Use available clang-format version for Ubuntu 22 (#45)

* Clean up build/test workflow with ROS workspace * Use rosdep for all deps * Name things better * Stop hard-coding the ros distro Signed-off-by: Ryan Friedman <[email protected]> * Update style check to work on Ubuntu 22 * And add missing dependency on clang-format Signed-off-by: Ryan Friedman <[email protected]> * Run formatter * This commit should be hidden in git blame Signed-off-by: Ryan Friedman <[email protected]> --------- Signed-off-by: Ryan Friedman <[email protected]>
ethz-asl · Jan 20, 2024 · 7155cb4 · 7155cb4
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diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml
@@ -18,22 +18,19 @@ jobs:
  container: ${{ matrix.config.container }}
  steps:
  - uses: actions/checkout@v4
- - name: Install Dependencies
- working-directory: 
+ with:
+ path: src/grid_map_geo
+ - name: Install Dependencies with Rosdep
  run: |
  apt update
- apt install -y python3-wstool libgdal-dev
+ rosdep update
+ source /opt/ros/${{matrix.config.rosdistro}}/setup.bash
+ rosdep install --from-paths src --ignore-src -y
  shell: bash
- - name: Build Test
+ - name: Colcon Build (Release)
  working-directory: 
  run: |
- mkdir -p $HOME/ros2_ws/src;
- cd $HOME/ros2_ws/src
- ln -s $GITHUB_WORKSPACE
- cd $HOME/ros2_ws
- source /opt/ros/humble/setup.bash
- rosdep update
- rosdep install --from-paths src --ignore-src -y --rosdistro ${{matrix.config.rosdistro}}
+ source /opt/ros/${{matrix.config.rosdistro}}/setup.bash
  colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to grid_map_geo
  shell: bash
  # - name: unit_tests

diff --git a/.github/workflows/check_style.yml b/.github/workflows/check_style.yml
@@ -14,16 +14,21 @@ jobs:
  strategy:
  fail-fast: false
  matrix:
- container:
- - 'px4io/px4-dev-simulation-focal:2020-09-14'
- container: ${{ matrix.container }}
+ config:
+  - {rosdistro: 'humble', container: 'osrf/ros:humble-desktop'}
+ container: ${{ matrix.config.container }}
  steps:
  - uses: actions/checkout@v4
- - name: submodule update
- run: git submodule update --init --recursive
- - name: Install clang-format
- run: apt update && apt install -y clang-format-6.0
+ with:
+ path: src/grid_map_geo
+ - name: Install Dependencies with Rosdep
+ run: |
+ apt update
+ rosdep update
+ source /opt/ros/${{matrix.config.rosdistro}}/setup.bash
+ rosdep install --from-paths src --ignore-src -y --dependency-types test
+ shell: bash
  - name: Check Code format
- working-directory: Tools
+ working-directory: src/grid_map_geo/Tools
  run: |
  ./check_code_format.sh ..
diff --git a/Tools/fix_code_style.sh b/Tools/fix_code_style.sh
@@ -13,9 +13,9 @@ fi
 for arg in "$@"
 do
  if [ -f $arg ]; then
- clang-format-6.0 -i -style='{BasedOnStyle: google, ColumnLimit: 120}' $arg
+ clang-format -i -style='{BasedOnStyle: google, ColumnLimit: 120}' $arg
  elif [ -d $arg ]; then
- find $arg -iname '*.h' -o -iname '*.cpp' -o -iname '*.hpp' | xargs clang-format-6.0 -i -style='{BasedOnStyle: google, ColumnLimit: 120}'
+ find $arg -iname '*.h' -o -iname '*.cpp' -o -iname '*.hpp' | xargs clang-format -i -style='{BasedOnStyle: google, ColumnLimit: 120}'
  find $arg -iname '*.h' -o -iname '*.cpp' -o -iname '*.hpp' | xargs chmod 644
  fi
 done
diff --git a/include/grid_map_geo/grid_map_geo.hpp b/include/grid_map_geo/grid_map_geo.hpp
@@ -34,13 +34,12 @@
 #ifndef GRID_MAP_GEO_H
 #define GRID_MAP_GEO_H
 
