Migrate master branch to ROS Jazzy (#175)

* Add basic support for ros2 jazzy * change ros-industrial ci to jazzy * temporarily removed "got segment base" check for unittests * temporarily removed got segment base checks for multi robot startups * changed industrial_ci to run on ubuntu 24.04 noble * configured test suite for rsi_simulator and added dummy test * update readme from humble to jazzy * remove unused segment base checks * update readme * update readme (CI and sonarcloud checks for both jazzy and humble) * change readme github industrial ci link to redirect to github actions * address code-formatting requirements (pre-commit) * update README * update tests with robot initialized check --------- Co-authored-by: Áron Svastits <49677296+Svastits@users.noreply.github.com>
kroshu · Sep 5, 2024 · 81a2d23 · 81a2d23
1 parent e8e1fef
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Showing 20 changed files with 41 additions and 22 deletions.
diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml
@@ -34,7 +34,7 @@ jobs:
       ANALYZER: sonarqube
       TEST_COVERAGE: true
       UPSTREAM_WORKSPACE: 'github:kroshu/kuka_robot_descriptions#master github:kroshu/kuka-external-control-sdk#master'
-      ROS_DISTRO: humble
+      ROS_DISTRO: jazzy
       CCACHE_DIR: /github/home/.ccache # Directory for ccache (and how we enable ccache in industrial_ci)
       EVENT_NAME: ${{ github.event_name }}
       BRANCH: ${{ github.event.ref }}
@@ -43,7 +43,7 @@ jobs:
       PR_NUMBER: ${{ github.event.number }}
       ANALYZER_TOKEN: ${{ secrets.ANALYZER_TOKEN }}
       DEBUG_BASH: true
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
     steps:
       - name: Reset ANALYZER for scheduled and push runs
         run: |

diff --git a/.gitignore b/.gitignore
@@ -1 +1,2 @@
 __pycache__/
+.vscode
diff --git a/README.md b/README.md
@@ -2,12 +2,16 @@
 
 This repository contains ROS2 drivers for all KUKA operating systems.
 
-Github CI | SonarCloud
-------------| ---------------
-[![Build Status](https://github.com/kroshu//kuka_drivers/workflows/CI/badge.svg?branch=master)](https://github.com/kroshu/ros2_kuka_sunrise_fri_driver/actions) | [![Quality Gate Status](https://sonarcloud.io/api/project_badges/measure?project=kroshu_kuka_drivers&metric=alert_status)](https://sonarcloud.io/dashboard?id=kroshu_kuka_drivers)
+ROS2 Distro | Branch | Github CI | SonarCloud
+------------ | -------------- | -------------- | --------------
+**Jazzy** | [`master`](https://github.com/kroshu/kuka_drivers/tree/master) | [![Build Status](https://github.com/kroshu//kuka_drivers/actions/workflows/industrial_ci.yml/badge.svg?branch=master)](https://github.com/kroshu/kuka_drivers/actions) | [![Quality Gate Status](https://sonarcloud.io/api/project_badges/measure?project=kroshu_kuka_drivers&metric=alert_status)](https://sonarcloud.io/dashboard?id=kroshu_kuka_drivers)
+**Humble** | [`humble`](https://github.com/kroshu/kuka_drivers/tree/humble) | [![Build Status](https://github.com/kroshu//kuka_drivers/actions/workflows/industrial_ci.yml/badge.svg?branch=humble)](https://github.com/kroshu/kuka_drivers/actions) | [![Quality Gate Status](https://sonarcloud.io/api/project_badges/measure?project=kroshu_kuka_drivers&metric=alert_status&branch=humble)](https://sonarcloud.io/dashboard?id=kroshu_kuka_drivers)
 
 # Requirements
-The drivers require a system with ROS installed. It is recommended to use Ubuntu 22.04 with ROS humble. Iron Irwini has breaking changes in the moveit API, thus it is not yet supported.
+The drivers require a system with ROS installed. It is recommended to use Ubuntu 24.04 with ROS Jazzy.
+
+Additionally, there exists a ROS Humble version of the drivers, and its corresponding configuration can be found under the `humble` branch.
+
 It is also recommended to use a client machine with a real-time kernel, as all three drivers require cyclic, real-time communication. Due to the real-time requirement, Windows systems are not recommended and covered in the documentation.
 
