, action handling, and error-resilient RPC. Designed by Urban Machine for safe and scalable robotics.",
       "version": "0.5.0",
       "license": "MIT",
@@ -17,7 +18,7 @@
       "example_launch_profile": "node_helpers_showcase",
       "example_package_version": "0.5.0",
       "__example_messages_package_name": "node_helpers_msgs",
-      "_template": "git@github.com:UrbanMachine/create-ros-app.git"
+      "_template": "https://github.com/UrbanMachine/create-ros-app.git"
     }
   },
   "directory": null

.github/lint/main.py

@@ -6,13 +6,11 @@
 from .errors import CommandError
 from .lint_clang_format import lint_clang_format
 from .lint_darglint import lint_darglint
-from .lint_eslint import lint_eslint
 from .lint_mypy import lint_mypy
 from .lint_ruff import lint_ruff_check, lint_ruff_format
 from .lint_shellcheck import lint_shellcheck
 
 PYTHON_LANGUAGE = "python"
-JAVASCRIPT_LANGUAGE = "javascript"
 CPP_LANGUAGE = "cpp"
 BASH_LANGUAGE = "bash"
 ALL_LANGUAGES = "all"
@@ -26,9 +24,6 @@
         lint_darglint,
         lint_mypy,
     ],
-    JAVASCRIPT_LANGUAGE: [
-        lint_eslint,
-    ],
     CPP_LANGUAGE: [
         lint_clang_format,
     ],

.github/lint/paths.py

@@ -11,7 +11,6 @@ def required_path(path_str: str) -> Path:
 
 ROS_PATH = required_path("pkgs")
 LINT_PATH = required_path(".github/lint")
-JS_PATH = Path()
 FIRMWARE_PATH = Path()
 LAUNCH_PATH = required_path("launch-profiles")
 

.github/workflows/lint.yaml

@@ -0,0 +1,55 @@
+
+name: Lint
+
+on: [ push ]
+
+jobs:
+  check_lint:
+    runs-on: ubuntu-24.04
+
+    steps:
+      - uses: actions/checkout@v4
+      - name: pip cache
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/pip
+          key: lint-pip-${{ hashFiles('**/pyproject.toml') }}
+          restore-keys: |
+            lint-pip-
+      - name: Set up Python 3.12
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+      - name: Install Python dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install --upgrade poetry
+          poetry install
+      - name: Install Bash dependencies
+        run: sudo apt-get install --yes shellcheck
+      - name: Lint
+        run: poetry run lint --languages all --mode check
+
+  check_upstream_template:
+    runs-on: ubuntu-24.04
+
+    steps:
+      - uses: actions/checkout@v4
+      - name: pip cache
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/pip
+          key: lint-pip-${{ hashFiles('**/pyproject.toml') }}
+          restore-keys: |
+            lint-pip-
+      - name: Set up Python 3.12
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+      - name: Install Python dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install --upgrade poetry
+          poetry install
+      - name: Check Upstream Template
+        run: poetry run cruft check

