Merge branch 'ros2' into dev

.clang-format

@@ -0,0 +1,55 @@
+---
+BasedOnStyle: Microsoft
+AlignArrayOfStructures: Left
+AllowShortBlocksOnASingleLine: Always
+AllowShortCaseLabelsOnASingleLine: true
+AllowShortFunctionsOnASingleLine: All
+BraceWrapping:
+  AfterCaseLabel: true
+  AfterClass: true
+  AfterControlStatement: Always
+  AfterEnum: true
+  AfterFunction: true
+  AfterNamespace: false
+  AfterObjCDeclaration: true
+  AfterStruct: true
+  AfterUnion: true
+  AfterExternBlock: true
+  BeforeCatch: true
+  BeforeElse: true
+  BeforeLambdaBody: false
+  BeforeWhile: false
+  IndentBraces: false
+  SplitEmptyFunction: false
+  SplitEmptyRecord: false
+  SplitEmptyNamespace: false
+BreakArrays: false
+BreakBeforeTernaryOperators: false
+BreakInheritanceList: AfterComma
+BreakStringLiterals: false
+ColumnLimit: 0
+ConstructorInitializerIndentWidth: 2
+ContinuationIndentWidth: 2
+IncludeBlocks: Regroup
+IndentRequiresClause: false
+IndentWidth: 2
+KeepEmptyLinesAtTheStartOfBlocks: false
+PenaltyBreakTemplateDeclaration: 1000000
+PointerAlignment: Left
+SpaceAfterTemplateKeyword: false
+SpaceBeforeParens: Custom
+SpaceBeforeParensOptions:
+  AfterControlStatements: false
+  AfterForeachMacros: false
+  AfterIfMacros: false
+SpacesInContainerLiterals: false
+TabWidth: 2
+BracedInitializerIndentWidth: 2
+NamespaceIndentation: All
+IncludeCategories:
+  - Regex:           '^\<.*\>'
+    Priority:        1
+    CaseSensitive:   false
+  - Regex:           '^".*"'
+    Priority:        2
+    CaseSensitive:   false

.clang-tidy

@@ -0,0 +1,100 @@
+Checks: >
+  -*,
+  bugprone-*,
+  -bugprone-easily-swappable-parameters,
+  -bugprone-branch-clone,
+  -bugprone-unchecked-optional-access,
+  cppcoreguidelines-avoid-goto,
+  cppcoreguidelines-init-variables,
+  cppcoreguidelines-no-malloc,
+  cppcoreguidelines-prefer-member-initializer,
+  cppcoreguidelines-virtual-class-destructor,
+  misc-const-correctness,
+  misc-header-include-cycle,
+  misc-include-cleaner,
+  misc-misleading-identifier,
+  misc-misplaced-const,
+  misc-new-delete-overloads,
+  misc-non-copyable-objects,
+  misc-redundant-expression,
+  misc-static-assert,
+  misc-throw-by-value-catch-by-reference,
+  misc-unconventional-assign-operator,
+  misc-uniqueptr-reset-release,
+  misc-unused-*,
+  modernize-avoid-*,
+  -modernize-avoid-bind,
+  modernize-concat-nested-namespaces,
+  modernize-deprecated-*,
+  modernize-loop-convert,
+  modernize-make-*,
+  modernize-min-max-use-initializer-list,
+  modernize-raw-string-literal,
+  modernize-redundant-void-arg,
+  modernize-replace-*,
+  modernize-unary-static-assert,
+  modernize-use-bool-literals,
+  modernize-use-emplace,
+  modernize-use-equals-*,
+  modernize-use-noexcept,
+  modernize-use-nullptr,
+  modernize-use-override,
+  modernize-use-starts-ends-with,
+  modernize-use-using,
+  boost-use-to-string,
+  performance-faster-string-find,
+  performance-for-range-copy,
+  performance-implicit-conversion-in-loop,
+  performance-inefficient-*,
+  -performance-inefficient-string-concatenation,
+  performance-move-const-arg,
+  performance-no-automatic-move,
+  performance-noexcept-destructor,
+  performance-noexcept-swap,
+  performance-trivially-destructible,
+  performance-type-promotion-in-math-fn,
+  performance-unnecessary-*,
+  readability-avoid-*,
+  readability-const-return-type,
+  readability-container-*,
+  readability-static-accessed-through-instance,
+  readability-delete-null-pointer,
+  readability-duplicate-include,
+  readability-identifier-naming,
+  readability-implicit-bool-conversion,
+  readability-inconsistent-declaration-parameter-name,
+  readability-make-member-function-const,
+  readability-math-missing-parentheses,
+  readability-misleading-indentation,
+  readability-misplaced-array-index,
+  readability-named-parameter,
+  readability-non-const-parameter,
+  readability-operators-representation,
+  readability-qualified-auto,
+  readability-redundant-*,
+  readability-reference-to-constructed-temporary,
+  readability-simplify-subscript-expr,
+  readability-string-compare,
+  readability-use-std-min-max
+HeaderFilterRegex: 'mementar/include/mementar/*'
+CheckOptions:
+  - { key: readability-identifier-naming.NamespaceCase,         value: lower_case }
+  - { key: readability-identifier-naming.ClassCase,             value: CamelCase }
+  - { key: readability-identifier-naming.StructCase,            value: CamelCase }
+  - { key: readability-identifier-naming.StructSuffix,          value: _t }
+  - { key: readability-identifier-naming.FunctionCase,          value: camelBack }
+  - { key: readability-identifier-naming.VariableCase,          value: lower_case }
+  - { key: readability-identifier-naming.PrivateMemberCase,     value: lower_case }
+  - { key: readability-identifier-naming.PrivateMemberSuffix,   value: _ }
+  - { key: readability-identifier-naming.EnumCase,              value: CamelCase }
+  - { key: readability-identifier-naming.EnumSuffix,            value: _e }
+  - { key: readability-identifier-naming.EnumConstantCase,      value: lower_case }
+  - { key: readability-identifier-naming.GlobalConstantCase,    value: UPPER_CASE }
+  - { key: readability-identifier-naming.StaticConstantCase,    value: UPPER_CASE }
+  - { key: readability-identifier-naming.StaticVariableCase,    value: lower_case }
+  - { key: readability-identifier-naming.StaticVariableSuffix,  value: _ }
+  - { key: readability-operators-representation.BinaryOperators, value: '&&;&=;&;|;~;!;!=;||;|=;^;^=' }
+  - { key: misc-const-correctness.AnalyzeValues,                value: false }
+  - { key: misc-include-cleaner.DeduplicateFindings,            value: false }
+ExtraArgsBefore:
+  - '-frelaxed-template-template-args'

