Migrate to GitHub Actions [ros2]

.github/workflows/format.yml

@@ -0,0 +1,20 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+    - name: Install clang-format-10
+      run: sudo apt-get install clang-format-10
+    - uses: pre-commit/action@v2.0.0

.github/workflows/industrial_ci_action.yml

@@ -0,0 +1,27 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: BuildAndTest
+
+on: [push, pull_request]
+
+jobs:
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: foxy, ROS_REPO: main}
+          - {ROS_DISTRO: foxy, ROS_REPO: testing}
+    env:
+      CCACHE_DIR: ~/.ccache
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: actions/cache@v2
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}  
+          restore-keys: |
+            ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{ matrix.env }}

.pre-commit-config.yaml

@@ -0,0 +1,47 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.4.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+
+  - repo: local
+    hooks:
+      - id: clang-format
+        name: clang-format
+        description: Format files with ClangFormat.
+        entry: clang-format-10
+        language: system
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
+        args: ['-fallback-style=none', '-i']
+
+  - repo: local
+    hooks:
+      - id: misspelled-moveit
+        name: misspelled-moveit
+        description: MoveIt should be spelled exactly as MoveIt
+        language: pygrep
+        entry: Moveit|MoveIt!
+        exclude: .pre-commit-config.yaml|README.md

CMakeLists.txt

@@ -6,9 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 
-# Disable Wredundant-decls warnings since rosidl generates redundant function declarations
+# Disable Wredundant-decls warnings since rosidl generates redundant function
+#  declarations
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic -Wno-redundant-decls")
+  set(CMAKE_CXX_FLAGS 
+    "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic -Wno-redundant-decls")
 endif()
 
 find_package(ament_cmake REQUIRED)
@@ -126,4 +128,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 
 ament_export_dependencies(rosidl_default_runtime)
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_package()

README.md

@@ -4,4 +4,4 @@ This package includes the ROS messages specific to MoveIt
 
 ## Travis - Continuous Integration
 
-[![Build Status](https://travis-ci.org/ros-planning/moveit_msgs.svg?branch=ros2)](https://travis-ci.org/ros-planning/moveit_msgs)
+GitHub Actions: [![Format](https://github.com/ros-planning/moveit_msgs/actions/workflows/format.yml/badge.svg?branch=ros2)](https://github.com/ros-planning/moveit_msgs/actions/workflows/format.yml?branch=ros2) [![BuildAndTest](https://github.com/ros-planning/moveit_msgs/actions/workflows/industrial_ci_action.yml/badge.svg?branch=ros2)](https://github.com/ros-planning/moveit_msgs/actions/workflows/industrial_ci_action.yml?branch=ros2)

msg/CartesianPoint.msg

@@ -1,4 +1,4 @@
 # This message defines a point in a cartesian trajectory
 geometry_msgs/Pose pose
 geometry_msgs/Twist velocity
-geometry_msgs/Accel acceleration
+geometry_msgs/Accel acceleration

msg/JointConstraint.msg

@@ -7,4 +7,4 @@ float64 tolerance_above
 float64 tolerance_below
 
 # A weighting factor for this constraint (denotes relative importance to other constraints. Closer to zero means less important)
-float64 weight
+float64 weight

msg/PositionIKRequest.msg

@@ -45,4 +45,3 @@ geometry_msgs/PoseStamped[] pose_stamped_vector
 
 # Maximum allowed time for IK calculation
 builtin_interfaces/Duration timeout
-

package.xml

@@ -32,6 +32,9 @@
   <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_cmake</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

srv/LoadMap.srv

@@ -1,3 +1,3 @@
 string filename
 ---
-bool success
+bool success

srv/SaveMap.srv

@@ -3,5 +3,3 @@ string filename
 ---
 
 bool success
-
-

srv/SetPlannerParams.srv

@@ -11,4 +11,3 @@ PlannerParams params
 bool replace
 
 ---
-