Humble

.github/workflows/ci.yaml

@@ -8,7 +8,7 @@ on:
   # Run when a commit is pushed to main
   push:
     branches:
-      - main
+      - humble
 
 permissions:
   # Allow reading the source code
@@ -23,6 +23,8 @@ jobs:
     steps:
       - name: Checkout source
         uses: actions/checkout@v4
+        with:
+          submodules: 'true'
 
       - name: Setup Docker Buildx
         uses: docker/setup-buildx-action@v2
@@ -59,7 +61,7 @@ jobs:
     steps:
       - name: Unit test workspace
         run: |
-          . /opt/ros/rolling/setup.sh
+          . /opt/ros/humble/setup.sh
           . /colcon_ws/install/local_setup.sh
           colcon test --event-handlers console_direct+ --packages-select-regex fuse*
         working-directory: /colcon_ws
@@ -72,7 +74,7 @@ jobs:
         working-directory: /colcon_ws
 
   clang_tidy:
-    if: github.ref != 'refs/heads/main'
+    if: github.ref != 'refs/heads/humble'
     needs:
       # Ensure the test job runs after the build job finishes instead of attempting to run in parallel
       - build-ws
@@ -90,7 +92,8 @@ jobs:
           files: |
             **.cpp
             **.hpp
-      - run: run-clang-tidy -j $(nproc --all) -p build/ -export-fixes clang-tidy-fixes.yaml -config-file src/fuse/.clang-tidy ${{ steps.changed-cpp-files.outputs.all_changed_files }}
+      - if: ${{ steps.changed-cpp-files.outputs.all_changed_files != '' }}
+        run: run-clang-tidy -j $(nproc --all) -p build/ -export-fixes clang-tidy-fixes.yaml -config-file src/fuse/.clang-tidy ${{ steps.changed-cpp-files.outputs.all_changed_files }}
         working-directory: /colcon_ws
       - uses: asarium/[email protected]
         with:

.github/workflows/pre-commit.yaml

@@ -7,7 +7,7 @@ on:
   pull_request:
   push:
     branches:
-      - main
+      - humble
 
 jobs:
   pre-commit:

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "dependencies/tf2_2d"]
+	path = dependencies/tf2_2d
+	url = https://github.com/locusrobotics/tf2_2d.git
+[submodule "dependencies/covariance_geometry_ros"]
+	path = dependencies/covariance_geometry_ros
+	url = https://github.com/giafranchini/covariance_geometry_ros.git

Dockerfile

@@ -1,6 +1,6 @@
 # Docker setup that's used for CI.
 
-FROM osrf/ros:rolling-desktop-full
+FROM osrf/ros:humble-desktop-full
 
 # Install external packages.
 # hadolint ignore=DL3008
@@ -11,7 +11,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
       clang-tidy \
       python3-vcstool \
       # use cyclonedds instead of fastdds
-      ros-rolling-rmw-cyclonedds-cpp
+      ros-humble-rmw-cyclonedds-cpp
 
 # Create the colcon ws. For now, copy the source files into the workspace
 # so that we don't have to deal with cloning this repo, which is private.
@@ -22,9 +22,8 @@ WORKDIR /colcon_ws
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     --mount=type=cache,target=/var/lib/apt,sharing=locked \
     apt-get update && apt-get upgrade -y && \
-    . /opt/ros/rolling/setup.sh && \
-    vcs import src --input src/fuse/fuse.repos && \
-    rosdep install --from-paths src -y --ignore-src --skip-keys=mujoco && \
+    . /opt/ros/humble/setup.sh && \
+    rosdep install --from-paths src -y --ignore-src && \
     colcon build --mixin compile-commands coverage-gcc coverage-pytest
 
 # Set up final environment and entrypoint.

entrypoint.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 
-source /opt/ros/rolling/setup.bash
+source /opt/ros/humble/setup.bash
 
 if [ -f /colcon_ws/install/local_setup.bash ]
 then

fuse_core/include/fuse_core/callback_wrapper.hpp

@@ -169,19 +169,19 @@ class CallbackAdapter : public rclcpp::Waitable
   /**
    * @brief tell the CallbackGroup that this waitable is ready to execute anything
    */
-  bool is_ready(rcl_wait_set_t const& wait_set) override;
+  bool is_ready(rcl_wait_set_t* wait_set) override;
 
