Merge pull request #346 from FlaSpaceInst/staging

Staging -> Master: GitHub Actions and PEP8 changes

.github/build/Dockerfile

@@ -0,0 +1,7 @@
+FROM ros:melodic
+
+# Copy code repository and script that specifies test procedure
+COPY . /ez-rassor
+COPY .github/build/entrypoint.sh /entrypoint.sh
+
+CMD ["/bin/sh", "/entrypoint.sh"]

.github/build/entrypoint.sh

@@ -0,0 +1,11 @@
+#!/bin/sh -l
+
+cd /ez-rassor
+
+# Go through the setup commands
+sh develop.sh setup
+sh develop.sh link
+sh develop.sh build
+
+# Run the test function (uses catkin_make run_tests)
+sh develop.sh test

.github/workflows/dev.yml

@@ -0,0 +1,36 @@
+name: dev
+
+on:
+  push: 
+    branches:
+      - dev
+      - staging
+  pull_request:
+    branches:
+      - dev
+      - staging
+
+jobs:
+
+  rostest:
+
+    runs-on: ubuntu-latest
+
+    # Builds a docker image with the repository inside. The executable for the container installs all packages and runs rostest.
+    steps:
+      - uses: actions/checkout@v2 
+      - name: Run rostest on repository
+        run: |
+          docker build -t ez-rassor_rostest -f .github/build/Dockerfile .
+          docker run ez-rassor_rostest
+
+  flake8:
+
+    runs-on: ubuntu-latest
+
+    # Runs flake8 linter on all Python code. Saves changes as annotations to a PR.
+    steps:
+      - uses: actions/checkout@v2 
+      - uses: TrueBrain/actions-flake8@master
+        with:
+          ignore: E501,W503

dem_scripts/auto_gen_wrld/model_create.py

@@ -2,8 +2,9 @@
 from lxml import etree
 import sys
 
-""" Given a uri tag, modify model_name and dem_name parts of the path """
+
 def replace_ref(tag, model_name, dem_name):
+    """Given a uri tag, modify model_name and dem_name parts of the path."""
     first = True
     tag_text = tag.text
     tag_text = tag_text.split("/")
@@ -19,8 +20,9 @@ def replace_ref(tag, model_name, dem_name):
 
     tag.text = new_tag_text
 
-""" Given a uri tag, modify model_name part of the path """
+
 def replace_diff_mod(tag, model_name):
+    """Given a uri tag, modify model_name part of the path."""
     first = True
     tag_text = tag.text
     tag_text = tag_text.split("/")
@@ -36,38 +38,35 @@ def replace_diff_mod(tag, model_name):
 
     tag.text = new_tag_text
 
-""" Update a tag's name attribute with model_name """
+
 def replace_top_model_name(tag, model_name):
-    tag.attrib['name'] = model_name
+    """Update a tag's name attribute with model_name."""
+    tag.attrib["name"] = model_name
+
 
-""" Update a tag's text field with string """
 def replace_text_field(tag, string):
+    """Update a tag's text field with string."""
     tag.text = string
 
-""" Fill in model.sdf template """
+
 def model_trav(path_to_file, model_name, dem_name, w, h, squish_factor):
+    """Fill in model.sdf template."""
 
     tree = etree.parse(path_to_file)
 
-    top_tag = tree.xpath(
-                "//sdf/model"
-                )[0]
+    top_tag = tree.xpath("//sdf/model")[0]
 
-    collision_uri_tag = tree.xpath(
-                "//sdf/model/link/collision/geometry/heightmap/uri"
-                )[0]
-    visual_uri_tag = tree.xpath(
-                "//sdf/model/link/visual/geometry/heightmap/uri"
-                )[0]
+    collision_uri_tag = tree.xpath("//sdf/model/link/collision/geometry/heightmap/uri")[
+        0
+    ]
+    visual_uri_tag = tree.xpath("//sdf/model/link/visual/geometry/heightmap/uri")[0]
     visual_tex_tag = tree.xpath(
-                "//sdf/model/link/visual/geometry/heightmap/texture/diffuse"
-                )[0]
+        "//sdf/model/link/visual/geometry/heightmap/texture/diffuse"
+    )[0]
     collision_size_tag = tree.xpath(
-                "//sdf/model/link/collision/geometry/heightmap/size"
-                )[0]
-    visual_size_tag = tree.xpath(
-                "//sdf/model/link/visual/geometry/heightmap/size"
-                )[0]
+        "//sdf/model/link/collision/geometry/heightmap/size"
+    )[0]
+    visual_size_tag = tree.xpath("//sdf/model/link/visual/geometry/heightmap/size")[0]
 
     replace_ref(collision_uri_tag, model_name, dem_name)
 
@@ -83,6 +82,7 @@ def model_trav(path_to_file, model_name, dem_name, w, h, squish_factor):
 
     tree.write(path_to_file, xml_declaration=True)
 
+
 def main():
 
     if len(sys.argv) < 6:
@@ -100,10 +100,14 @@ def main():
     squish_factor = sys.argv[6]
 
     model_trav(
-        path_to_model, model_name, dem_img_file,
-        dimmensions_w, dimmensions_h,
-        squish_factor
+        path_to_model,
+        model_name,
+        dem_img_file,
+        dimmensions_w,
+        dimmensions_h,
+        squish_factor,
     )
 
