Merge pull request #651 from ROBOTIS-GIT/ros2-devel

prepare ROS2 release
ROBOTIS-GIT · Oct 15, 2020 · 2e117c7 · 2e117c7
2 parents fb6b9ac + 0b93a2f
commit 2e117c7
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diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
@@ -0,0 +1,57 @@
+name: Lint
+
+# Controls when the action will run. Triggers the workflow on push or pull request
+on:
+  push:
+    branches: [ ros2, ros2-devel, dashing-devel, eloquent-devel, foxy-devel ]
+  pull_request:
+    branches: [ ros2, ros2-devel ]
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  ament_lint_bionic:
+    runs-on: ubuntu-18.04
+    strategy:
+      fail-fast: false
+      matrix:
+        linter: [copyright, cppcheck, cpplint, uncrustify, pep8, pep257, xmllint]
+        distribution: [dashing, eloquent]
+    steps:
+      - uses: actions/checkout@v2
+      - uses: ros-tooling/setup-ros@master
+      - uses: ros-tooling/action-ros-lint@master
+        with:
+          distribution: ${{ matrix.distribution }}
+          linter: ${{ matrix.linter }}
+          package-name: |
+            turtlebot3
+            turtlebot3_bringup
+            turtlebot3_cartographer
+            turtlebot3_description
+            turtlebot3_example
+            turtlebot3_navigation2
+            turtlebot3_node
+            turtlebot3_teleop
+  ament_lint_focal:
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+        linter: [copyright, cppcheck, cpplint, uncrustify, pep257, xmllint] #todo : flake8 
+        distribution: [foxy]
+    steps:
+      - uses: actions/checkout@v2
+      - uses: ros-tooling/setup-ros@master
+      - uses: ros-tooling/action-ros-lint@master
+        with:
+          distribution: ${{ matrix.distribution }}
+          linter: ${{ matrix.linter }}
+          package-name: |
+            turtlebot3
+            turtlebot3_bringup
+            turtlebot3_cartographer
+            turtlebot3_description
+            turtlebot3_example
+            turtlebot3_navigation2
+            turtlebot3_node
+            turtlebot3_teleop
diff --git a/.travis.yml b/.travis.yml
@@ -26,4 +26,4 @@ matrix:
   include:
     - script: .ros2ci/travis.bash dashing
     - script: .ros2ci/travis.bash eloquent
-    - script: .ros2ci/travis.bash nightly
+    - script: .ros2ci/travis.bash foxy
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -0,0 +1,18 @@
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0.html):
+
+~~~
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+~~~
+
+Contributors must sign-off each commit by adding a `Signed-off-by: ...`
+line to commit messages to certify that they have the right to submit
+the code they are contributing to the project according to the
+[Developer Certificate of Origin (DCO)](https://developercertificate.org/).
diff --git a/LICENSE b/LICENSE
@@ -1,3 +1,4 @@
+
                                  Apache License
                            Version 2.0, January 2004
                         http://www.apache.org/licenses/
@@ -178,15 +179,15 @@
    APPENDIX: How to apply the Apache License to your work.
 
       To apply the Apache License to your work, attach the following
-      boilerplate notice, with the fields enclosed by brackets "{}"
+      boilerplate notice, with the fields enclosed by brackets "[]"
       replaced with your own identifying information. (Don't include
       the brackets!)  The text should be enclosed in the appropriate
       comment syntax for the file format. We also recommend that a
       file or class name and description of purpose be included on the
       same "printed page" as the copyright notice for easier
       identification within third-party archives.
 
-   Copyright {yyyy} {name of copyright owner}
+   Copyright [yyyy] [name of copyright owner]
 
    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
@@ -199,3 +200,4 @@
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
    limitations under the License.
+
diff --git a/turtlebot3/package.xml b/turtlebot3/package.xml
@@ -6,15 +6,14 @@
   <description>
     ROS 2 packages for TurtleBot3
   </description>
+  <maintainer email="[email protected]">Will Son</maintainer>
   <license>Apache 2.0</license>
+  <url type="website">http://turtlebot3.robotis.com</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3</url>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3/issues</url>
   <author email="[email protected]">Darby Lim</author>
   <author email="[email protected]">Ryan Shim</author>
   <author email="[email protected]">Pyo</author>
-  <maintainer email="[email protected]">Will Son</maintainer>
-  <url type="website">http://wiki.ros.org/turtlebot3_description</url>
-  <url type="emanual">http://turtlebot3.robotis.com</url>
-  <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3</url>
-  <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3/issues</url>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <exec_depend>turtlebot3_bringup</exec_depend>
   <exec_depend>turtlebot3_cartographer</exec_depend>

diff --git a/turtlebot3_bringup/launch/robot.launch.py b/turtlebot3_bringup/launch/robot.launch.py
@@ -48,9 +48,9 @@ def generate_launch_description():
 
     return LaunchDescription([
         DeclareLaunchArgument(
-           'use_sim_time',
-           default_value=use_sim_time,
-           description='Use simulation (Gazebo) clock if true'),
+            'use_sim_time',
+            default_value=use_sim_time,
+            description='Use simulation (Gazebo) clock if true'),
 
