Migrate github action to rolling (#10)

* Adapt launch syntax (get rid of 'node_' prefix) Signed-off-by: Nordmann Arne (CR/ADT3) <[email protected]> * Migrating CI action to rolling Signed-off-by: Nordmann Arne (CR/ADT3) <[email protected]> * License and updated CI build badge Signed-off-by: Nordmann Arne (CR/ADT3) <[email protected]>
ros-safety · Apr 1, 2021 · f2886f1 · f2886f1
1 parent 3df2aec
commit f2886f1
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diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml
@@ -5,36 +5,27 @@ on:
     branches: [ main ]
   pull_request:
     branches: [ main ]
-  workflow_dispatch:
 
 jobs:
   build:
-    runs-on: ubuntu-20.04
-    container:
-      image: docker://ros:foxy-ros-base-focal
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ ubuntu-20.04 ]
+        ros_distribution: [ rolling ]
     steps:
-      - name: Setup workspace
-        run: mkdir -p watchdogs_ws/src
-      - name: checkout
-        uses: actions/checkout@v2
-        with:
-          path: watchdogs_ws/src/watchdogs
-      - name: ros-deps
-        working-directory: watchdogs_ws
-        run: |
-          sudo apt-get update
-          rosdep update
-          rosdep install --from-paths src --ignore-src --rosdistro foxy -yr
-      - name: build
-        shell: bash
-        working-directory: watchdogs_ws
-        run: |
-          source /opt/ros/foxy/setup.bash
-          colcon build --cmake-args -DCMAKE_BUILD_TYPE=RELEASE
-#      - name: Test
-#        working-directory: ${{runner.workspace}}/build
-#        shell: bash
-#        run: |
-#          colcon test
-#          colcon test-result --verbose
-#          colcon test-result --all
+    - uses: actions/checkout@v2
+    - uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: ${{ matrix.ros_distribution }}
+    - uses : ros-tooling/[email protected]
+      with:
+        package-name: "sw_watchdog"
+        target-ros2-distro: ${{ matrix.ros_distribution }}
+        vcs-repo-file-url: ""
+        colcon-mixin-name: coverage-gcc
+        colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+    - uses: codecov/codecov-action@v1
+      with:
+        file: ros_ws/lcov/total_coverage.info
diff --git a/README.md b/README.md
@@ -1,6 +1,7 @@
 # SW Watchdog
 
-![](https://github.com/ros-safety/software_watchdogs/workflows/CI/badge.svg)
+[![License](https://img.shields.io/badge/License-Apache%202-blue.svg)](https://github.com/micro-ROS/system_modes/blob/master/LICENSE)
+[![Build status](https://github.com/ros-safety/software_watchdogs/actions/workflows/build_and_test.yml/badge.svg)](https://github.com/ros-safety/software_watchdogs/actions)
 
 A library of (software) watchdogs based on DDS Quality of Service (QoS) policies and ROS 2 [lifecycle nodes](https://github.com/ros2/demos/blob/master/lifecycle/README.rst).
 
@@ -52,12 +53,10 @@ To use the `heartbeat_composition.launch.py` example, the `ros-*-demo-nodes-cpp`
 
 This code is built and tested under:
 
-* [ROS 2 Dashing Diademata](https://index.ros.org/doc/ros2/Installation/Dashing/) with [Ubuntu 18.04.4](http://releases.ubuntu.com/18.04/)  
-  _**Note:** Ouptut may be delayed / buffered in Dashing when using `ros2 launch` (see https://answers.ros.org/question/332829/no-stdout-logging-output-in-ros2-using-launch/)_
-* [ROS 2 Foxy Fitzroy](https://index.ros.org/doc/ros2/Installation/Foxy/) with [Ubuntu 20.04](http://releases.ubuntu.com/20.04/)
+* [ROS 2 Rolling Ridley](https://index.ros.org/doc/ros2/Installation/Rolling/) with [Ubuntu 20.04](http://releases.ubuntu.com/20.04/)
 