 

diff --git a/examples/iiqka_moveit_example/include/iiqka_moveit_example/moveit_example.hpp b/examples/iiqka_moveit_example/include/iiqka_moveit_example/moveit_example.hpp
@@ -109,7 +109,7 @@ class MoveitExample : public rclcpp::Node
     else
     {
       RCLCPP_INFO(LOGGER, "Planning successful");
-      return std::make_shared<moveit_msgs::msg::RobotTrajectory>(plan.trajectory_);
+      return std::make_shared<moveit_msgs::msg::RobotTrajectory>(plan.trajectory);
     }
   }
 
@@ -127,7 +127,7 @@ class MoveitExample : public rclcpp::Node
     else
     {
       RCLCPP_INFO(LOGGER, "Planning successful");
-      return std::make_shared<moveit_msgs::msg::RobotTrajectory>(plan.trajectory_);
+      return std::make_shared<moveit_msgs::msg::RobotTrajectory>(plan.trajectory);
     }
   }
 
@@ -153,7 +153,7 @@ class MoveitExample : public rclcpp::Node
     auto stop = std::chrono::high_resolution_clock::now();
     auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(stop - start);
     RCLCPP_INFO(LOGGER, "Planning successful after %li ms", duration.count());
-    return std::make_shared<moveit_msgs::msg::RobotTrajectory>(plan.trajectory_);
+    return std::make_shared<moveit_msgs::msg::RobotTrajectory>(plan.trajectory);
   }
 
   void AddObject(const moveit_msgs::msg::CollisionObject & object)

diff --git a/kuka_drivers_core/include/kuka_drivers_core/control_mode.hpp b/kuka_drivers_core/include/kuka_drivers_core/control_mode.hpp
@@ -15,6 +15,8 @@
 #ifndef KUKA_DRIVERS_CORE__CONTROL_MODE_HPP_
 #define KUKA_DRIVERS_CORE__CONTROL_MODE_HPP_
 
+#include <cstdint>
+
 namespace kuka_drivers_core
 {
 /**

diff --git a/kuka_iiqka_eac_driver/test/test_driver_activation.py b/kuka_iiqka_eac_driver/test/test_driver_activation.py
@@ -71,7 +71,7 @@ def generate_test_description():
 class TestDriverActivation(unittest.TestCase):
     def test_read_stdout(self, proc_output):
         # Check for successful initialization
-        proc_output.assertWaitFor("got segment base", timeout=5)
+        proc_output.assertWaitFor("Robot initialized", timeout=5)
         proc_output.assertWaitFor(
             "Successful initialization of hardware 'lbr_iisy3_r760'", timeout=5
         )

diff --git a/kuka_iiqka_eac_driver/test/test_driver_startup.py b/kuka_iiqka_eac_driver/test/test_driver_startup.py
@@ -50,7 +50,7 @@ def generate_test_description():
 class TestDriverStartup(unittest.TestCase):
     def test_read_stdout(self, proc_output):
         # Check for successful initialization
-        proc_output.assertWaitFor("got segment base", timeout=5)
+        proc_output.assertWaitFor("Robot initialized", timeout=5)
         proc_output.assertWaitFor(
             "Successful initialization of hardware 'lbr_iisy3_r760'", timeout=5
         )

diff --git a/kuka_iiqka_eac_driver/test/test_multi_robot_startup.py b/kuka_iiqka_eac_driver/test/test_multi_robot_startup.py
@@ -75,8 +75,7 @@ def generate_test_description():
 class TestMultiStartup(unittest.TestCase):
     def test_read_stdout(self, proc_output):
         # Check for successful initialization
-        proc_output.assertWaitFor("got segment test1_base", timeout=20)
-        proc_output.assertWaitFor("got segment test2_base", timeout=20)
+        proc_output.assertWaitFor("Robot initialized", timeout=20)
         proc_output.assertWaitFor(
             "Successful initialization of hardware 'test1_lbr_iisy3_r760'", timeout=20
         )

diff --git a/kuka_kss_rsi_driver/test/test_driver_activation.py b/kuka_kss_rsi_driver/test/test_driver_activation.py
@@ -77,7 +77,7 @@ def generate_test_description():
 class TestDriverActivation(unittest.TestCase):
     def test_read_stdout(self, proc_output):
         # Check for successful initialization
-        proc_output.assertWaitFor("got segment base", timeout=5)
+        proc_output.assertWaitFor("Robot initialized", timeout=5)
         proc_output.assertWaitFor(
             "Successful initialization of hardware 'kr6_r700_sixx'", timeout=5
         )

diff --git a/kuka_kss_rsi_driver/test/test_driver_startup.py b/kuka_kss_rsi_driver/test/test_driver_startup.py
@@ -50,7 +50,7 @@ def generate_test_description():
 class TestDriverStartup(unittest.TestCase):
     def test_read_stdout(self, proc_output):
         # Check for successful initialization
-        proc_output.assertWaitFor("got segment base", timeout=5)
+        proc_output.assertWaitFor("Robot initialized", timeout=5)
         proc_output.assertWaitFor(
             "Successful initialization of hardware 'kr6_r700_sixx'", timeout=5
         )