         DeclareLaunchArgument(
             'usb_port',

diff --git a/turtlebot3_bringup/launch/rviz2.launch.py b/turtlebot3_bringup/launch/rviz2.launch.py
@@ -25,9 +25,9 @@
 
 def generate_launch_description():
     rviz_config_dir = os.path.join(
-            get_package_share_directory('turtlebot3_description'),
-            'rviz',
-            'model.rviz')
+        get_package_share_directory('turtlebot3_description'),
+        'rviz',
+        'model.rviz')
 
     return LaunchDescription([
         Node(

diff --git a/turtlebot3_bringup/package.xml b/turtlebot3_bringup/package.xml
@@ -6,14 +6,13 @@
   <description>
     ROS 2 launch scripts for starting the TurtleBot3
   </description>
-  <license>Apache 2.0</license>
-  <author email="[email protected]">Darby Lim</author>
-  <author email="[email protected]">Pyo</author>
   <maintainer email="[email protected]">Will Son</maintainer>
-  <url type="website">http://wiki.ros.org/turtlebot3_bringup</url>
-  <url type="emanual">http://turtlebot3.robotis.com</url>
+  <license>Apache 2.0</license>
+  <url type="website">http://turtlebot3.robotis.com</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3</url>
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3/issues</url>
+  <author email="[email protected]">Darby Lim</author>
+  <author email="[email protected]">Pyo</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <exec_depend>hls_lfcd_lds_driver</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>

diff --git a/turtlebot3_cartographer/launch/cartographer.launch.py b/turtlebot3_cartographer/launch/cartographer.launch.py
@@ -11,7 +11,7 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-
+#
 # Author: Darby Lim
 
 import os
@@ -24,17 +24,20 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import ThisLaunchFileDir
 
+
 def generate_launch_description():
     use_sim_time = LaunchConfiguration('use_sim_time', default='false')
     turtlebot3_cartographer_prefix = get_package_share_directory('turtlebot3_cartographer')
-    cartographer_config_dir = LaunchConfiguration('cartographer_config_dir', 
-                                                    default=os.path.join(turtlebot3_cartographer_prefix, 'config'))
-    configuration_basename = LaunchConfiguration('configuration_basename', default='turtlebot3_lds_2d.lua')
+    cartographer_config_dir = LaunchConfiguration('cartographer_config_dir', default=os.path.join(
+                                                  turtlebot3_cartographer_prefix, 'config'))
+    configuration_basename = LaunchConfiguration('configuration_basename',
+                                                 default='turtlebot3_lds_2d.lua')
 
     resolution = LaunchConfiguration('resolution', default='0.05')
     publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')
 
-    rviz_config_dir = os.path.join(get_package_share_directory('turtlebot3_cartographer'), 'rviz', 'tb3_cartographer.rviz')
+    rviz_config_dir = os.path.join(get_package_share_directory('turtlebot3_cartographer'),
+                                   'rviz', 'tb3_cartographer.rviz')
 
     return LaunchDescription([
         DeclareLaunchArgument(
@@ -56,7 +59,8 @@ def generate_launch_description():
             node_name='cartographer_node',
             output='screen',
             parameters=[{'use_sim_time': use_sim_time}],
-            arguments=['-configuration_directory', cartographer_config_dir, '-configuration_basename', configuration_basename]),
+            arguments=['-configuration_directory', cartographer_config_dir,
+                       '-configuration_basename', configuration_basename]),
 
         DeclareLaunchArgument(
             'resolution',
@@ -70,7 +74,8 @@ def generate_launch_description():
 
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/occupancy_grid.launch.py']),
-            launch_arguments={'use_sim_time': use_sim_time, 'resolution': resolution, 'publish_period_sec': publish_period_sec}.items(),
+            launch_arguments={'use_sim_time': use_sim_time, 'resolution': resolution,
+                              'publish_period_sec': publish_period_sec}.items(),
         ),
 
         Node(

diff --git a/turtlebot3_cartographer/launch/occupancy_grid.launch.py b/turtlebot3_cartographer/launch/occupancy_grid.launch.py
@@ -11,14 +11,15 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-
+#
 # Author: Darby Lim
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch_ros.actions import Node
 from launch.substitutions import LaunchConfiguration
 
+
 def generate_launch_description():
     use_sim_time = LaunchConfiguration('use_sim_time', default='false')
     resolution = LaunchConfiguration('resolution', default='0.05')

diff --git a/turtlebot3_cartographer/package.xml b/turtlebot3_cartographer/package.xml
@@ -6,14 +6,13 @@
   <description>
     ROS 2 launch scripts for cartographer
   </description>
-  <license>Apache 2.0</license>
-  <author email="[email protected]">Darby Lim</author>
-  <author email="[email protected]">Pyo</author>
   <maintainer email="[email protected]">Will Son</maintainer>
-  <url type="website">http://wiki.ros.org/turtlebot3_bringup</url>
-  <url type="emanual">http://turtlebot3.robotis.com</url>
+  <license>Apache 2.0</license>
+  <url type="website">http://turtlebot3.robotis.com</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3</url>
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3/issues</url>
+  <author email="[email protected]">Darby Lim</author>
+  <author email="[email protected]">Pyo</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <exec_depend>cartographer_ros</exec_depend>
   <export>

