Release Version 3.1.0

Version 3.1.0 is a minor update to modulo with a new feature in the components and it marks the first official version that uses iron as its ROS2 distribution.

.devcontainer/devcontainer.json

@@ -0,0 +1,23 @@
+{
+  "name": "modulo",
+  "remoteUser": "ros2",
+  "build": {
+    "dockerfile": "../Dockerfile",
+    "context": "..",
+    "target": "development",
+    "args": { "CL_VERSION": "v7.2.0" }
+  },
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ros2/.devcontainer,type=bind,consistency=cached",
+  "workspaceFolder": "/home/ros2/.devcontainer",
+  "mounts": [
+    "source=${localWorkspaceFolder}/source,target=/home/ros2/ws/src,type=bind,consistency=cached"
+  ],
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-vscode.cpptools-extension-pack",
+        "eamodio.gitlens"
+      ]
+    }
+  }
+}

.github/workflows/build-release.yaml

@@ -46,7 +46,6 @@ jobs:
         with:
           image_name: aica-technology/modulo
           image_tags: ${{ steps.merge-tags.outputs.list }}
-          dockerfile_path: Dockerfile.ci
           token: ${{ secrets.GITHUB_TOKEN }}
 
   multi-arch:

.github/workflows/build-test.yml

@@ -1,40 +1,31 @@
 name: Build and Test
 
-# Run workflow on pushes to main and develop branches, on any pull request, or by manual dispatch
 on:
-  push:
-    branches:
-      - main
-      - develop
   pull_request:
   workflow_dispatch:
 
-# Define the build test jobs
 jobs:
-
-  check-contribution:
+  check:
     name: Check if changelog and version have been updated
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
         uses: actions/checkout@v3
-      - name: Check contributions
-        if: ${{ github.event.pull_request.base.sha }}
+      - name: Check changelog
         run: |
           git fetch origin main ${{ github.event.pull_request.base.sha }}
           VER_DIFF=$(git diff ${{ github.event.pull_request.base.sha }} ${{ github.sha }} -- ./VERSION)
           if ! [ "${VER_DIFF}" ]; then
-            echo "::warning title=Contribution check failed::VERSION must be updated!"
+            echo "::warning title=Version check failed::VERSION must be updated!"
             exit 1
           fi
           CL_DIFF=$(git diff ${{ github.event.pull_request.base.sha }} ${{ github.sha }} -- ./CHANGELOG.md)
           if ! [ "${CL_DIFF}" ]; then
-            echo "::warning title=Contribution check failed::CHANGELOG.md must be updated!"
+            echo "::warning title=CHEANGELOG check failed::CHANGELOG.md must be updated!"
             exit 1
           fi
         shell: bash
 
-  # check if jobs can be skipped
   check-skippable-changes:
     name: Check skippable changes
     runs-on: ubuntu-latest
@@ -49,28 +40,17 @@ jobs:
           paths_ignore: '["**.md"]'
           skip_after_successful_duplicate: 'true'
 
-  build-test-humble:
+  test:
     needs: check-skippable-changes
     if: ${{ needs.check-skippable-changes.outputs.skip != 'true' }}
     runs-on: ubuntu-latest
-    name: Humble build and test
+    name: Run tests
     steps:
-      # First check out the repository
-      - name: Checkout
+      - name: Checkout repository
         uses: actions/checkout@v3
-      # Load the repository build-test action
-      - name: Build and Test
-        uses: ./.github/actions/build-test-humble
 
-  build-test-humble-devel:
-    needs: check-skippable-changes
-    if: ${{ needs.check-skippable-changes.outputs.skip != 'true' }}
-    runs-on: ubuntu-latest
-    name: Humble development build and test
-    steps:
-      # First check out the repository
-      - name: Checkout
-        uses: actions/checkout@v2
-      # Load the repository build-test action
-      - name: Build and Test
-        uses: ./.github/actions/build-test-humble-devel
+      - name: Test
+        run: |
+          DOCKER_BUILDKIT=1 docker build --target test .
+        shell: bash
+

.gitignore

@@ -5,5 +5,6 @@
 .idea
 cmake-build-*
 ./fileList.txt
+build
 
 doxygen/docs/html

.vscode/c_cpp_properties.json

@@ -0,0 +1,20 @@
+{
+    "configurations": [
+        {
+            "name": "AMD",
+            "includePath": [
+                "/opt/ros/humble/include/**",
+                "/home/ros2/ros2_ws/install/**",
+                "/home/ros2/ws/install/**",
+                "/home/ros2/ws/src/modulo_utils/include",
+                "/home/ros2/ws/src/modulo_core/include",
+                "/home/ros2/ws/src/modulo_components/include"
+            ],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c17",
+            "cppStandard": "gnu++17",
+            "intelliSenseMode": "linux-gcc-x64"
+        }
+    ],
+    "version": 4
+}

.vscode/settings.json

@@ -0,0 +1,4 @@
+{
+    "C_Cpp.clang_format_style": "file:/home/ros2/.clang-format",
+    "cmake.sourceDirectory": "/home/ros2/ws/src/modulo_components",
+}

CHANGELOG.md

@@ -2,11 +2,29 @@
 
 Release Versions:
 