.github/workflows/test.yaml

@@ -0,0 +1,138 @@
+name: Test
+
+on: [ push ]
+
+jobs:
+  # This job builds the Docker image that will be used in the following test job.
+  # It also publishes the image to the GitHub Container Registry, so every PR can
+  # have an up-to-date image by the name of ghcr.io/GITHUB_USERNAME/PROJECT_NAME:BRANCH_NAME
+  build-image:
+    runs-on: ubuntu-24.04
+    env:
+      BUILT_IMAGE_NAME: ghcr.io/urbanmachine/node_helpers
+      PROJECT_NAME: node_helpers
+
+    defaults:
+      run:
+        shell: bash
+    steps:
+      - name: Create A Unique Tag For This Image Based On Branch Name
+        id: prep
+        run: |
+          if [[ "${GITHUB_REF}" == "refs/heads/"* ]]
+          then
+            # This is a build on a branch
+            TAG=${GITHUB_REF#refs/heads/}
+          elif [[ "${GITHUB_REF}" == "refs/pull/"* ]]
+          then
+            # This is a PR build
+            TAG=${GITHUB_REF#refs/pull/}
+          elif [[ "${GITHUB_REF}" == "refs/tags/"* ]]
+          then
+            # This is a tagged build
+            TAG=${GITHUB_REF#refs/tags/}
+          else
+            echo "Unexpected reference format ${GITHUB_REF}"
+            exit 1
+          fi
+
+          # Remove slashes, since they're not allowed in Docker tags
+          TAG=$(echo "${TAG}" | sed 's#/#-#g')
+          echo "tagged_image=${BUILT_IMAGE_NAME}:${TAG}" >> $GITHUB_OUTPUT
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+      - name: Load Previous Docker Layers Cache
+        uses: actions/cache@v4
+        with:
+          path: /tmp/.buildx-cache
+          # Key is named differently to avoid collision
+          key: v1-${{ env.PROJECT_NAME }}-${{ runner.os }}-multi-buildx-${{ github.sha }}
+          restore-keys: v1-${{ env.PROJECT_NAME }}-${{ runner.os }}-multi-buildx
+      - name: Log in to GitHub Container Registry
+        run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.actor }} --password-stdin
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: Get Base Image Name
+        id: get_base_image
+        run: |
+          source .env
+          echo "base_image=${BASE_IMAGE}" >> $GITHUB_OUTPUT
+      - name: Build and push
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: docker/Dockerfile
+          push: true
+          tags: ${{ steps.prep.outputs.tagged_image }}
+          build-args: |
+            BASE_IMAGE=${{ steps.get_base_image.outputs.base_image }}
+          cache-from: type=local,src=/tmp/.buildx-cache
+          # Note the mode=max here
+          # More: https://github.com/moby/buildkit#--export-cache-options
+          # And: https://github.com/docker/buildx#--cache-tonametypetypekeyvalue
+          cache-to: type=local,mode=max,dest=/tmp/.buildx-cache-new
+      # This is done to avoid storing outdated build steps in the cache, since
+      # BuildKit never clears stuff out of the cache itself
+      - name: Move cache
+        run: |
+          rm -rf /tmp/.buildx-cache
+          mv /tmp/.buildx-cache-new /tmp/.buildx-cache
+    outputs:
+      tagged_image: ${{ steps.prep.outputs.tagged_image }}
+
+  # This job runs the colcon tests for the project
+  ros-tests:
+    needs: build-image
+    runs-on: ubuntu-24.04
+    defaults:
+      run:
+        shell: bash
+    timeout-minutes: 40
+    container:
+      image: ${{needs.build-image.outputs.tagged_image}}
+      credentials:
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+      env:
+        GITHUB_WORKSPACE: /repo/
+    steps:
+      - name: Install Git LFS
+        run: sudo apt-get update && sudo apt-get install git-lfs
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: Fix git error in the following line
+        # Caused by an update to git that dislikes when users of different ID's touch
+        # the same git directory, which happens when using a docker runner in CI
+        # This fixes test reporting in the `Generate Test Report` section
+        # https://github.blog/2022-04-12-git-security-vulnerability-announced/
+        # https://github.com/actions/checkout/issues/760
+        run: git config --global --add safe.directory ${GITHUB_WORKSPACE}
+      - name: Copy Python dependencies to github workspace
+        run: cp -r /robot/install install
+      - name: Copy Build output to github workspace
+        run: cp -r /robot/install build
+      - name: Move launch-profile files to /robot/launch-profiles so hardcoded paths work
+        run: cp -r ${GITHUB_WORKSPACE}/launch-profiles /robot/
+      - name: Run tests
+        run: |
+          enter-workspaces colcon test \
+          --base-paths pkgs \
+          --pytest-with-coverage \
+          --test-result-base test-results \
+          --pytest-args \
+            --durations=50
+      - name: Generate Test Report
+        uses: dorny/test-reporter@v1
+        if: always()
+        with:
+          name: "Test report"
+          path: test-results/**/*.xml
+          reporter: java-junit
+      - name: Report Codecov Coverage
+        uses: codecov/codecov-action@v3.1.0
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}

docker-compose.yaml

@@ -23,7 +23,8 @@ services:
       - ${VOLUMES_DIRECTORY:- 'set in .env'}/ros-nodes:/robot/persistent
       # Mounts the 'launch-profiles/LAUNCH_PROFILE' directory into '/robot/launch-profile/'
       # This way you can save configuration files from GUI's like rviz right back to your source dir
-      - "./launch-profiles/${LAUNCH_PROFILE:- 'set in docker/_shared'}:/robot/launch-profile/"
+      # LAUNCH_PROFILE is set in docker/_shared.sh
+      - "./launch-profiles/${LAUNCH_PROFILE}:/robot/launch-profile/"
       # Necessary for display passthrough
       - "/tmp/.X11-unix:/tmp/.X11-unix:rw"
       # Necessary for PulseAudio passthrough
@@ -75,8 +76,6 @@ services:
   loki:
     image: grafana/loki:3.2.1
     user: "root"
-    ports:
-      - 3100:3100
     volumes:
       - ${VOLUMES_DIRECTORY:- 'set in .env'}/loki:/loki
     <<: *common-config

docker/Dockerfile

@@ -20,7 +20,7 @@ ENV NVIDIA_DRIVER_CAPABILITIES=all
 # Set variables for caches
 ENV APT_CACHE=/var/cache/apt
 ENV PIP_CACHE=/root/.cache/pip
-ENV BUILD_CACHE=/cache/build
+ENV BUILD_CACHE=/colcon-build-cache/node_helpers/
 