diff --git a/turtlebot3_description/package.xml b/turtlebot3_description/package.xml
@@ -6,14 +6,13 @@
   <description>
     3D models of the TurtleBot3 for simulation and visualization
   </description>
-  <license>Apache 2.0</license>
-  <author email="[email protected]">Darby Lim</author>
-  <author email="[email protected]">Pyo</author>
   <maintainer email="[email protected]">Will Son</maintainer>
-  <url type="website">http://wiki.ros.org/turtlebot3_description</url>
-  <url type="emanual">http://turtlebot3.robotis.com</url>
+  <license>Apache 2.0</license>
+  <url type="website">http://turtlebot3.robotis.com</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3</url>
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3/issues</url>
+  <author email="[email protected]">Darby Lim</author>
+  <author email="[email protected]">Pyo</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>urdf</depend>
   <export>

diff --git a/turtlebot3_example/package.xml b/turtlebot3_example/package.xml
@@ -6,14 +6,13 @@
   <description>
     This package provides four basic examples for TurtleBot3 (i.e., interactive marker, object detection, patrol and position control).
   </description>
-  <author email="[email protected]">Ryan Shim</author>
-  <author email="[email protected]">Gilbert</author>
   <maintainer email="[email protected]">Will Son</maintainer>
   <license>Apache 2.0</license>
-  <url type="website">http://wiki.ros.org/turtlebot3_example</url>
-  <url type="emanual">http://turtlebot3.robotis.com</url>
+  <url type="website">http://turtlebot3.robotis.com</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3</url>
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3/issues</url>
+  <author email="[email protected]">Ryan Shim</author>
+  <author email="[email protected]">Gilbert</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>

diff --git a/turtlebot3_example/setup.py b/turtlebot3_example/setup.py
@@ -1,6 +1,3 @@
-import glob
-import os
-
 from setuptools import find_packages
 from setuptools import setup
 
@@ -14,11 +11,14 @@
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
         # To be added
-        # ('share/' + package_name + '/launch', glob.glob(os.path.join('launch', 'turtlebot3_interactive_marker.launch.py'))),
-        # ('share/' + package_name + '/launch', glob.glob(os.path.join('launch', 'turtlebot3_obstacle_detection.launch.py'))),
-        # ('share/' + package_name + '/rviz', glob.glob(os.path.join('rviz', 'turtlebot3_interactive_marker.rviz'))),
+        # ('share/' + package_name + '/launch', glob.glob(os.path.join('launch',
+        #                                                 'turtlebot3_interactive_marker.launch.py'))),
+        # ('share/' + package_name + '/launch', glob.glob(os.path.join('launch',
+        #                                                 'turtlebot3_obstacle_detection.launch.py'))),
+        # ('share/' + package_name + '/rviz', glob.glob(os.path.join('rviz',
+        #                                               'turtlebot3_interactive_marker.rviz'))),
     ],
-    install_requires=['setuptools','launch'],
+    install_requires=['setuptools', 'launch'],
     zip_safe=True,
     author=['Ryan Shim', 'Gilbert'],
     author_email=['[email protected]', '[email protected]'],
@@ -38,11 +38,16 @@
     entry_points={
         'console_scripts': [
             # To be added
-            # 'turtlebot3_interactive_marker = turtlebot3_example.turtlebot3_interactive_marker.main:main', 
-            'turtlebot3_obstacle_detection = turtlebot3_example.turtlebot3_obstacle_detection.main:main',
-            'turtlebot3_patrol_client = turtlebot3_example.turtlebot3_patrol_client.main:main',
-            'turtlebot3_patrol_server = turtlebot3_example.turtlebot3_patrol_server.main:main',
-            'turtlebot3_position_control = turtlebot3_example.turtlebot3_position_control.main:main',
+            # 'turtlebot3_interactive_marker = \
+            #   turtlebot3_example.turtlebot3_interactive_marker.main:main',
+            'turtlebot3_obstacle_detection = \
+                turtlebot3_example.turtlebot3_obstacle_detection.main:main',
+            'turtlebot3_patrol_client = \
+                turtlebot3_example.turtlebot3_patrol_client.main:main',
+            'turtlebot3_patrol_server = \
+                turtlebot3_example.turtlebot3_patrol_server.main:main',
+            'turtlebot3_position_control = \
+                turtlebot3_example.turtlebot3_position_control.main:main',
         ],
     },
 )
diff --git a/...example/turtlebot3_example/turtlebot3_obstacle_detection/turtlebot3_obstacle_detection.py b/...example/turtlebot3_example/turtlebot3_obstacle_detection/turtlebot3_obstacle_detection.py
@@ -16,8 +16,6 @@
 #
 # Authors: Ryan Shim, Gilbert
 
-import numpy
-
 from geometry_msgs.msg import Twist
 from rclpy.node import Node
 from rclpy.qos import QoSProfile