+- [3.1.0](#300)
 - [3.0.0](#300)
 - [2.3.0](#230)
 - [2.2.0](#220)
 - [2.1.1](#211)
 - [2.1.0](#210)
+## 3.1.0
+
+### September 27, 2023
+
+Version 3.1.0 is a minor update to modulo with a new feature in the components and it marks the first official version
+that uses `iron` as its ROS2 distribution.
+
+### Features
+
+- Add the on_step_callback for components (#51)
+
+### Behind the scenes
+
+- Revise test stage to fail on test errors (#48)
+- Unify dockerfiles and add vs code configuration (#50)
+- Use iron as ros2 distro (#53)
+- Change test workflow to docker build (#55)
 
 ## 3.0.0
 

source/modulo_components/CONTRIBUTING.md → CONTRIBUTING.md

@@ -26,4 +26,23 @@ Similar to the exceptions, the logging of debug, info, and error messages should
 - Methods that catch an exception and are not allow to rethrow, log an error with the exception message
 - `add_xxx` methods use non-throttled logging
 - Setters and getters as well as all other methods that are expected to be called at a high frequency use throttled
-  logging
+  logging
+
+
+## Development Environment
+
+Our development and testing workflow uses a Docker container to host the project build dependencies.
+
+The following section describes the configuration steps to use this workflow. Of course, contributors may use whatever
+development environment they prefer, as long as they adhere to the overall contribution guidelines.
+
+### Configuring the development environment
+
+Prerequisites: Install Docker and Visual Studio Code.
+
+Step 1: Open VS Code and install the [Dev Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension.
+
+Step 2: Use **Dev Containers: Open Folder in Container...** from the command palette and select this directory.
+
+Step 3: The CMake profile should be automatically selected, now you can run and debug library and test targets entirely
+with the devcontainer toolchain.

Dockerfile

@@ -1,25 +1,56 @@
-ARG BASE_TAG=humble
-FROM ghcr.io/aica-technology/ros2-control-libraries:${BASE_TAG} as dependencies
-WORKDIR ${HOME}/ros2_ws
-
-
-FROM dependencies as modulo-component-interfaces
-
-COPY --chown=${USER} ./source/modulo_component_interfaces ./src/modulo_component_interfaces
-COPY --chown=${USER} ./source/modulo_utils ./src/modulo_utils
-RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash; colcon build"
-
-
-FROM modulo-component-interfaces as modulo-core
-
-COPY --chown=${USER} ./source/modulo_core ./src/modulo_core
-RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash; colcon build --packages-select modulo_core"
-
-
-FROM modulo-core as modulo-components
-
-COPY --chown=${USER} ./source/modulo_components ./src/modulo_components
-RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash; colcon build --packages-select modulo_components"
-
-# clean image
-RUN sudo apt-get clean && sudo rm -rf /var/lib/apt/lists/*
+#syntax=docker/dockerfile:1.4.0
+ARG CL_VERSION=v7.2.0
+ARG ROS2_VERSION=iron
+FROM ghcr.io/aica-technology/control-libraries:${CL_VERSION} as cl
+FROM ghcr.io/aica-technology/ros2-ws:${ROS2_VERSION} as base
+# setup the environment
+USER ${USER}
+ENV WORKSPACE ${HOME}/ws
+WORKDIR ${WORKSPACE}
+SHELL ["/bin/bash", "-l", "-c"]
+
+# create a workspace
+RUN source ${HOME}/ros2_ws/install/setup.bash && colcon build
+# source the new workspace on login
+RUN echo "source ${WORKSPACE}/install/setup.bash" | cat - ${HOME}/.bashrc > tmp && mv tmp ${HOME}/.bashrc
+# install deps
+COPY --from=cl / /
+# install sources
+COPY --chown=${USER}:${USER} ./source ${WORKSPACE}/src
+
+FROM base as utils-development
+ARG TARGETPLATFORM
+ARG CACHEID
+RUN --mount=type=cache,target=./build,id=${TARGETPLATFORM}-${CACHEID},uid=1000 \
+  colcon build --packages-select modulo_component_interfaces
+
+FROM utils-development as core-development
+ARG TARGETPLATFORM
+ARG CACHEID
+RUN --mount=type=cache,target=./build,id=${TARGETPLATFORM}-${CACHEID},uid=1000 \
+  colcon build --packages-select modulo_utils
+
+FROM core-development as development
+ARG TARGETPLATFORM
+ARG CACHEID
+RUN --mount=type=cache,target=./build,id=${TARGETPLATFORM}-${CACHEID},uid=1000 \
+  colcon build --packages-select modulo_core
+
+FROM base as build
+ARG TARGETPLATFORM
+ARG CACHEID
+RUN --mount=type=cache,target=./build,id=${TARGETPLATFORM}-${CACHEID},uid=1000 \
+  sudo apt-get update && rosdep update \
+  && rosdep install --from-paths src --ignore-src -r -y \
+  --skip-keys "ros2_control ros2_controllers controller_interface hardware_interface controller_manager" \
+  && sudo rm -rf /var/lib/apt/lists/* \
+  && colcon build
+
+FROM build as test
+ARG TARGETPLATFORM
+ARG CACHEID
+RUN --mount=type=cache,target=./build,id=${TARGETPLATFORM}-${CACHEID},uid=1000 \
+  colcon test && colcon test-result --verbose
+
+FROM scratch as production
+COPY --from=build /home/ros2/ws/install /colcon

VERSION

@@ -1 +1 @@
-3.0.0
+3.1.0