   /**
    * @brief add_to_wait_set is called by rclcpp during NodeWaitables::add_waitable() and
    *        CallbackGroup::add_waitable()
     waitable_ptr = std::make_shared<CallbackWrapper>();
     node->get_node_waitables_interface()->add_waitable(waitable_ptr, (rclcpp::CallbackGroup::SharedPtr) nullptr);
    */
-  void add_to_wait_set(rcl_wait_set_t& wait_set) override;
+  void add_to_wait_set(rcl_wait_set_t* wait_set) override;
 
   std::shared_ptr<void> take_data() override;
 
-  void execute(std::shared_ptr<void> const& data) override;
+  void execute(std::shared_ptr<void>& data) override;
 
   void addCallback(const std::shared_ptr<CallbackWrapperBase>& callback);
 

fuse_core/include/fuse_core/node_interfaces/node_interfaces.hpp

@@ -17,17 +17,7 @@
 
 #include <memory>
 
-#include <rclcpp/node_interfaces/node_interfaces.hpp>
-#include <rclcpp/node_interfaces/node_base_interface.hpp>
-#include <rclcpp/node_interfaces/node_clock_interface.hpp>
-#include <rclcpp/node_interfaces/node_graph_interface.hpp>
-#include <rclcpp/node_interfaces/node_logging_interface.hpp>
-#include <rclcpp/node_interfaces/node_parameters_interface.hpp>
-#include <rclcpp/node_interfaces/node_services_interface.hpp>
-#include <rclcpp/node_interfaces/node_time_source_interface.hpp>
-#include <rclcpp/node_interfaces/node_timers_interface.hpp>
-#include <rclcpp/node_interfaces/node_topics_interface.hpp>
-#include <rclcpp/node_interfaces/node_waitables_interface.hpp>
+#include "fuse_core/node_interfaces/node_interfaces_helpers.hpp"
 