+
 if __name__ == "__main__":
     main()

dem_scripts/auto_gen_wrld/world_file_create.py

@@ -4,44 +4,39 @@
 import model_create as mc
 
 """ Fill in world template """
+
+
 def world_trav(path_to_file, model_name, dem_name, w, h, squish_factor):
 
     tree = etree.parse(path_to_file)
-    tree.xpath("//sdf/world/state")[0].attrib['world_name'] = model_name \
-                                                            + "_world"
-    tree.xpath("//sdf/world/state/model")[0].attrib['name'] = model_name
+    tree.xpath("//sdf/world/state")[0].attrib["world_name"] = model_name + "_world"
+    tree.xpath("//sdf/world/state/model")[0].attrib["name"] = model_name
 
-    include_tag = tree.xpath(
-        "//sdf/world/include"
-        )[1].getchildren()[0]
+    include_tag = tree.xpath("//sdf/world/include")[1].getchildren()[0]
 
-    top_tag = tree.xpath(
-        "//sdf/world/model"
-        )[0]
+    top_tag = tree.xpath("//sdf/world/model")[0]
 
-    world_tag = tree.xpath(
-        "//sdf/world"
-        )[0]
+    world_tag = tree.xpath("//sdf/world")[0]
 
     collision_uri_tag = tree.xpath(
         "//sdf/world/model/link/collision/geometry/heightmap/uri"
-        )[0]
+    )[0]
 
-    visual_uri_tag = tree.xpath(
-        "//sdf/world/model/link/visual/geometry/heightmap/uri"
-        )[0]
+    visual_uri_tag = tree.xpath("//sdf/world/model/link/visual/geometry/heightmap/uri")[
+        0
+    ]
 
     visual_tex_tag = tree.xpath(
         "//sdf/world/model/link/visual/geometry/heightmap/texture/diffuse"
-        )[0]
+    )[0]
 
     collision_size_tag = tree.xpath(
         "//sdf/world/model/link/collision/geometry/heightmap/size"
-        )[0]
+    )[0]
 
     visual_size_tag = tree.xpath(
         "//sdf/world/model/link/visual/geometry/heightmap/size"
-        )[0]
+    )[0]
 
     mc.replace_ref(collision_uri_tag, model_name, dem_name)
 
@@ -61,6 +56,7 @@ def world_trav(path_to_file, model_name, dem_name, w, h, squish_factor):
 
     tree.write(path_to_file, xml_declaration=True)
 
+
 def main():
 
     if len(sys.argv) < 6:
@@ -78,10 +74,14 @@ def main():
     squish_factor = sys.argv[6]
 
     world_trav(
-        path_to_world, model_name, dem_img_file,
-        dimmensions_w, dimmensions_h,
-        squish_factor
+        path_to_world,
+        model_name,
+        dem_img_file,
+        dimmensions_w,
+        dimmensions_h,
+        squish_factor,
     )
 
+
 if __name__ == "__main__":
     main()

dem_scripts/auto_move/move_model_world.py

@@ -1,54 +1,57 @@
 #!/usr/bin/env python
 import os
-import sys
+
 
 def main():
 
-	world_ext = ""
-	choice = "queue_packs/"
-
-	l = os.listdir("./" + choice)
-
-	for i in l:
-
-		print("Processing {}".format(i))
-
-		folder_name = ""
-		cool = i.split("_")
-		num = len(cool)
-		new_str = ""
-		for p in range(num - 1):
-			if p < num - 2:
-				new_str += cool[p] + "_"
-			else:
-				new_str += cool[p]
-
-		world_file = ""
-		folder_name = new_str
-		lister = os.listdir("./" + choice + i)
-		for file in lister:
-			if ".world" in file:
-				world_file = file
-		tester = os.listdir("./" + choice + i + "/" + folder_name
-				+ "/materials/textures/"
-		)
-		cache = ""
-		for file in tester:
-			if file != "AS16-110-18026HR-512x512.jpg":
-				temp = file.split(".")
-				cache = temp[0]
-		print("Remove cache for {}".format(cache))
-		os.system("rm -rf $HOME/.gazebo/paging/" + cache)
-
-		print("Copying model and world to appropriate folders")
-		os.system(
-			"cp -r ./" + choice + i + "/" + folder_name
-			+ " $HOME/.gazebo/models/"
-		)
-		os.system(
-			"cp ./" + choice + i + "/" + world_file
-			+ " ../../packages/simulation/ezrassor_sim_gazebo/worlds"
-		)
-
-if __name__ == '__main__':
-	main()
+    choice = "queue_packs/"
+
+    packs = os.listdir("./" + choice)
+
+    for i in packs:
+
+        print("Processing {}".format(i))
+
+        folder_name = ""
+        cool = i.split("_")
+        num = len(cool)
+        new_str = ""
+        for p in range(num - 1):
+            if p < num - 2:
+                new_str += cool[p] + "_"
+            else:
+                new_str += cool[p]
+
+        world_file = ""
+        folder_name = new_str
+        lister = os.listdir("./" + choice + i)
+        for file in lister:
+            if ".world" in file:
+                world_file = file
+        tester = os.listdir(
+            "./" + choice + i + "/" + folder_name + "/materials/textures/"
+        )
+        cache = ""
+        for file in tester:
+            if file != "AS16-110-18026HR-512x512.jpg":
+                temp = file.split(".")
+                cache = temp[0]
+        print("Remove cache for {}".format(cache))
+        os.system("rm -rf $HOME/.gazebo/paging/" + cache)
+
+        print("Copying model and world to appropriate folders")
+        os.system(
+            "cp -r ./" + choice + i + "/" + folder_name + " $HOME/.gazebo/models/"
+        )
+        os.system(
+            "cp ./"
+            + choice
+            + i
+            + "/"
+            + world_file
+            + " ../../packages/simulation/ezrassor_sim_gazebo/worlds"
+        )
+
+
+if __name__ == "__main__":
+    main()