Merge pull request #1 from Alpaca-zip/feature/create_vgraph

Feature/create vgraph

.github/workflows/ci.yml

@@ -6,31 +6,6 @@ on:
       - main
 
 jobs:
-  clang_format_check:
-    runs-on: ubuntu-latest
-    steps:
-      - name: checkout
-        uses: actions/checkout@v2
-      - name: run industrial_ci
-        uses: 'ros-industrial/industrial_ci@master'
-        env:
-          ROS_DISTRO: noetic # Replace noetic for your chosen distro.
-          CLANG_FORMAT_CHECK: file
-          CLANG_FORMAT_VERSION: "10"
-
-  clang_tidy_check:
-    runs-on: ubuntu-latest
-    steps:
-      - name: checkout
-        uses: actions/checkout@v2
-      - name: run industrial_ci
-        uses: 'ros-industrial/industrial_ci@master'
-        env:
-          ROS_DISTRO: noetic # Replace noetic for your chosen distro.
-          # UPSTREAM_WORKSPACE: dependencies.rosinstall
-          # BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install ****'
-          CLANG_TIDY: pedantic
-
   black_check:
     runs-on: ubuntu-latest
     steps:
@@ -52,7 +27,7 @@ jobs:
         env:
           ROS_DISTRO: noetic # Replace noetic for your chosen distro.
           # UPSTREAM_WORKSPACE: dependencies.rosinstall
-          # BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install ****'
+          BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install -q -r requirements.txt'
           PYLINT_ARGS: '--errors-only'
           PYLINT_CHECK: true
 
@@ -66,7 +41,7 @@ jobs:
         env:
           ROS_DISTRO: noetic # Replace noetic for your chosen distro.
           # UPSTREAM_WORKSPACE: dependencies.rosinstall
-          # BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install ****'
+          BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install -q -r requirements.txt'
           CATKIN_LINT: true
 
   build_check:
@@ -79,12 +54,12 @@ jobs:
           - ROS_DISTRO: noetic # Replace noetic for your chosen distro.
             ROS_REPO: main
             # UPSTREAM_WORKSPACE: dependencies.rosinstall
-            # BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install ****'
+            BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install -q -r requirements.txt'
             IMMEDIATE_TEST_OUTPUT: true
           - ROS_DISTRO: noetic # Replace noetic for your chosen distro.
             ROS_REPO: testing
             # UPSTREAM_WORKSPACE: dependencies.rosinstall
-            # BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install ****'
+            BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install -q -r requirements.txt'
             IMMEDIATE_TEST_OUTPUT: true
 
     steps:

CMakeLists.txt

@@ -1,23 +1,13 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(template)
+project(vgraph_planner)
 
 set(CMAKE_CXX_STANDARD 14)
 
 # find dependencies
-find_package(catkin REQUIRED COMPONENTS roscpp rospy)
+find_package(catkin REQUIRED COMPONENTS rospy)
 
 # Declare a catkin package
-catkin_package(CATKIN_DEPENDS roscpp rospy)
-
-# Specify additional locations of header files
-include_directories(include ${catkin_INCLUDE_DIRS})
-
-# Create Cpp executable
-add_executable(cpp_template src/cpp_template.cpp)
-target_link_libraries(cpp_template ${catkin_LIBRARIES})
-
-# Install Cpp executable
-install(TARGETS cpp_template RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+catkin_package(CATKIN_DEPENDS rospy)
 
 # Install Python executables
-install(PROGRAMS scripts/py_template.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+install(PROGRAMS scripts/vgraph_planner.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

