Ci updates

.github/workflows/ci-humble.yml

@@ -26,28 +26,4 @@ jobs:
       - name: Source tests
         uses: "ros-industrial/industrial_ci@master"
         env:
-          DOWNSTREAM_WORKSPACE: "github:LeoRover/leo_desktop-ros2#humble github:LeoRover/leo_desktop-ros2#humble"
-
-  ament_lint:
-    name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
-    container:
-      image: ubuntu:jammy
-    strategy:
-      fail-fast: false
-      matrix:
-        linter: [lint_cmake, xmllint]
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ros-tooling/[email protected]
-        with:
-          required-ros-distributions: ${{ env.ROS_DISTRO }}
-      - uses: ros-tooling/[email protected]
-        with:
-          distribution: humble
-          linter: ${{ matrix.linter }}
-          package-name: |
-            leo
-            leo_description
-            leo_msgs
-            leo_teleop
+          DOWNSTREAM_WORKSPACE: "github:LeoRover/leo_desktop-ros2#humble github:LeoRover/leo_robot-ros2#humble"

leo_description/CMakeLists.txt

@@ -12,6 +12,11 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/gz_sim_resource_path.dsv")
 
 ament_package()

leo_description/package.xml

@@ -20,6 +20,10 @@
   <exec_depend>xacro</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

leo_msgs/CMakeLists.txt

@@ -14,4 +14,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   DEPENDENCIES builtin_interfaces
 )
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_package()

leo_msgs/package.xml

@@ -25,6 +25,10 @@
   <build_depend>builtin_interfaces</build_depend>
   <exec_depend>builtin_interfaces</exec_depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

leo_teleop/CMakeLists.txt

@@ -10,4 +10,9 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_package()

leo_teleop/package.xml

@@ -21,6 +21,10 @@
   <exec_depend>teleop_twist_joy</exec_depend>
   <exec_depend>teleop_twist_keyboard</exec_depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>