 # TODO: was opengl necessary?
 
@@ -116,7 +116,7 @@ RUN --mount=type=cache,target="${BUILD_CACHE}" restore-build-cache
 # Build all packages, copying project files under a root `/robot/` directory in the container
 COPY ../launch-profiles /robot/launch-profiles
 COPY ../pkgs /robot/pkgs
-RUN enter-workspaces colcon build --symlink-install
+RUN enter-workspaces colcon build
 RUN add-workspace /robot/install/setup.bash
 
 # Move the build cache back into the Docker cache mount so it can be reused on

docker/_shared.sh

@@ -57,7 +57,8 @@ function is_stack_running() {
 # Then, the stack will be brought down.
 function deploy_and_wait {
   # Start the stack non-blockingly, because logs are best accessed via the web interface
-  LAUNCH_PROFILE="${1}" docker compose up --detach
+  export LAUNCH_PROFILE="${1}"
+  docker compose up --detach
 
   trap _catch_sigint INT
 

docker/launch

@@ -27,7 +27,7 @@ set -o nounset
 function usage {
   echo "Usage: docker/launch [--no-pull] <launch-profile>" >&2
   echo "Available launch profiles are:" >&2
-  ls -1 launch-profiles/ | sed 's/^/      - /' >&2
+  find launch-profiles/ -maxdepth 1 -type d >&2
   echo "" >&2
   echo "Read more about 'launch-profiles' under 'docs/about_template.md'" >&2
   exit 1

docker/utils/environment/restore-build-cache

@@ -1,17 +1,20 @@
 #!/usr/bin/env bash
 
-# Copies the build cache from `/cache` into a place where the build system can
+# Copies the build cache from a special dir into a place where the build system can
 # use it. Copying like this ensures that the build cache is present in the
 # final image, which is necessary for packages containing messages.
 
 set -o errexit
 set -o pipefail
 set -o nounset
 
-if [[ ! -d "/cache/build" ]]; then
+# This directory is mounted by the Dockerfile and is unique to each project.
+BUILD_CACHE=/colcon-build-cache/node_helpers/
+
+if [[ ! -d "${BUILD_CACHE}" ]]; then
   echo "Build cache directory not mounted" >&2
   exit 1
 fi
 
 rm -rf /robot/build
-cp -r /cache/build /robot/build
+cp -r ${BUILD_CACHE} /robot/build

docker/utils/environment/save-build-cache

@@ -10,10 +10,13 @@ set -o nounset
 # Makes `*` include hidden files
 shopt -s dotglob
 
-if [[ ! -d "/cache/build" ]]; then
+# This directory is mounted by the Dockerfile and is unique to each project.
+BUILD_CACHE=/colcon-build-cache/node_helpers/
+
+if [[ ! -d "${BUILD_CACHE}" ]]; then
   echo "Build cache directory not mounted" >&2
   exit 1
 fi
 
-rm -rf /cache/build/*
-cp -r /robot/build/. /cache/build/.
+rm -rf ${BUILD_CACHE}*
+cp -r /robot/build/. ${BUILD_CACHE}.

docs/about_template.md

@@ -12,7 +12,7 @@ This documentation walks through the features of the template, and how to use th
 Here's a quick guide on the features of this template
 
 ### Scripts
-- Linting and autoformatting for python (ruff), C++ (clangformat), bash (shellcheck), and javascript (eslint)
+- Linting and autoformatting for python (ruff), C++ (clangformat), bash (shellcheck)
 
   **Relevant Scripts:**
   ```shell

pkgs/node_helpers/node_helpers/__init__.py

@@ -1,4 +1,6 @@
 """**node_helpers**
 
-An opinionated ROS2 framework that minimizes boilerplate while maximizing reliability. Features intuitive APIs for parameter management, action handling, and error-resilient RPC. Designed by Urban Machine for safe and scalable robotics.
-"""
+An opinionated ROS2 framework that minimizes boilerplate while maximizing reliability.
+Features intuitive APIs for parameter management, action handling, and error-resilient
+RPC. Designed by Urban Machine for safe and scalable robotics.
+"""

pkgs/node_helpers/node_helpers/parameters/parameter_mixin.py

@@ -5,7 +5,7 @@
 
 from pydantic import BaseModel
 from pydantic_core import PydanticUndefined
-from rcl_interfaces.msg import ParameterDescriptor, SetParametersResult, ParameterValue
+from rcl_interfaces.msg import ParameterDescriptor, SetParametersResult
 from rclpy.exceptions import ParameterAlreadyDeclaredException, ParameterException
 from rclpy.node import Node
 from rclpy.parameter import Parameter