Add ament_lint tests to cmakelists instead of github workflows (backp…

…ort #7) (#8) * Add ament_lint tests to cmakelists instead of github workflows (#7) * Add ament_lint tests to cmakelists instead of github workflows * Add xmllint * Fix cpplint errors (cherry picked from commit f5fdf40) # Conflicts: # .github/workflows/ci-humble.yml * Fix merge conflict --------- Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
fictionlab · Feb 21, 2023 · ddce2ba · ddce2ba
1 parent 731d71b
commit ddce2ba
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Showing 9 changed files with 32 additions and 26 deletions.
diff --git a/.github/workflows/ci-humble.yml b/.github/workflows/ci-humble.yml
@@ -26,21 +26,3 @@ jobs:
       - name: Source tests
         uses: "ros-industrial/industrial_ci@master"
 
-  ament_lint:
-    name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
-    container:
-      image: ros:humble
-    strategy:
-      fail-fast: false
-      matrix:
-        linter: [copyright, lint_cmake, uncrustify, xmllint]
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ros-tooling/action-ros-lint@v0.1
-        with:
-          distribution: humble
-          linter: ${{ matrix.linter }}
-          package-name: |
-            aruco_opencv
-            aruco_opencv_msgs
diff --git a/aruco_opencv/CMakeLists.txt b/aruco_opencv/CMakeLists.txt
@@ -55,4 +55,9 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_package()
diff --git a/aruco_opencv/include/aruco_opencv/parameters.hpp b/aruco_opencv/include/aruco_opencv/parameters.hpp
@@ -20,6 +20,9 @@
 
 #pragma once
 
+#include <map>
+#include <string>
+
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 
@@ -220,4 +223,4 @@ void retrieve_aruco_parameters(
   }
 }
 
-} // namespace aruco_opencv
+}  // namespace aruco_opencv
diff --git a/aruco_opencv/include/aruco_opencv/utils.hpp b/aruco_opencv/include/aruco_opencv/utils.hpp
@@ -20,6 +20,7 @@
 
 #pragma once
 
+#include <string>
 #include <unordered_map>
 
 #include <opencv2/aruco.hpp>
@@ -35,4 +36,4 @@ geometry_msgs::msg::Pose convert_rvec_tvec(const cv::Vec3d & rvec, const cv::Vec
 
 extern const std::unordered_map<std::string, cv::aruco::PREDEFINED_DICTIONARY_NAME> ARUCO_DICT_MAP;
 
-} // namespace aruco_opencv
+}  // namespace aruco_opencv
diff --git a/aruco_opencv/package.xml b/aruco_opencv/package.xml
@@ -35,6 +35,13 @@
   <exec_depend>tf2_ros</exec_depend>
   <exec_depend>tf2_geometry_msgs</exec_depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_copyright</test_depend>
+  <test_depend>ament_cmake_cpplint</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_uncrustify</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

diff --git a/aruco_opencv/src/single_marker_tracker.cpp b/aruco_opencv/src/single_marker_tracker.cpp
@@ -87,7 +87,7 @@ class SingleMarkerTracker : public rclcpp_lifecycle::LifecycleNode
   std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
 
 public:
-  SingleMarkerTracker(rclcpp::NodeOptions options)
+  explicit SingleMarkerTracker(rclcpp::NodeOptions options)
   : LifecycleNode("single_marker_tracker", options),
     camera_matrix_(3, 3, CV_64FC1),
     distortion_coeffs_(4, 1, CV_64FC1, cv::Scalar(0)),
@@ -275,7 +275,7 @@ class SingleMarkerTracker : public rclcpp_lifecycle::LifecycleNode
     result.successful = true;
 
     // Validate parameters
-    for (auto & param: parameters) {
+    for (auto & param : parameters) {
       if (param.get_name() == "marker_size") {
         if (param.as_double() <= 0.0) {
           result.successful = false;
@@ -359,7 +359,7 @@ class SingleMarkerTracker : public rclcpp_lifecycle::LifecycleNode
     std::vector<int> marker_ids;
     std::vector<std::vector<cv::Point2f>> marker_corners;
 
-    // TODO: mutex
+    // TODO(bjsowa): mutex
     cv::aruco::detectMarkers(
       cv_ptr->image, dictionary_, marker_corners, marker_ids,
       detector_parameters_);
@@ -454,7 +454,7 @@ class SingleMarkerTracker : public rclcpp_lifecycle::LifecycleNode
 class SingleMarkerTrackerAutostart : public SingleMarkerTracker
 {
 public:
-  SingleMarkerTrackerAutostart(rclcpp::NodeOptions options)
+  explicit SingleMarkerTrackerAutostart(rclcpp::NodeOptions options)
   : SingleMarkerTracker(options)
   {
     auto new_state = configure();
@@ -464,7 +464,7 @@ class SingleMarkerTrackerAutostart : public SingleMarkerTracker
   }
 };
 
-} // namespace aruco_opencv
+}  // namespace aruco_opencv
 
 #include "rclcpp_components/register_node_macro.hpp"
 RCLCPP_COMPONENTS_REGISTER_NODE(aruco_opencv::SingleMarkerTracker)

diff --git a/aruco_opencv/src/utils.cpp b/aruco_opencv/src/utils.cpp
@@ -73,4 +73,4 @@ const std::unordered_map<std::string, cv::aruco::PREDEFINED_DICTIONARY_NAME> ARU
   {"APRILTAG_36h11", PREDEFINED_DICTIONARY_NAME::DICT_APRILTAG_36h11},
 };
 
-} // namespace aruco_opencv
+}  // namespace aruco_opencv
diff --git a/aruco_opencv_msgs/CMakeLists.txt b/aruco_opencv_msgs/CMakeLists.txt
@@ -12,4 +12,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   DEPENDENCIES std_msgs geometry_msgs
 )
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_package()
diff --git a/aruco_opencv_msgs/package.xml b/aruco_opencv_msgs/package.xml
@@ -24,6 +24,9 @@
 
   <exec_depend>rosidl_default_runtime</exec_depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+
   <member_of_group>rosidl_interface_packages</member_of_group>
 
   <export>