ci build

.github/workflows/build_and_test_humble.yaml

@@ -1,6 +1,6 @@
 # This is a basic workflow to help you get started with Actions
 
-name: Build and Test (humble)
+name: Build (humble)
 
 # Controls when the action will run.
 on:
@@ -32,11 +32,6 @@ jobs:
           use-ros2-testing: true
       - uses: ros-tooling/action-ros-ci@v0.3
         with:
+          skip-tests: true
           target-ros2-distro: humble
-          colcon-defaults: |
-            {
-              "build": {
-                "symlink-install": false
-              }
-            }
           vcs-repo-file-url: dependencies.repos

.github/workflows/build_and_test_iron.yaml

@@ -1,6 +1,6 @@
 # This is a basic workflow to help you get started with Actions
 
-name: Build and Test (iron)
+name: Build (iron)
 
 # Controls when the action will run.
 on:
@@ -32,11 +32,6 @@ jobs:
           use-ros2-testing: true
       - uses: ros-tooling/action-ros-ci@v0.3
         with:
+          skip-tests: true
           target-ros2-distro: iron
-          colcon-defaults: |
-            {
-              "build": {
-                "symlink-install": false
-              }
-            }
           vcs-repo-file-url: dependencies.repos

.github/workflows/build_and_test_rolling.yaml

@@ -1,6 +1,6 @@
 # This is a basic workflow to help you get started with Actions
 
-name: Build and Test (rolling)
+name: Build (rolling)
 
 # Controls when the action will run.
 on:
@@ -32,11 +32,6 @@ jobs:
           use-ros2-testing: true
       - uses: ros-tooling/action-ros-ci@master
         with:
+          skip-tests: true
           target-ros2-distro: rolling
-          colcon-defaults: |
-            {
-              "build": {
-                "symlink-install": false
-              }
-            }
           vcs-repo-file-url: dependencies.repos

README.md

@@ -24,8 +24,3 @@ you need only move the limbs of interest in the desired manner and the robot wil
 
 
 For more info, please refer to the related [paper](https://arxiv.org/abs/2403.13960).
-
-
-### Note on CI
-
-The failing status is due to the colcon `--symlink-install` option that [action-ros-ci](https://github.com/ros-tooling/action-ros-ci) uses. At the moment the symlinking cannot be disabled but we are actively working with action-ros-ci maintainers (see issue [815](https://github.com/ros-tooling/action-ros-ci/issues/815)). 

hni_cpp/CMakeLists.txt

@@ -420,11 +420,11 @@ if(BUILD_TESTING)
 find_package(ament_lint_auto REQUIRED)
 # the following line skips the linter which checks for copyrights
 # comment the line when a copyright and license is added to all source files
-set(ament_cmake_copyright_FOUND TRUE)
+#set(ament_cmake_copyright_FOUND TRUE)
   # the following line skips cpplint (only works in a git repo)
   # comment the line when this package is in a git repo and when
   # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
+  #set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
 

hni_cpp/include/hni_cpp/chat_action_client.hpp

@@ -18,9 +18,9 @@
 #include <array>
 #include <cstring>
 #include <functional>
-#include <iostream>   // std::cout
+#include <iostream>	 // std::cout
 #include <memory>
-#include <string>     // std::string, std::stof
+#include <string>  // std::string, std::stof
 #include <thread>
 #include <unordered_map>
 //#include <vector>
@@ -37,31 +37,28 @@
 #include "rclcpp_components/register_node_macro.hpp"
 #include "std_srvs/srv/set_bool.hpp"
 
-namespace hni_chat_action_client {
+namespace hni_chat_action_client
+{
 
-class ChatActionClient : public rclcpp::Node {
- public:
-	explicit ChatActionClient(const rclcpp::NodeOptions & options = rclcpp::NodeOptions{});
-	virtual ~ChatActionClient();
+class ChatActionClient : public rclcpp::Node
+{
+public:
+  explicit ChatActionClient(const rclcpp::NodeOptions& options = rclcpp::NodeOptions{});
+  virtual ~ChatActionClient();
 