.github/run_clang_tidy.py

@@ -0,0 +1,78 @@
+#!/usr/bin/env python
+
+# Run clang-tidy recursively and parallel on directory
+# Usage: run-clang-tidy sourcedir builddir excludedirs extensions
+# extensions and excludedirs are specified as comma-separated 
+# string without dot, e.g. 'c,cpp' 
+# e.g. run-clang-tidy . build test,other c,cpp file
+
+import os, sys, subprocess, multiprocessing
+import json
+
+manager = multiprocessing.Manager()
+failedfiles = manager.list()
+
+# Get absolute paths from arguments
+print("Arguments: " + str(sys.argv))
+sourcedir = os.path.abspath(sys.argv[1])
+print("Source directory: " + sourcedir)
+builddir = os.path.abspath(sys.argv[2])
+print("Build directory: " + builddir)
+# If exclude dirs is not empty, split it into a tuple
+excludedirs = ()
+if len(sys.argv) > 3 and sys.argv[3]:
+    excludedirs = tuple([os.path.join(sourcedir, s) for s in sys.argv[3].split(',')])
+# If the build directory is not the same as the source directory, exclude it
+if not sourcedir == builddir:
+    excludedirs = excludedirs + (builddir,)
+
+print("Exclude directories: " + str(excludedirs))
+# Split extensions into a tuple
+extensions = ()
+if(len(sys.argv) >= 4):
+    extensions = tuple([("." + s) for s in sys.argv[4].split(',')])
+print("Extensions: " + str(extensions))
+
+def runclangtidy(filepath):
+    print("Checking: " + filepath)
+    proc = subprocess.Popen(f'clang-tidy -warnings-as-errors=* -p {builddir} {filepath}', shell=True)
+    if proc.wait() != 0:
+        failedfiles.append(filepath)
+
+def collectfiles(dir, exclude, exts):
+    collectedfiles = []
+    for root, dirs, files in os.walk(dir):
+        root = os.path.abspath(root)
+        for file in files:
+            filepath = os.path.join(root, file)
+            if (len(exclude) == 0 or not filepath.startswith(exclude)) and filepath.endswith(exts):
+                collectedfiles.append(filepath)
+    return collectedfiles
+
+def collectcompiledfiles(dir, builddir):
+    collectedfiles = []
+    if(builddir):
+        compile_file = open(builddir + '/compile_commands.json')
+        if compile_file is not None:
+            compile_data = json.load(compile_file)
+            for line in compile_data:
+                filepath = line["file"]
+                if dir in filepath and not builddir in filepath:
+                    collectedfiles.append(filepath)
+
+    return collectedfiles
+
+# Define the pool AFTER the global variables and subprocess function because WTF python
+# See: https://stackoverflow.com/questions/41385708/multiprocessing-example-giving-attributeerror
+pool = multiprocessing.Pool()
+files = collectcompiledfiles(sourcedir, builddir)
+if len(files) == 0:
+    files = collectfiles(sourcedir, excludedirs, extensions)
+pool.map(runclangtidy, files)
+pool.close()
+pool.join()
+if len(failedfiles) > 0:
+    print("Errors in " + str(len(failedfiles)) + " files")
+    sys.exit(1)
+print("No errors found")
+sys.exit(0)