-The following DDS `rmw` [implementations](https://index.ros.org/doc/ros2/Concepts/DDS-and-ROS-middleware-implementations/) were tested in both environments (via the default Ubuntu packages that ship with the Dashing and Foxy releases):
-* [Fast DDS](https://www.eprosima.com/index.php/products-all/eprosima-fast-dds)  
+The following DDS `rmw` [implementations](https://index.ros.org/doc/ros2/Concepts/DDS-and-ROS-middleware-implementations/) were tested in both environments (via the default Ubuntu packages that ship with the Rolling releases):
+* [Fast DDS](https://www.eprosima.com/index.php/products-all/eprosima-fast-dds)
   _**Note:** In Dashing you must use Fast DDS, rather than the default Fast RTPS (which is a prior version of Fast DDS). Fast RTPS does not implement QoS._
 * [Connext DDS](https://www.rti.com/products/) v5.3.1
 * [Cyclone DDS](https://projects.eclipse.org/projects/iot.cyclonedds)

diff --git a/sw_watchdog/launch/heartbeat_composition.launch.py b/sw_watchdog/launch/heartbeat_composition.launch.py
@@ -31,23 +31,22 @@ def group_stop(context, *args, **kwargs):
     gid = os.getpgid(os.getpid())
     subprocess.call(['kill', '-INT', '--', f"-{gid}"])
 
-# Note: syntax has changed in foxy (removal of 'node_' prefixes)
 def generate_launch_description():
     """Generate launch description with multiple components."""
     container = ComposableNodeContainer(
-            node_name='my_container',
-            node_namespace='my_namespace',
+            name='my_container',
+            namespace='my_namespace',
             package='rclcpp_components',
-            node_executable='component_container',
+            executable='component_container',
             composable_node_descriptions=[
                 ComposableNode(
                     package='demo_nodes_cpp',
-                    node_plugin='demo_nodes_cpp::Talker',
-                    node_name='talker'),
+                    plugin='demo_nodes_cpp::Talker',
+                    name='talker'),
                 ComposableNode(
                     package='sw_watchdog',
-                    node_plugin='sw_watchdog::SimpleHeartbeat',
-                    node_name='heartbeat',
+                    plugin='sw_watchdog::SimpleHeartbeat',
+                    name='heartbeat',
                     parameters=[{'period': 200}],
                     extra_arguments=[{'use_intra_process_comms': True}]),
             ],

diff --git a/sw_watchdog/launch/watchdog_in_docker.launch.py b/sw_watchdog/launch/watchdog_in_docker.launch.py
@@ -54,9 +54,9 @@ def generate_launch_description():
     # Watchdog node
     watchdog_node = LifecycleNode(
         package='sw_watchdog',
-        node_executable='simple_watchdog',
-        node_namespace='',
-        node_name='simple_docker_watchdog',
+        executable='simple_watchdog',
+        namespace='',
+        name='simple_docker_watchdog',
         output='screen',
         arguments=['220', '--publish', '--activate']
         #arguments=['__log_level:=debug']

diff --git a/sw_watchdog/launch/watchdog_lifecycle.launch.py b/sw_watchdog/launch/watchdog_lifecycle.launch.py
@@ -28,9 +28,9 @@ def generate_launch_description():
     set_tty_launch_config_action = launch.actions.SetLaunchConfiguration("emulate_tty", "True")
     watchdog_node = LifecycleNode(
         package='sw_watchdog',
-        node_executable='simple_watchdog',
-        node_namespace='',
-        node_name='simple_watchdog',
+        executable='simple_watchdog',
+        namespace='',
+        name='simple_watchdog',
         output='screen',
         arguments=['220', '--publish', '--activate']
         #arguments=['__log_level:=debug']

diff --git a/sw_watchdog/launch/windowed_watchdog_lifecycle.launch.py b/sw_watchdog/launch/windowed_watchdog_lifecycle.launch.py
@@ -28,9 +28,9 @@ def generate_launch_description():
     set_tty_launch_config_action = launch.actions.SetLaunchConfiguration("emulate_tty", "True")
     watchdog_node = LifecycleNode(
         package='sw_watchdog',
-        node_executable='windowed_watchdog',
-        node_namespace='',
-        node_name='windowed_watchdog',
+        executable='windowed_watchdog',
+        namespace='',
+        name='windowed_watchdog',
         output='screen',
         arguments=['220', '3', '--publish', '--activate']
         #arguments=['__log_level:=debug']