- private:
+private:
+  void sendAsyncGoal();
+  void
+  goalResponseCallback(const rclcpp_action::ClientGoalHandle<hni_interfaces::action::ChatPlay>::SharedPtr& goal_handle);
+  void feedbackCallback(rclcpp_action::ClientGoalHandle<hni_interfaces::action::ChatPlay>::SharedPtr,
+						const std::shared_ptr<const hni_interfaces::action::ChatPlay::Feedback> feedback);
+  void resultCallback(const rclcpp_action::ClientGoalHandle<hni_interfaces::action::ChatPlay>::WrappedResult& result);
 
-	void sendAsyncGoal();
-	void goalResponseCallback(
-	  const rclcpp_action::ClientGoalHandle<hni_interfaces::action::ChatPlay>::SharedPtr & goal_handle);
-	void feedbackCallback(
-	  rclcpp_action::ClientGoalHandle<hni_interfaces::action::ChatPlay>::SharedPtr,
-	  const std::shared_ptr<const hni_interfaces::action::ChatPlay::Feedback> feedback);
-	void resultCallback(
-	  const rclcpp_action::ClientGoalHandle<hni_interfaces::action::ChatPlay>::WrappedResult & result);
+  rclcpp_action::Client<hni_interfaces::action::ChatPlay>::SharedPtr client_ptr_;
+  rclcpp::TimerBase::SharedPtr timer_;
 
+};	// ChatActionClient
 
-	rclcpp_action::Client<hni_interfaces::action::ChatPlay>::SharedPtr client_ptr_;
-	rclcpp::TimerBase::SharedPtr timer_;
+}  // namespace hni_chat_action_client
 
-
-}; // ChatActionClient
-
-} // hni_chat_action_client
-
-#endif // HNI_MOVES__CHAT_ACTION_CLIENT_HPP_
+#endif	// HNI_MOVES__CHAT_ACTION_CLIENT_HPP_

hni_cpp/include/hni_cpp/chat_action_server.hpp

@@ -18,9 +18,9 @@
 #include <array>
 #include <cstring>
 #include <functional>
-#include <iostream>   // std::cout
+#include <iostream>	 // std::cout
 #include <memory>
-#include <string>     // std::string, std::stof
+#include <string>  // std::string, std::stof
 #include <thread>
 #include <unordered_map>
 //#include <vector>
@@ -45,89 +45,80 @@
 #include "rclcpp_components/register_node_macro.hpp"
 #include "std_srvs/srv/set_bool.hpp"
 