README.md

@@ -1,79 +1 @@
-# ros1-pkg-template
-This is the template repository for the ROS1 package with [Industrial CI](https://github.com/ros-industrial/industrial_ci).
-## Before use
-Adjust the `ROS_DISTRO` tag in [ci.yml](https://github.com/Alpaca-zip/ros1-pkg-template/blob/main/.github/workflows/ci.yml) to suit your ROS environment:
-```yaml
-jobs:
-  clang_format_check:
-    runs-on: ubuntu-latest
-    steps:
-      - name: checkout
-        uses: actions/checkout@v2
-        with:
-          ref: ${{ github.head_ref }}
-      - name: run industrial_ci
-        uses: 'ros-industrial/industrial_ci@master'
-        env:
-          ROS_DISTRO: noetic # Replace noetic for your chosen distro.
-          CLANG_FORMAT_CHECK: file
-          CLANG_FORMAT_VERSION: "10"
-```
-## Industrial CI
-This template provides a comprehensive CI pipeline for ROS project using GitHub Actions and the ros-industrial/industrial_ci action.
-- `Clang Format Check` : Ensures code formatting adheres to defined standards using [clang-format](https://clang.llvm.org/docs/ClangFormat.html).
-- `Clang Tidy Check` : Validates code for potential issues and adherence to coding standards using [Clang-Tidy](https://clang.llvm.org/extra/clang-tidy/).
-- `Black Check` : Ensures code formatting adheres to PEP standards using [Black](https://black.readthedocs.io/en/stable/).
-- `Pylint Check` : Runs [Pylint](https://pylint.readthedocs.io/en/stable/) for static code analysis on Python code.
-- `Catkin Lint Check` : Validates our ROS package structure and dependencies with [catkin_lint](https://fkie.github.io/catkin_lint/).
-- `Build Check` : Performs a build for both main and testing ROS repositories to ensure the codebase builds correctly.
-## To pass all checks...
-### clang-format
-**1. install**
-```
-$ sudo apt-get install clang-format
-```
-**2. Format with clang-format**
-```
-$ roscd <this_package>
-$ find . -type f \( -name "*.cpp" -or -name "*.hpp" -or -name "*.h" \) -exec clang-format -i -style=file {} \;
-```
-### Clang-Tidy
-**1. install**
-```
-$ sudo apt-get install clang clang-tidy
-```
-**2. Format with Clang-Tidy**
-```
-$ cd <path_to_your_workspace> && catkin build <this_package> --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1
-$ clang-tidy -p build/<this_package>/ <path_to_this_package>/src/<your_cpp> -fix
-```
-  Recommended tool : [catkin_tidy](https://github.com/nyxrobotics/catkin_tidy)
-### Black
-**1. install**
-```
-$ pip install black
-```
-**2. Format with Black**
-```
-$ roscd <this_package>
-$ find . -type f -name "*.py" -exec black {} \;
-```
-### Pylint
-**1. install**
-```
-$ pip install pylint
-```
-**2. Run Pylint**
-```
-$ roscd <this_package>
-$ find . -type f -name "*.py" -exec pylint {} \;
-```
-### catkin_lint
-**1. install**
-```
-$ sudo apt-get install catkin-lint
-```
-**2. Run catkin_lint**
-```
-$ catkin_lint --pkg <this_package>
-```
+# vgraph_planner

launch/vgraph_planner.launch

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="pgm_file" default="$(find vgraph_planner)/map/map.pgm"/>
+  <arg name="save_graph_file" default="$(find vgraph_planner)/map/vgraph.png"/>
+  <arg name="resolution" default="0.1"/>
+
+  <node name="vgraph_planner_node" pkg="vgraph_planner" type="vgraph_planner.py" output="screen">
+    <param name="~pgm_file" value="$(arg pgm_file)"/>
+    <param name="~save_graph_file" value="$(arg save_graph_file)"/>
+    <param name="~resolution" value="$(arg resolution)"/>
+  </node>
+</launch>

map/map.yaml

@@ -0,0 +1,7 @@
+image: map.pgm
+mode: trinary
+resolution: 0.05
+origin: [-9.84, -9.23, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

package.xml

@@ -1,22 +1,16 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>template</name>
+  <name>vgraph_planner</name>
   <version>0.0.0</version>
-  <description>The template package</description>
-  <maintainer email="template@todo.todo">template</maintainer>
+  <description>The vgraph_planner package</description>
+  <maintainer email="zip@todo.todo">Alpaca-zip</maintainer>
   <license>Apache 2.0</license>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
 
-  <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>rospy</build_export_depend>
 
-  <exec_depend>roscpp</exec_depend>
   <exec_depend>rospy</exec_depend>
-
-  <export>
-  </export>
 </package>

requirements.txt

@@ -0,0 +1 @@
+Pillow