CONTRIBUTING.md

Developer info and tools

USB-A connection

You can connect to the robot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-A cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection.

ros2 launch rosbot_bringup bringup.launch.py serial_port:=/dev/ttyUSB0

The hardware checks the connection via USB-A only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2.

pre-commit

pre-commit configuration prepares plenty of tests helping for developing and contributing. Usage:

# install pre-commit
pip install pre-commit

# initialize pre-commit workspace
pre-commit install

# manually run tests
pre-commit run -a

After initialization pre-commit configuration will applied on every commit.

Industrial CI

colcon test

Note

Command colcon test does not build the code. Remember to build your code after changes.

If tests finish with errors print logs:

colcon test-result --verbose

Testing .github/workflows/industrial_ci.yaml Locally

At fist install act:

cd /
curl -s https://raw.githubusercontent.com/nektos/act/master/install.sh | sudo bash

And test the workflow with:

act -W .github/workflows/industrial_ci.yaml