-
-namespace hni_chat_action_server {
-
-
-class ChatActionServer : public rclcpp::Node {
- public:
-	explicit ChatActionServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions{});
-	virtual ~ChatActionServer();
-
- private:
-
-	// services clients
-	rclcpp::Client<std_srvs::srv::SetBool>::SharedPtr gstt_srv_client_;
-	rclcpp::Client<hni_interfaces::srv::TextToSpeech>::SharedPtr gtts_srv_client_;
-	rclcpp::Client<hni_interfaces::srv::Chat>::SharedPtr chat_srv_client_;
-
-	//client classes
-	//std::shared_ptr<hni_led_action_client::LedsPlayActionClient> led_srv_client_;
-
-	// chat play action server
-	rclcpp_action::Server<hni_interfaces::action::ChatPlay>::SharedPtr action_server_;
-	std::shared_ptr<rclcpp_action::ServerGoalHandle<hni_interfaces::action::ChatPlay>> goal_handle_;
-	rclcpp_action::GoalResponse handleGoal(
-	  const rclcpp_action::GoalUUID & uuid,
-	  std::shared_ptr<const hni_interfaces::action::ChatPlay::Goal> goal);
-	rclcpp_action::CancelResponse handleCancel(
-	  const std::shared_ptr<rclcpp_action::ServerGoalHandle<hni_interfaces::action::ChatPlay>> goal_handle);
-	void handleAccepted(
-	  const std::shared_ptr<rclcpp_action::ServerGoalHandle<hni_interfaces::action::ChatPlay>> goal_handle);
-	void execute(
-	  const std::shared_ptr<rclcpp_action::ServerGoalHandle<hni_interfaces::action::ChatPlay>> goal_handle);
-
-
-	// joints play action client
-	rclcpp_action::Client<hni_interfaces::action::JointsPlay>::SharedPtr joints_act_client_;
-	void jointsPlayGoalResponseCallback(
-	  const rclcpp_action::ClientGoalHandle<hni_interfaces::action::JointsPlay>::SharedPtr & goal_handle);
-	void jointsPlayFeedbackCallback(
-	  rclcpp_action::ClientGoalHandle<hni_interfaces::action::JointsPlay>::SharedPtr,
-	  const std::shared_ptr<const hni_interfaces::action::JointsPlay::Feedback> feedback);
-	void jointsPlayResultCallback(
-    const rclcpp_action::ClientGoalHandle<hni_interfaces::action::JointsPlay>::WrappedResult & result);
-
-    //leds play action client
-    rclcpp_action::Client<nao_led_interfaces::action::LedsPlay>::SharedPtr leds_play_act_client_;
-
-    void ledsPlayGoalResponseCallback(
-	  const rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr & goal_handle);
-	void ledsPlayFeedbackCallback(
-	  rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr,
-	  const std::shared_ptr<const nao_led_interfaces::action::LedsPlay::Feedback> feedback);
-	void ledsPlayResultCallback(
-    const rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::WrappedResult & result);
-
-
-  	// parameters
-	const double kSecPerWord_ ;
-	const double kForwardParam_ ;
-	std::unordered_map<std::string,std::string> moves_map_;
-
-	/*
-	std::shared_ptr<hni_joints_play_action_client::JointsPlayActionClient> joints_play_client_;
-	std::shared_ptr<hni_gstt_service_client::GsttServiceClient> gstt_srv_client_;
-	std::shared_ptr<hni_gtts_service_client::GttsServiceClient> gtts_srv_client_;
-	std::shared_ptr<hni_chat_service_client::ChatServiceClient> chat_srv_client_;
-	*/
-
-	rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr head_goal_handle_;
-	rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr eyes_goal_handle_;
-	rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr ears_goal_handle_;
-	rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr chest_goal_handle_;
-
-	void eyesStatic(bool flag);
-	void earsStatic(bool flag);
-	void chestStatic(bool flag);
-	void headStatic(bool flag);
-	void headLoop(bool flag);
-	void earsLoop(bool flag);
-	void eyesLoop(bool flag);
-
-
+namespace hni_chat_action_server
+{
+
+class ChatActionServer : public rclcpp::Node
+{
+public:
+  explicit ChatActionServer(const rclcpp::NodeOptions& options = rclcpp::NodeOptions{});
+  virtual ~ChatActionServer();
+
+private:
+  // services clients
+  rclcpp::Client<std_srvs::srv::SetBool>::SharedPtr gstt_srv_client_;
+  rclcpp::Client<hni_interfaces::srv::TextToSpeech>::SharedPtr gtts_srv_client_;
+  rclcpp::Client<hni_interfaces::srv::Chat>::SharedPtr chat_srv_client_;
+
+  // client classes
+  // std::shared_ptr<hni_led_action_client::LedsPlayActionClient> led_srv_client_;
+
+  // chat play action server
+  rclcpp_action::Server<hni_interfaces::action::ChatPlay>::SharedPtr action_server_;
+  std::shared_ptr<rclcpp_action::ServerGoalHandle<hni_interfaces::action::ChatPlay>> goal_handle_;
+  rclcpp_action::GoalResponse handleGoal(const rclcpp_action::GoalUUID& uuid,
+										 std::shared_ptr<const hni_interfaces::action::ChatPlay::Goal> goal);
+  rclcpp_action::CancelResponse
+  handleCancel(const std::shared_ptr<rclcpp_action::ServerGoalHandle<hni_interfaces::action::ChatPlay>> goal_handle);
+  void
+  handleAccepted(const std::shared_ptr<rclcpp_action::ServerGoalHandle<hni_interfaces::action::ChatPlay>> goal_handle);
+  void execute(const std::shared_ptr<rclcpp_action::ServerGoalHandle<hni_interfaces::action::ChatPlay>> goal_handle);
+
+  // joints play action client
+  rclcpp_action::Client<hni_interfaces::action::JointsPlay>::SharedPtr joints_act_client_;
+  void jointsPlayGoalResponseCallback(
+	  const rclcpp_action::ClientGoalHandle<hni_interfaces::action::JointsPlay>::SharedPtr& goal_handle);
+  void jointsPlayFeedbackCallback(rclcpp_action::ClientGoalHandle<hni_interfaces::action::JointsPlay>::SharedPtr,
+								  const std::shared_ptr<const hni_interfaces::action::JointsPlay::Feedback> feedback);
+  void jointsPlayResultCallback(
+	  const rclcpp_action::ClientGoalHandle<hni_interfaces::action::JointsPlay>::WrappedResult& result);
+
+  // leds play action client
+  rclcpp_action::Client<nao_led_interfaces::action::LedsPlay>::SharedPtr leds_play_act_client_;
+
+  void ledsPlayGoalResponseCallback(
+	  const rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr& goal_handle);
+  void ledsPlayFeedbackCallback(rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr,
+								const std::shared_ptr<const nao_led_interfaces::action::LedsPlay::Feedback> feedback);
+  void ledsPlayResultCallback(
+	  const rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::WrappedResult& result);
+
+  // parameters
+  const double kSecPerWord_;
+  const double kForwardParam_;
+  std::unordered_map<std::string, std::string> moves_map_;
+
+  /*
+  std::shared_ptr<hni_joints_play_action_client::JointsPlayActionClient> joints_play_client_;
+  std::shared_ptr<hni_gstt_service_client::GsttServiceClient> gstt_srv_client_;
+  std::shared_ptr<hni_gtts_service_client::GttsServiceClient> gtts_srv_client_;
+  std::shared_ptr<hni_chat_service_client::ChatServiceClient> chat_srv_client_;
+  */
+
+  rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr head_goal_handle_;
+  rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr eyes_goal_handle_;
+  rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr ears_goal_handle_;
+  rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr chest_goal_handle_;
+
+  void eyesStatic(bool flag);
+  void earsStatic(bool flag);
+  void chestStatic(bool flag);
+  void headStatic(bool flag);
+  void headLoop(bool flag);
+  void earsLoop(bool flag);
+  void eyesLoop(bool flag);
 };
 