 #define ALL_FUSE_CORE_NODE_INTERFACES                                                                                  \
   fuse_core::node_interfaces::Base, fuse_core::node_interfaces::Clock, fuse_core::node_interfaces::Graph,              \
@@ -39,19 +29,129 @@ namespace fuse_core
 {
 namespace node_interfaces
 {
-using Base = rclcpp::node_interfaces::NodeBaseInterface;
-using Clock = rclcpp::node_interfaces::NodeClockInterface;
-using Graph = rclcpp::node_interfaces::NodeGraphInterface;
-using Logging = rclcpp::node_interfaces::NodeLoggingInterface;
-using Parameters = rclcpp::node_interfaces::NodeParametersInterface;
-using Services = rclcpp::node_interfaces::NodeServicesInterface;
-using TimeSource = rclcpp::node_interfaces::NodeTimeSourceInterface;
-using Timers = rclcpp::node_interfaces::NodeTimersInterface;
-using Topics = rclcpp::node_interfaces::NodeTopicsInterface;
-using Waitables = rclcpp::node_interfaces::NodeWaitablesInterface;
-
-template <typename... InterfacesTs>
-using NodeInterfaces = ::rclcpp::node_interfaces::NodeInterfaces<InterfacesTs...>;
+
+/// TODO(CH3): Remove this once https://github.com/ros2/rclcpp/pull/2041 is merged and released
+
+/// A helper class for aggregating node interfaces
+template <typename... InterfaceTs>
+class NodeInterfaces : public std::enable_shared_from_this<NodeInterfaces<InterfaceTs...>>, public InterfaceTs...
+{
+  static_assert(0 != sizeof...(InterfaceTs), "Template parameters must be populated!");
+
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(NodeInterfaces)
+
+  /// Create a new NodeInterfaces object with no bound node interfaces.
+  NodeInterfaces() : InterfaceTs()...
+  {
+  }
+
+  /// Create a new NodeInterfaces object bound with the passed in node-like object's interfaces.
+  /**
+   * Specify which interfaces you want to bind using the template parameters by specifying
+   * interface support classes to use. Any unmentioned interfaces will be unavailable to bind.
+   *
+   * You may use any of the available support classes in
+   * node_interfaces/node_interfaces_helpers.hpp:
+   *   - Base:       Supports NodeBaseInterface
+   *   - Clock:      Supports NodeClockInterface
+   *   - Graph:      Supports NodeGraphInterface
+   *   - Logging:    Supports NodeLoggingInterface
+   *   - Parameters: Supports NodeParametersInterface
+   *   - Services:   Supports NodeServicesInterface
+   *   - TimeSource: Supports NodeTimeSourceInterface
+   *   - Timers:     Supports NodeTimersInterface
+   *   - Topics:     Supports NodeTopicsInterface
+   *   - Waitables:  Supports NodeWaitablesInterface
+   *
+   * Or you can define your own interface support classes!
+   *
+   * Each of the support classes should define:
+   *   - Default constructor
+   *   - Templated constructor taking NodeT
+   *   - get_node_<interface_name>_interface()
+   *   - set_node_<interface_name>_interface()
+   *
+   * Usage example:
+   *   - ```NodeInterfaces<rclcpp::node_interfaces::Base>(node)``` will bind just the
+   *        NodeBaseInterface.
+   *   - ```NodeInterfaces< rclcpp::node_interfaces::Base, rclcpp::node_interfaces::Clock>(node)```
+   *        will bind both the NodeBaseInterface and NodeClockInterface.
+   *
+   * \param[in] node Node-like object to bind the interfaces of.
+   */
+  template <typename NodeT>
+  NodeInterfaces(NodeT& node)  // NOLINT(runtime/explicit)
+    : InterfaceTs(node)...
+  {
+  }  // Implicit constructor for node-like passing to functions
+
+  /// SharedPtr Constructor
+  template <typename NodeT>
+  NodeInterfaces(std::shared_ptr<NodeT> node)  // NOLINT(runtime/explicit)
+    : InterfaceTs(node ? *node : throw std::runtime_error("Passed in NodeT is nullptr!"))...
+  {
+  }
+};
+
+/// Create a new NodeInterfaces object bound with no node interfaces.
+/**
+ * Specify which interfaces you want to bind using the template parameters by specifying
+ * interface support classes to use. Any unmentioned interfaces will be unavailable to bind.
+ *
+ * This method will return a NodeInterfaces with no bound interfaces. You must set them using
+ * ```NodeInterfaces->set_<interface_name>_interface(InterfaceT::SharedPtr interface)```
+ *
+ * See the rclcpp::node_interfaces::NodeInterfaces class for usage examples and support classes.
+ *
+ * \sa rclcpp::node_interfaces::NodeInterfaces
+ * \param[in] node Node-like object to bind the interfaces of.
+ * \returns a NodeInterfaces::SharedPtr supporting the stated interfaces, but bound with none of
+ *          them
+ */
+template <typename... InterfaceTs>
+typename NodeInterfaces<InterfaceTs...>::SharedPtr get_node_interfaces()
+{
+  static_assert(0 != sizeof...(InterfaceTs), "Template parameters must be populated!");
+  return std::make_shared<NodeInterfaces<InterfaceTs...>>();
+}
+
+/// Create a new NodeInterfaces object bound with the passed in node-like object's interfaces.
+/**
+ * Specify which interfaces you want to bind using the template parameters by specifying
+ * interface support classes to use. Any unmentioned interfaces will be unavailable to bind.
+ *
+ * See the rclcpp::node_interfaces::NodeInterfaces class for usage examples and support classes.
+ *
+ * \sa rclcpp::node_interfaces::NodeInterfaces
+ * \param[in] node Node-like object to bind the interfaces of.
+ * \returns a NodeInterfaces::SharedPtr bound with the node-like objects's interfaces
+ */
+template <typename... InterfaceTs, typename NodeT>
+typename NodeInterfaces<InterfaceTs...>::SharedPtr get_node_interfaces(NodeT& node)
+{
+  static_assert(0 != sizeof...(InterfaceTs), "Template parameters must be populated!");
+  return std::make_shared<NodeInterfaces<InterfaceTs...>>(node);
+}
+
+/// Create a new NodeInterfaces object bound with the passed in node-like shared_ptr's interfaces.
+/**
+ * Specify which interfaces you want to bind using the template parameters by specifying
+ * interface support classes to use. Any unmentioned interfaces will be unavailable to bind.
+ *
+ * See the rclcpp::node_interfaces::NodeInterfaces class for usage examples and support classes.
+ *
+ * \sa rclcpp::node_interfaces::NodeInterfaces
+ * \param[in] node Node-like object to bind the interfaces of.
+ * \returns a NodeInterfaces::SharedPtr bound with the node-like objects's interfaces
+ */
+template <typename... InterfaceTs, typename NodeT>
+typename NodeInterfaces<InterfaceTs...>::SharedPtr get_node_interfaces(std::shared_ptr<NodeT> node)
+{
+  static_assert(0 != sizeof...(InterfaceTs), "Template parameters must be populated!");
+  return std::make_shared<NodeInterfaces<InterfaceTs...>>(node);
+}
+
 }  // namespace node_interfaces
 }  // namespace fuse_core