add ci config

.github/workflows/humble_docker_test.yaml

@@ -0,0 +1,113 @@
+name: Humble_buid_and_test_with_docker_NativeROS_string
+
+on:
+  push:
+    branches:
+      - "main"
+  pull_request:
+    types: [opened, synchronize]
+jobs:
+  ci:
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:humble-desktop
+    timeout-minutes: 5
+    strategy:
+      fail-fast: false
+      # matrix:
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v1
+
+      - name: Install Docker Compose
+        run: sudo apt-get update && sudo apt-get install -y docker-compose
+      # runs containers using docker-compose.yml
+      - name: Build and run containers
+        run: |
+          cd workspace/test/mros2
+          docker-compose up -d
+          cd -
+      - name: Wait for containers to start
+        run: sleep 20  # wait time for container startup.
+      - name: List running containers
+        run: docker ps -a  # Check if all containers are running.
+      - name: Show container logs
+        run: |
+          docker logs app1
+          docker logs app2
+      - name: Show IP addresses
+        run: |
+          docker exec app1 ip addr show eth0
+          docker exec app2 ip addr show eth0
+      - name: Test communication between containers (ping)
+        run: |
+          docker exec app1 ping -c 4 172.19.0.3  # app1 から app2 へのPing
+          docker exec app2 ping -c 4 172.19.0.2  # app2 から app1 へのPing
+      - name: Test TCP connection between containers (netcat)
+        run: |
+          # Listen port 8080 on app2
+          docker exec -d app2 bash -c "nc -l -p 8080"
+          # Check connection to app2 from app1
+          docker exec app1 bash -c "echo 'Test' | nc -w 3 172.19.0.3 8080"
+      # app1: prepare build (run chmod +x update_ip.sh and ./update_ip.sh)
+      - name: Prepare build in mros
+        run: |
+          docker cp $GITHUB_WORKSPACE app1:/root/ws_mros  # Copy source code to app1
+          docker exec app1 bash -c "
+          cd /root/ws_mros &&
+          chmod +x update_ip.sh &&  # Change grant
+          ./update_ip.sh"  # Run script to overwrite IP address.
+      # app1: clean and build
+      - name: Clean and build in mros
+        run: |
+          docker exec app1 bash -c "
+          cd /root/ws_mros &&
+          pwd &&
+          ls -la &&
+          bash build.bash clean &&
+          bash build.bash all test/mros2/test_echoback_string"
+      # app2:
+      - name: Clone Native test stub source code to app2 and build and run
+        run: |
+          docker exec app2 bash -c "
+          source /opt/ros/humble/setup.bash &&
+          cd &&
+          pwd &&
+          ls -la &&
+          git clone https://github.com/mROS-base/mros2-host-examples &&
+          cd mros2-host-examples &&
+          colcon build --packages-select mros2_echoreply_string &&
+          ls -la &&
+          source install/setup.bash"
+      - name: Run mROS and Native ROS
+        shell: bash
+        run : |
+          # Run native ROS respondeer in  background
+          docker exec app2 bash -c "source /opt/ros/humble/setup.bash &&
+          cd mros2-host-examples &&
+          source install/setup.bash &&
+          ros2 run mros2_echoreply_string echoreply_node" &
+
+          docker exec app1 bash -c "cd /root/ws_mros && ./cmake_build/mros2-posix" &
+          mros_pid=$!  # get mROS process id
+
+          docker ps
+
+          # Wait until mROS finishes
+          wait $mros_pid
+          mros_status=$?