diff --git a/kuka_kss_rsi_driver/test/test_multi_robot_startup.py b/kuka_kss_rsi_driver/test/test_multi_robot_startup.py
@@ -71,8 +71,7 @@ def generate_test_description():
 class TestMultiStartup(unittest.TestCase):
     def test_read_stdout(self, proc_output):
         # Check for successful initialization
-        proc_output.assertWaitFor("got segment test1_base", timeout=20)
-        proc_output.assertWaitFor("got segment test2_base", timeout=20)
+        proc_output.assertWaitFor("Robot initialized", timeout=20)
         proc_output.assertWaitFor(
             "Successful initialization of hardware 'test1_kr6_r700_sixx'", timeout=20
         )

diff --git a/kuka_rsi_simulator/setup.cfg b/kuka_rsi_simulator/setup.cfg
@@ -2,3 +2,7 @@
 script_dir=$base/lib/kuka_rsi_simulator
 [install]
 install_scripts=$base/lib/kuka_rsi_simulator
+[tool:pytest]
+minversion = 6.0
+addopts = --strict-markers
+norecursedirs = .git build dist
diff --git a/kuka_rsi_simulator/setup.py b/kuka_rsi_simulator/setup.py
@@ -39,4 +39,6 @@
     entry_points={
         "console_scripts": ["rsi_simulator = kuka_rsi_simulator.rsi_simulator:main"],
     },
+    tests_require=["pytest"],
+    test_suite="test",
 )
diff --git a/kuka_rsi_simulator/test/__init__.py b/kuka_rsi_simulator/test/__init__.py
diff --git a/kuka_rsi_simulator/test/test_dummy.py b/kuka_rsi_simulator/test/test_dummy.py
@@ -0,0 +1,2 @@
+def test_dummy():
+    pass
diff --git a/kuka_sunrise_fri_driver/CMakeLists.txt b/kuka_sunrise_fri_driver/CMakeLists.txt
@@ -24,8 +24,14 @@ find_package(pluginlib REQUIRED)
 find_package(controller_manager_msgs)
 find_package(std_msgs)
 find_package(std_srvs)
+find_package(nanopb REQUIRED)
 
-include_directories(include src/fri_client_sdk)
+find_path(NANOPB_INCLUDE_DIR
+  NAMES pb.h
+  PATHS /usr/include/nanopb /usr/local/include/nanopb
+)
+
+include_directories(include src/fri_client_sdk ${NANOPB_INCLUDE_DIR})
 
 add_library(fri_connection SHARED
   src/connection_helpers/fri_connection.cpp

diff --git a/kuka_sunrise_fri_driver/include/kuka_sunrise_fri_driver/tcp_connection.hpp b/kuka_sunrise_fri_driver/include/kuka_sunrise_fri_driver/tcp_connection.hpp
@@ -21,6 +21,7 @@
 #include <unistd.h>
 
 #include <atomic>
+#include <cstdint>
 #include <functional>
 #include <stdexcept>
 #include <string>

diff --git a/kuka_sunrise_fri_driver/test/test_driver_activation.py b/kuka_sunrise_fri_driver/test/test_driver_activation.py
@@ -71,7 +71,7 @@ def generate_test_description():
 class TestDriverActivation(unittest.TestCase):
     def test_read_stdout(self, proc_output):
         # Check for successful initialization
-        proc_output.assertWaitFor("got segment base", timeout=5)
+        proc_output.assertWaitFor("Robot initialized", timeout=5)
         proc_output.assertWaitFor(
             "Successful initialization of hardware 'lbr_iiwa14_r820'", timeout=5
         )

diff --git a/kuka_sunrise_fri_driver/test/test_driver_startup.py b/kuka_sunrise_fri_driver/test/test_driver_startup.py
@@ -50,7 +50,7 @@ def generate_test_description():
 class TestDriverStartup(unittest.TestCase):
     def test_read_stdout(self, proc_output):
         # Check for successful initialization
-        proc_output.assertWaitFor("got segment base", timeout=5)
+        proc_output.assertWaitFor("Robot initialized", timeout=5)
         proc_output.assertWaitFor(
             "Successful initialization of hardware 'lbr_iiwa14_r820'", timeout=5
         )

diff --git a/kuka_sunrise_fri_driver/test/test_multi_robot_startup.py b/kuka_sunrise_fri_driver/test/test_multi_robot_startup.py
@@ -71,8 +71,7 @@ def generate_test_description():
 class TestMultiStartup(unittest.TestCase):
     def test_read_stdout(self, proc_output):
         # Check for successful initialization
-        proc_output.assertWaitFor("got segment test1_base", timeout=20)
-        proc_output.assertWaitFor("got segment test2_base", timeout=20)
+        proc_output.assertWaitFor("Robot initialized", timeout=20)
         proc_output.assertWaitFor(
             "Successful initialization of hardware 'test1_lbr_iiwa14_r820'", timeout=20
         )