Add support for rolling release

.github/workflows/ci_action_rolling.yml

@@ -0,0 +1,52 @@
+name: CI-Rolling
+
+on: [push, pull_request]
+
+env:
+  ROS_DISTRO: rolling
+
+jobs:
+  testing-repo:
+    name: "Build + Test with Testing Repo of rolling (http://packages.ros.org/ros2-testing/ubuntu)"
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@v1
+      - uses: 'ros-industrial/industrial_ci@master'
+        env:
+          ROS_REPO: testing
+
+  main-repo:
+    name: "Build + Test with Main Repo of rolling (http://packages.ros.org/ros2/ubuntu)"
+    runs-on: ubuntu-20.04
+    continue-on-error: true
+    steps:
+      - uses: actions/checkout@v1
+      - uses: 'ros-industrial/industrial_ci@master'
+        env:
+          ROS_REPO: main
+
+  # ToDo: fix headers
+  # clang-tidy:
+  #   name: "Run clang-tidy check with Testing Repo of rolling (http://packages.ros.org/ros2-testing/ubuntu)"
+  #   runs-on: ubuntu-20.04
+  #   steps:
+  #     - uses: actions/checkout@v1
+  #     - uses: 'ros-industrial/industrial_ci@master'
+  #       env:
+  #         ROS_REPO: testing
+  #         CLANG_TIDY: true
+  #         NOT_TEST_BUILD: true
+
+  coverage:
+    name: "Run coverage check with Testing Repo of rolling (http://packages.ros.org/ros2-testing/ubuntu)"
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@v1
+      - uses: 'ros-industrial/industrial_ci@master'
+        env:
+          ROS_REPO: testing
+          ADDITIONAL_DEBS: git lcov
+          PARALLEL_TESTS: false
+          CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage"'
+          DOCKER_RUN_OPTS: '-e COVERAGE_EXCLUDES="*/psen_scan_v2/src/psen_scan_driver.cpp"'
+          AFTER_SCRIPT: 'git clone --depth=1 --branch master https://github.com/PilzDE/industrial_ci_addons.git /industrial_ci_addons && source /industrial_ci_addons/check_coverage.sh && check_coverage psen_scan_v2'

.github/workflows/ci_action_rolling_binary.yml

@@ -0,0 +1,52 @@
+name: CI-Rolling Binary Test
+
+on: [push, pull_request]
+
+jobs:
+  debian:
+    name: "Create debian binary for psen_scan_v2"
+    runs-on: ubuntu-20.04
+    container: ros:rolling-ros-core
+    steps:
+      - uses: actions/checkout@v1
+
+      - name: Initialize ROS environment
+        run: |
+          apt-get update && apt install python3-bloom fakeroot dpkg-dev debhelper -y
+          rosdep init && rosdep update
+          rosdep install --from-paths . -r -y
+
+      - name: Generate debian binary
+        run: |
+          source /opt/ros/rolling/setup.bash
+          bloom-generate rosdebian --ros-distro rolling
+          fakeroot debian/rules binary
+          cp ../ros-rolling-psen-scan-v2_*.deb cached-rolling-binary.deb
+        shell: bash
+
+      - uses: actions/cache@v2
+        with:
+          key: debian-${{ github.sha }}
+          path: cached-rolling-binary.deb
+
+  launch-check:
+    name: "Launch check for psen_scan_v2"
+    needs: debian
+    runs-on: ubuntu-20.04
+    container: ros:rolling-ros-core
+    steps:
+      - uses: actions/cache@v2
+        with:
+          key: debian-${{ github.sha }}
+          path: cached-rolling-binary.deb
+
+      - name: Install debian
+        run: apt-get update && apt-get install -y ros-rolling-ros-testing ./cached-rolling-binary.deb
+
+      - uses: actions/checkout@v1
+
+      - name: Launch test
+        run: |
+          source /opt/ros/rolling/setup.bash
+          ros2 test test/integration_tests/integrationtest_ros_scanner_launch.launch.py
+        shell: bash

CMakeLists.txt

@@ -118,6 +118,7 @@ target_include_directories(${PROJECT_NAME}_node
 )
 target_link_libraries(${PROJECT_NAME}_node
   ${PROJECT_NAME}_standalone
+  fmt::fmt
 )
 ament_target_dependencies(${PROJECT_NAME}_node
   rclcpp
@@ -416,7 +417,11 @@ if(BUILD_TESTING)
 
   # This test is intended to be run on in a dedicated environment with a prerecorded reference scan
   # and thus needs to be enabled seperately.
-  find_package(rosbag2_cpp REQUIRED)
+  find_package(rosbag2_cpp 0.4.0)
+  if(NOT rosbag2_cpp_FOUND)
+    find_package(rosbag2_cpp)
+    add_compile_definitions(ROSBAG2_VERSION_PRE_0_4)
+  endif()
   if(ENABLE_HARDWARE_TESTING_WITH_REFERENCE_SCAN)
 
     ament_add_gtest(hwtest_scan_compare_standalone

package.xml

@@ -37,7 +37,6 @@
   <test_depend>python3-pytest</test_depend>
   <test_depend>rclpy</test_depend>
   <test_depend>rosbag2_cpp</test_depend>
-  <test_depend>rosbag2_storage_default_plugins</test_depend>
 
   <test_depend>libconsole-bridge-dev</test_depend>
 

test/hw_tests/hwtest_scan_compare.cpp

@@ -62,7 +62,7 @@ class ScanComparisonTests : public ::testing::Test
   void SetUp() override  // Omit using SetUpTestSuite() for googletest below v1.11.0, see
                          // https://github.com/google/googletest/issues/247
   {
-    node_ptr_->declare_parameter(TEST_DURATION_PARAM_NAME);
+    node_ptr_->declare_parameter(TEST_DURATION_PARAM_NAME, 60);
     rclcpp::Parameter test_duration_param = node_ptr_->get_parameter(TEST_DURATION_PARAM_NAME);
     try
     {

test/include/psen_scan_v2/laserscan_validator.h

@@ -104,7 +104,11 @@ std::map<int16_t, NormalDist> binsFromRosbag(std::string path)
   std::map<int16_t, NormalDist> bins;
 
   // the following could be simplified if https://github.com/ros2/rosbag2/pull/452 would be released to foxy
+#ifdef ROSBAG2_VERSION_PRE_0_4  // old api
   rosbag2_cpp::StorageOptions storage_options;
+#else
+  rosbag2_storage::StorageOptions storage_options;
+#endif
   storage_options.uri = path;
   storage_options.storage_id = "sqlite3";
 

test/integration_tests/integrationtest_ros_scanner_launch.launch.py

@@ -36,7 +36,7 @@ def generate_test_description():
         PathJoinSubstitution([
             get_package_share_directory('psen_scan_v2'),
             'launch',
-            'psen_scan_v2.launch.xml'
+            'bringup.launch.xml'
         ])
     )
 
@@ -72,9 +72,6 @@ def isNodeAvailable(self, node_name: str, timeout: float) -> bool:
     def test_psen_scan_v2_node_available(self):
         self.assertTrue(self.isNodeAvailable('laser_1', 10.0))
 
-    def test_robot_state_publisher_node_available(self):
-        self.assertTrue(self.isNodeAvailable('robot_state_publisher', 10.0))
-
 
 @launch_testing.post_shutdown_test()
 class TestOutcome(unittest.TestCase):