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Integrate GH actions CI/CD pipelines #21
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evan-palmer
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Mar 3, 2023
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Mar 6, 2023
* Started project configuration * Added missing dotfiles * Started implementation of alpha driver * continued implementation of alpha driver * Finished initial crc implementation and started devops error resolution * Working on resolving build errors for tests * Resolved linking errors with testing in cmakelists * cleaned up alpha driver cmakelists file * Resolved bugs in crc calculation * implemented cobs encoding and cleaned up crc methods * Revert back to clang formatting * added support for clang tidy and resolved clang tidy errors * resolved copyright errors * forgot to save * more files that i forgot to save * Started designing ros messages * Implemented support for packet decoding * Cleanup * implemented unit tests for packet * Resolve type warnings and discrepancies between cpplint and clang format * Made a packet ros msg for comms between driver and control interface * save point * started implementing terminal configurations and serial device initialization * added methods to send data and register read callbacks * Added support for configuring read to block * Added active public member * started implementing heartbeat monitor * Clean up linter errors * Cleaned up some guidelines violations and integrated logging support into client * Finished up initial implementation of serial client * started implementation of ros wrapper for driver * resolved some bugs in the serial client * Resolved bug in serial read * Cleaned up implemented and comments * added heartbeat monitor * sorry google but i hate your method naming convention * rip buildx * started refactoring to support ros2 control and started systeminterface implementation * Continued refactoring driver to better support ros2 control integration * Cleaned up comments and added new request method * Converted driver to library and separated control interface * get rid of gross src directory * forgot to actually remove src * started implementation of hardware interface * removed alpha msgs package and added bringup and description packages * started implementation of init method * finished initial version of hardware interface on_init * started implementing on_cleanup * added logs and try catch blocks for mode switching * Remove files from develop to start enforcing pr process * Starting down the rabbit hole of exception safe code.. cheers Jon Kalb * Integrate a Linux serial driver with ros2_control position, velocity, and joint trajectory control (#18) * updated exceptions according to feedback from code review * removed unnecessary consts * Integrate ros2_control for position, velocity, and joint trajectory control (#11) * moved ros2 control work to new branch * started adding support for position control * quick save * Implemented command and state interface exports * Resolve merge conflicts * Save point * added on_configure method * finished read and write methods * Implemented initial version of write method * ported meshes and URDFs from reach sdk * Added urdf specifications and rviz launch * fix logger naming in hardware description * added missing readme * added missing readme * starting integration of ros2_control xacro * fix readme link * Remove italics * added ros2_control descriptions nad config and gazebo macro * added moveit * started moveit2 integration * Starting to migrate moveit2 configs to description package * started working on adding launch files * removed joint state gui * squashed system hardware bugs and continued bringup * why does gazebo suck so much * Save point * finished first versions of launch files.. time to debug * Fixed moveit configs * curse you moveit * fixed controller execution * fixed rviz launch with gazebo * fixed moveit bugs * debugging gazebo * Removed gazebo stuff for time being * started system cleanup for PR * i guess its ros 2 not ros2 * cleaned up bringup package * cleaned up folder structure * starting cleanup of documentation * IMPORTANT GAZEBO SAVE POINT * added gazebo to dockerfile * Added documented inertial properties * fixed bugs in state callbacks * continued bug fixes * save point for ramen * resolved bugs in hardware configuration with moveit * first pass for PR * Resolved *most* of the comments from the pr review * fixed joint limit issues * Fixed initial positions file error * Added missing changelog document * Fixed camera angles for rviz and gazebo * Fixed moveit rviz camera angle * fixed order of moveit controllers * Created a CODE_OF_CONDUCT document (#19) * Integrate GH actions CI/CD pipelines (#21) * started docker then got distracted * split dev image from production images * take 1 * take 2 * moving ci integration here to make docker updates easier * testing precommit pipeline * take one on ci * ran with wrong branch * attempt to use clang style config files * another attempt at clang format * testing different version of clang tidy * testing to see if ici catches bug in test * attempt to disable clang format checks * remove clang format from build tests in favor of pre-commit * weird things happening with tidy * weird things happening with tidy * im tired and want to go to bed * im just guessing at this point * another random test * disable ici clang tidy in favor of other workflow * why * why * why * pain * sad * this is as good as it's going to get * put env variable in wrong spot * fixed readme. time for bed * fixed readme. time for bed * fixed readme. time for bed * removed test branch from ci pipeline. actually going to bed now * Resolved PR comments
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Checklist
Changes Made
This PR introduces changes to support GitHub actions CI/CD pipelines. Specifically, CD pipelines have been integrated to build CI and development images. The CI pipelines have been extended to run formatting, linting, and unit tests.
Associated Issues
Files Changed
./devcontainer/Dockerfile: Migrated file previously in.docker/here and cleaned up architecture./devcontainer/devcontainer.json: Updated to point at a different Dockerfile./docker/Dockerfile: Redesigned to support CD pipelines. This copies the project into the image for getting rosdeps and can be used for future production-type images.dockerignore: Introduced to support new Dockerfile. Excludes all files but ROS 2 packages.github/workflows/*: Integrated a formatting, testing, and docker pipeline.pre-commit-config.yaml: Updated to support CI pipelines and introduces a more inclusive tool for project formattingREADME.md: Clarified dependency installationalpha_bringup/package.xml: Removed unused dependenciesTesting
These pipelines have been EXTENSIVELY tested in GitHub actions (rip to my sleep schedule)
Issues Introduced