+
+          # Judge CI success based on results
+          if [ $mros_status -eq 0 ] ;then
+            echo "Succeed pub/sub test process between mros2 and Native ROS"
+            exit 0
+          else
+            echo "Fail pub/sub test process between mros2 and Native ROS"
+            exit 1
+          fi
+      - name: Tear down containers
+        run: docker-compose down

.github/workflows/humble_test.yaml

@@ -0,0 +1,111 @@
+name: Humble_build_and_test
+
+on:
+  push:
+    branches:
+      - "main"
+  pull_request:
+    types: [opened, synchronize ]
+jobs:
+  build_and_test:
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:humble-desktop
+    timeout-minutes: 3
+    strategy:
+      fail-fast: false
+      matrix:
+        comm-target: [native , mros]
+        comm-data-type: [string, twist]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      - name: update
+        run: sudo apt-get update
+      - name: setup and install tools
+        run: >
+          sudo apt-get install -y iproute2 git wget build-essential gcc g++ libssl-dev libreadline-dev 
+          zlib1g-dev make autoconf automake cmake pkg-config curl net-tools netcat python3-jinja2
+      - name: Clone Test Stub
+        uses: actions/checkout@v4
+        with:
+          repository: mROS-base/mros2-host-examples
+          path: ws_host/src/mros2-host-examples
+      - name: Update IP address
+        run: |
+          chmod +x update_ip.sh
+          ./update_ip.sh
+      - name: Generate Twist Header files
+        if: matrix.comm-data-type == 'twist'
+        shell: bash
+        run: |
+          cd workspace
+          python3 ../mros2/mros2_header_generator/header_generator.py geometry_msgs/msg/Twist.msg
+          cd -
+      - name: Build mROS
+        shell: bash
+        run: |
+          bash build.bash clean
+          bash build.bash all test/mros2/test_echoback_${{ matrix.comm-data-type }}
+          mv cmake_build/ test_echoback_${{ matrix.comm-data-type }}/
+      - name: Build Native ROS responder
+        if: matrix.comm-target == 'native'
+        shell: bash
+        run: |
+          cd ws_host/
+          source /opt/ros/humble/setup.bash
+          colcon build --packages-select mros2_echoreply_${{ matrix.comm-data-type }}
+      - name: Build mROS responder
+        if: matrix.comm-target == 'mros'
+        shell: bash
+        run: |
+          bash build.bash clean
+          bash build.bash all test/mros2/test_echoback_${{ matrix.comm-data-type }}_responder
+      - name: Run Testing mROS and Native ROS
+        if: matrix.comm-target == 'native'
+        shell: bash
+        run : |
+            ./test_echoback_${{ matrix.comm-data-type }}/mros2-posix &
+            mros_pid=$!  # get mROS process id
+
+            # Run Native ROS in background
+            cd ws_host/
+            source /opt/ros/humble/setup.bash
+            source install/setup.bash
+            ros2 run mros2_echoreply_${{ matrix.comm-data-type }} echoreply_node &
+
+            # Wait until mROS finishes
+            wait $mros_pid
+            mros_status=$?
+
+            # Judge CI success based on results
+            if [ $mros_status -eq 0 ] ;then
+              echo "Succeed pub/sub test process between mros2 and Native ROS"
+              exit 0
+            else
+              echo "Fail pub/sub test process between mros2 and Native ROS"
+              exit 1
+            fi
+      - name: Run mROS and mROS
+        if: matrix.comm-target == 'mros'
+        shell: bash
+        run : |
+            ./test_echoback_${{ matrix.comm-data-type }}/mros2-posix &
+            mros_pid=$!  # get mROS process id
+
+            # Run mROS responder in background
+            ./cmake_build/mros2-posix &
+
+            # Wait until mROS finishes
+            wait $mros_pid
+            mros_status=$?
+
+            # Judge CI success based on results
+            if [ $mros_status -eq 0 ] ;then
+              echo "Succeed pub/sub test process between mros2 and mros2"
+              exit 0
+            else
+              echo "Fail pub/sub test process between mros2 and mros2"
+              exit 1
+            fi

README.md

@@ -37,7 +37,7 @@ sudo apt-get update && sudo apt-get install -y \
   libssl-dev libreadline-dev zlib1g-dev \
   make autoconf automake cmake \
   pkg-config curl \
-  net-tools netcat
+  net-tools netcat python3-jinja2
 ```
 
 Please check the IP address and netmask of the execution environment. 