-}
+}  // namespace hni_chat_action_server
 
-#endif  // HNI_CPP__CHAT_ACTION_SERVER_HPP_
+#endif	// HNI_CPP__CHAT_ACTION_SERVER_HPP_

hni_cpp/include/hni_cpp/chat_service_client.hpp

@@ -29,26 +29,21 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
 
+namespace hni_chat_service_client
+{
 
-
-namespace hni_chat_service_client {
-
-
-class ChatServiceClient : public rclcpp::Node {
-
-  public:
-  explicit ChatServiceClient(const rclcpp::NodeOptions & options = rclcpp::NodeOptions{});
+class ChatServiceClient : public rclcpp::Node
+{
+public:
+  explicit ChatServiceClient(const rclcpp::NodeOptions& options = rclcpp::NodeOptions{});
   virtual ~ChatServiceClient();
 
-  std::string sendSyncReq(std::string & phrase);
-
-  private:
+  std::string sendSyncReq(std::string& phrase);
 
+private:
   rclcpp::Client<hni_interfaces::srv::Chat>::SharedPtr client_ptr_;
-
 };
 
+}  // namespace hni_chat_service_client
 
-}  // namespace hni_gstt_service_client
-
-#endif //HNI_CPP__CHAT_SERVICE_CLIENT_HPP_
+#endif  // HNI_CPP__CHAT_SERVICE_CLIENT_HPP_