.github/workflows/ROS1.yml

@@ -0,0 +1,68 @@
+name: ROS1 CI
+
+on:
+  push:
+    paths-ignore:
+      - 'docs/**'
+      - 'launch/ros2/**'
+      - 'resources/*'
+  pull_request:
+    paths-ignore:
+      - 'docs/**'
+      - 'launch/ros2/**'
+      - 'resources/*'
+
+jobs:
+  build:
+
+    runs-on: ${{ matrix.operating-system }}
+    strategy:
+      matrix:
+        include:
+          #- operating-system: ubuntu-18.04
+          #  ros_distro: melodic
+          #  distro: bionic
+          - operating-system: ubuntu-20.04
+            ros_distro: noetic
+            distro: focal
+    env:
+      ROS_CI_DESKTOP: ${{ matrix.distro }}
+      CI_SOURCE_PATH: $(pwd)
+      # Set the python path manually to include /usr/-/python2.7/dist-packages
+      # as this is where apt-get installs python packages.
+      PYTHONPATH: $PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages:/usr/lib/python3.8/dist-packages:/usr/local/lib/python3.8/dist-packages
+      ROS_DISTRO: ${{ matrix.ros_distro }}
+    steps:
+      - uses: actions/checkout@v1
+      - name: Install ROS1
+        run: |
+            sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
+            sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+            sudo apt update -qq
+            sudo apt install dpkg
+            sudo apt install -y ros-$ROS_DISTRO-desktop qtbase5-dev qtdeclarative5-dev
+            sudo apt install -y libcppunit-dev libcurl4-openssl-dev
+            sudo apt-get install python3-rosdep
+
+            source /opt/ros/$ROS_DISTRO/setup.bash
+            sudo rosdep init
+            rosdep update --include-eol-distros  # Support EOL distros.
+
+      - name: build
+        run: |
+          source /opt/ros/$ROS_DISTRO/setup.bash
+          cmake --version
+          mkdir -p ~/catkin_ws/src
+          cd ~/catkin_ws
+          catkin_make
+          source devel/setup.bash
+          cd ~/catkin_ws/src
+          ln -s ~/work  # $CI_SOURCE_PATH
+          git clone https://github.com/sarthou/ontologenius.git
+          cd ..
+          catkin_make
+      - name: rostest
+        run: |
+          cd ~/catkin_ws
+          source devel/setup.bash
+          catkin_make run_tests_mementar_rostest -j1 && catkin_make test -j1 -DCATKIN_WHITELIST_PACKAGES="mementar"

.github/workflows/ROS2.yml

@@ -0,0 +1,66 @@
+name: ROS2 CI
+
+on:
+  push:
+    paths-ignore:
+      - 'docs/**'
+      - 'resources/*'
+  pull_request:
+    paths-ignore:
+      - 'docs/**'
+      - 'resources/*'
+
+jobs:
+  build:
+    runs-on: ${{ matrix.operating-system }}
+    strategy:
+      matrix:
+        include:
+          - operating-system: ubuntu-22.04
+            ros_distro: humble
+            distro: jammy
+          - operating-system: ubuntu-22.04
+            ros_distro: iron
+            distro: jammy
+    env:
+      ROS_CI_DESKTOP: ${{ matrix.distro }}
+      CI_SOURCE_PATH: $(pwd)
+      ROS_DISTRO: ${{ matrix.ros_distro }}
+    steps:
+      - name: Setup ROS
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ matrix.ros_distro }}
+
+      - name: Install deps
+        run: |
+            sudo apt install dpkg
+            sudo apt install -y qtbase5-dev qtdeclarative5-dev
+            sudo apt install -y libcppunit-dev libcurl4-openssl-dev
+            sudo apt-get install python3-rosdep
+            sudo apt install ros-cmake-modules
+            sudo apt install ros-$ROS_DISTRO-std-msgs ros-$ROS_DISTRO-pluginlib
+            source /opt/ros/$ROS_DISTRO/setup.bash
+
+      - name: Setup Workspace
+        run: |
+          source /opt/ros/$ROS_DISTRO/setup.bash
+          cmake --version
+          cd $GITHUB_WORKSPACE
+          mkdir -p ros2_ws/src/mementar
+          cd $GITHUB_WORKSPACE/ros2_ws/src
+          git clone https://github.com/sarthou/ontologenius.git
+          cd $GITHUB_WORKSPACE/ros2_ws
+          colcon build --symlink-install
+
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          path: ros2_ws/src/mementar
+
+      - name: Build
+        run: |
+          cd $GITHUB_WORKSPACE/ros2_ws
+          source install/setup.bash
+          export ROS_LOCALHOST_ONLY=1
+          colcon build --symlink-install