@@ -64,6 +64,22 @@ You need to edit the below files to set IP address and netmask.
 * IP address and netmask to `include/netif.h`
 * IP address to `include/rtps/config.h`
 
+Alternatively, you can use the provided `update_ip.sh` script to automatically update these files according to your building environment. 
+The `update_ip.sh` script is designed to overwrite the IP address and netmask in `include/rtps/config.h` and `include/netif.h` files based on the current network configuration.
+
+Below is an example of using this script.
+
+```bash
+bash update_ip.sh
+```
+
+This script retrieves the current IP address and netmask of the system's active network interface and updates the specified files accordingly.
+Make sure to check the output to ensure the updates are correct before proceeding with the build.
+If multiple network interfaces are available, ensure the correct one is being used.
+
+For troubleshooting, verify that the script runs without errors.
+If you encounter issues, check that the necessary network tools are installed and that your system has an active network connection.
+
 ## Getting Started
 
 This section explains how to build and execute mros2-posix application as a Linux/POSIX process, using `echoback_string` as an example (please see workspace/README.md for another examples).

update_ip.sh

@@ -0,0 +1,72 @@
+#!/bin/bash
+
+# Retrieve IP address
+IP_ADDRESS=$(hostname -I | awk '{print $1}')
+if [ -z "$IP_ADDRESS" ]; then
+    echo "Error: Failed to retrieve IP address."
+    exit 1
+fi
+
+# Retrieve netmask (extract the netmask corresponding to the IP address)
+INTERFACE=$(ip -o addr show | grep "$IP_ADDRESS" | awk '{print $2}')
+NETMASK=$(ip -o -f inet addr show $INTERFACE | awk '/inet/ {print $4}' | cut -d'/' -f2)
+if [ -z "$NETMASK" ]; then
+    echo "Error: Failed to retrieve netmask."
+    exit 1
+fi
+
+# Calculate netmask from CIDR
+function cidr_to_netmask() {
+    local cidr=$1
+    local mask=""
+    local octets=$(( cidr / 8 ))
+    local bits=$(( cidr % 8 ))
+
+    for (( i=0; i<4; i++ )); do
+        if [ $i -lt $octets ]; then
+            mask+="255"
+        elif [ $i -eq $octets ]; then
+            mask+=$(( 256 - 2**(8-bits) ))
+        else
+            mask+="0"
+        fi
+
+        if [ $i -lt 3 ]; then
+            mask+="."
+        fi
+    done
+    echo "$mask"
+}
+
+NETMASK=$(cidr_to_netmask $NETMASK)
+echo "Retrieved Netmask for IP $IP_ADDRESS: $NETMASK"
+
+# Split the IP address by dots
+IFS='.' read -r -a IP_PARTS <<< "$IP_ADDRESS"
+
+# Split the netmask by dots
+IFS='.' read -r -a NETMASK_PARTS <<< "$NETMASK"
+echo "Netmask parts: ${NETMASK_PARTS[0]}, ${NETMASK_PARTS[1]}, ${NETMASK_PARTS[2]}, ${NETMASK_PARTS[3]}"
+
+# Replace the IP address in include/rtps/config.h
+
+echo "Running sed on include/rtps/config.h"
+sed -i "s/[[:space:]]*[0-9]\{1,3\},[[:space:]]*[0-9]\{1,3\},[[:space:]]*[0-9]\{1,3\},[[:space:]]*[0-9]\{1,3\}[[:space:]]*}; \
+\/\/ Needs to be set in lwipcfg.h too./\
+${IP_PARTS[0]}, ${IP_PARTS[1]}, ${IP_PARTS[2]}, ${IP_PARTS[3]}};\
+\/\/ Needs to be set in lwipcfg.h too./" \
+include/rtps/config.h
+
+
+# Replace the IP address and netmask in include/netif.h
+sed -i 's/#define NETIF_IPADDR ".*"/#define NETIF_IPADDR "'$IP_ADDRESS'"/' include/netif.h
+sed -i 's/#define NETIF_NETMASK ".*"/#define NETIF_NETMASK "'$NETMASK'"/' include/netif.h
+
+
+
+# Display the result for confirmation
+echo "Updated IP Address: $IP_ADDRESS"
+echo "Updated include/rtps/config.h:"
+grep -E  'Needs to be set in lwipcfg.h too.' include/rtps/config.h
+echo "Updated include/netif.h:"
+grep -E 'NETIF_IPADDR' include/netif.h

workspace/test/README.md

@@ -8,3 +8,23 @@ We plan to maintain them in the near future, as they remain useful (see #1).
