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Merge pull request #1 from tpoignonec/add_CI
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Add basic CI workflow
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tpoignonec authored Oct 17, 2023
2 parents 7b68f04 + deba008 commit 9148073
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13 changes: 13 additions & 0 deletions .github/dependabot.yml
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# To get started with Dependabot version updates, you'll need to specify which
# package ecosystems to update and where the package manifests are located.
# Please see the documentation for all configuration options:
# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates

version: 2
updates:
- package-ecosystem: "github-actions"
# Workflow files stored in the
# default location of `.github/workflows`
directory: "/"
schedule:
interval: "weekly"
23 changes: 23 additions & 0 deletions .github/workflows/ci-format.yml
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# This is a format job. Pre-commit has a first-party GitHub action, so we use
# that: https://github.com/pre-commit/action

name: Format

on:
workflow_dispatch:
pull_request:

jobs:
pre-commit:
name: Format
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
- uses: actions/setup-python@v4.7.0
with:
python-version: '3.10'
- name: Install system hooks
run: sudo apt install -qq clang-format-14 cppcheck
- uses: pre-commit/action@v3.0.0
with:
extra_args: --all-files --hook-stage manual
67 changes: 67 additions & 0 deletions .github/workflows/ci.yml
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name: CI
on:
push:
branches: [ main ]
pull_request:
branches: [ main ]
jobs:
CI:
runs-on: ubuntu-latest
permissions:
contents: read
issues: read
checks: write
pull-requests: write
steps:
- name: Prepare
run: |
mkdir -p ${{github.workspace}}/src
- uses: actions/checkout@v4
with:
path: src/ft_tools_ros2

- name: Build Docker Image
uses: docker/build-push-action@v5
with:
tags: ft_tools_ros2:humble
file: .docker/ci/Dockerfile
push: false

- name: Build
uses: addnab/docker-run-action@v3
with:
image: ft_tools_ros2:humble
options: -v ${{github.workspace}}/:/ros/
run: |
cd /ros # structure = <...>/ros/src/ft_tools_ros2/<...>
. /opt/ros/humble/setup.sh
# vcs import src < src/ft_tools_ros2/ft_tools_ros2.repos
rosdep install --ignore-src --from-paths . -y -r
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
- name: Tests
uses: addnab/docker-run-action@v3
with:
image: ft_tools_ros2:humble
options: -v ${{github.workspace}}/:/ros/
run: |
cd /ros
. /opt/ros/humble/setup.sh
# vcs import src < src/ft_tools_ros2/ft_tools_ros2.repos
rosdep install --ignore-src --from-paths . -y -r
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
colcon test
colcon test-result
- name: Upload Tests to Artifacts
uses: actions/upload-artifact@v3
if: always()
with:
name: test-results
path: build/*/test_results/*/*.xml

- name: Publish Unit Test Results
uses: EnricoMi/publish-unit-test-result-action@v2
if: always()
with:
files: build/*/test_results/*/*.xml
5 changes: 5 additions & 0 deletions README.md
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# ft_tools_ros2
Wrench estimation and calibration of F/T sensor for ROS2 applications.


***The current devs are based on the humble ROS 2 distribution (Ubuntu 22.04 LTS)***

[![CI](https://github.com/tpoignonec/ft_tools_ros2/actions/workflows/ci.yml/badge.svg)](https://github.com/tpoignonec/ft_tools_ros2/actions/workflows/ci.yml)
30 changes: 30 additions & 0 deletions ft_tools/config/config_ft_estimation_node.yaml
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wrench_estimator_node:
ros__parameters:
topic_raw_wrench: raw_wrench
topic_joint_state: joint_states
topic_estimated_wrench: ft_sensor_wrench
topic_interaction_wrench: ft_interaction_wrench

reference_frame: world
sensor_frame: ft_sensor
interaction_frame: tool0

raw_torque_is_in_mm: true
gravity_in_robot_base_frame:
- 0.0
- 0.0
- -9.81

wrench_deadband:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0

ft_calibration:
mass: 0.0
sensor_frame_to_com: [0.0, 0.0, 0.0]
force_offset: [0.0, 0.0, 0.0]
torque_offset: [0.0, 0.0, 0.0]
Empty file added ft_tools/launch/.gitkeep
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