 (embeddedRTPS and lwip-posix)
 * embeddedRTPS layer: [fastdds-comp](https://github.com/mROS-base/mros2-posix/tree/main/workspace/test/fastdds-comp)
 
+
+
+## mros2 Directory Overview
+
+The `mros2` directory contains several test programs and configuration files, which are actively used in the CI testing process. Below is the structure and overview of the this directory:
+
+```
+mros2/
+├── docker-compose.yml
+├── test_echoback_string
+├── test_echoback_string_responder
+├── test_echoback_twist
+└── test_echoback_twist_responder
+```
+
+- **docker-compose.yml**: This is an experimental file that was prepared for setting up the environment, but it is currently not used in the CI process. See `.github/workflows/humble_docker_test.yaml`
+- **test_echoback_string**: A test program that sends a string message and expects an echo response, validating communication for string messages in a ROS 2 environment. It is designed to communicate with the `mros2-host-example`'s `mros2_echoreply_string` (a test for Native ROS) and `test_echoback_string_responder` (a test for mROS). The responder listens for incoming messages and sends back the received message.
+- **test_echoback_string_responder**: This program subscribes to incoming string messages and echoes them back, facilitating the echo test for string messages.
+- **test_echoback_twist**: A test program that sends a `geometry_msgs::msg::Twist` message and expects an echo response, validating communication for Twist messages in a ROS 2 environment. It communicates with the `mros2-host-example`'s `mros2_echoreply_twist` (a test for Native ROS) and `test_echoback_twist_responder` (a test for mROS).
+- **test_echoback_twist_responder**: This program subscribes to incoming Twist messages and echoes them back, facilitating the echo test for Twist messages.

workspace/test/mros2/docker-compose.yml

@@ -0,0 +1,38 @@
+version: '3'
+services:
+  app1:
+    container_name: app1
+    image: osrf/ros:humble-desktop  # ROS Humble の Ubuntu ベースイメージを使用
+    command: >
+      bash -c "set -e &&
+      apt-get update &&
+      apt-get install -y iproute2 iputils-ping git wget build-essential gcc g++ libssl-dev libreadline-dev
+      zlib1g-dev make autoconf automake cmake pkg-config curl net-tools netcat python3-jinja2 &&
+      echo 'IP address:' &&
+      ip addr show eth0 &&
+      sleep 600"
+    networks:
+      test_net:
+        ipv4_address: 172.19.0.2
+
+  app2:
+    container_name: app2
+    image: osrf/ros:humble-desktop  # ROS Humble の Ubuntu ベースイメージを使用
+    command: >
+      bash -c "set -e &&
+      apt-get update &&
+      apt-get install -y iproute2 iputils-ping git wget build-essential gcc g++ libssl-dev libreadline-dev
+      zlib1g-dev make autoconf automake cmake pkg-config curl net-tools netcat python3-jinja2 &&
+      echo 'IP address:' &&
+      ip addr show eth0 &&
+      sleep 600"
+    networks:
+      test_net:
+        ipv4_address: 172.19.0.3
+
+networks:
+  test_net:
+    driver: bridge
+    ipam:
+      config:
+        - subnet: 172.19.0.0/16