-#include "grid_map_geo/transform.hpp"
-
 #include <grid_map_core/GridMap.hpp>
 #include <grid_map_core/iterators/GridMapIterator.hpp>
-#include "tf2_ros/transform_broadcaster.h"
-
 #include <iostream>
+
+#include "grid_map_geo/transform.hpp"
+#include "tf2_ros/transform_broadcaster.h"
 struct Location {
  ESPG espg{ESPG::WGS84};
  Eigen::Vector3d position{Eigen::Vector3d::Zero()};
@@ -86,20 +85,17 @@ class GridMapGeo {
 
  /**
  * @brief Get the name of the coordinate frame of the dataset
- * 
- * @return std::string 
+ *
+ * @return std::string
  */
  std::string getCoordinateName() { return coordinate_name_; };
 
-
  /**
  * @brief Overloading terrain loading with only elevation
- * 
+ *
  * @param map_path Path to dsm path (Supported formats are *.tif)
  */
- bool Load(const std::string& map_path) {
- Load(map_path, "");
- }
+ bool Load(const std::string& map_path) { Load(map_path, ""); }
 
  /**
  * @brief Helper function for loading terrain from path
@@ -109,7 +105,7 @@ class GridMapGeo {
  * @return true Successfully loaded terrain
  * @return false Failed to load terrain
  */
- bool Load(const std::string& map_path, const std::string &color_map_path);
+ bool Load(const std::string& map_path, const std::string& color_map_path);
 
  /**
  * @brief Initialize grid map from a geotiff file

diff --git a/package.xml b/package.xml
@@ -25,6 +25,8 @@
  <exec_depend>ros2launch</exec_depend>
  <exec_depend>rviz2</exec_depend>
 
+ <test_depend>clang-format</test_depend>
+
  <export>
  <build_type>ament_cmake</build_type>
  </export>

diff --git a/src/grid_map_geo.cpp b/src/grid_map_geo.cpp
@@ -58,7 +58,7 @@
 #include <gdal/ogr_spatialref.h>
 #endif
 
-GridMapGeo::GridMapGeo(const std::string& frame_id) { frame_id_ = frame_id; }
+GridMapGeo::GridMapGeo(const std::string &frame_id) { frame_id_ = frame_id; }
 
 GridMapGeo::~GridMapGeo() {}
 

diff --git a/src/test_tif_loader.cpp b/src/test_tif_loader.cpp
@@ -37,22 +37,19 @@
  * @author Jaeyoung Lim <[email protected]>
  */
 
+#include "geometry_msgs/msg/transform_stamped.hpp"
 #include "grid_map_geo/grid_map_geo.hpp"
-
-#include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/string.hpp"
-
 #include "grid_map_msgs/msg/grid_map.h"
 #include "grid_map_ros/GridMapRosConverter.hpp"
-#include "geometry_msgs/msg/transform_stamped.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
 #include "tf2_ros/static_transform_broadcaster.h"
 
 using namespace std::chrono_literals;
 
 class MapPublisher : public rclcpp::Node {
  public:
  MapPublisher() : Node("map_publisher") {
-
  std::string file_path = this->declare_parameter("tif_path", ".");
  std::string color_path = this->declare_parameter("tif_color_path", ".");
  std::string frame_id = this->declare_parameter("frame_id", "map");

diff --git a/test/test_grid_map_geo.cpp b/test/test_grid_map_geo.cpp
@@ -1,8 +1,9 @@
-#include "grid_map_geo/transform.hpp"
-
 #include <gtest/gtest.h>
+
 #include <iostream>
 
+#include "grid_map_geo/transform.hpp"
+
 TEST(GridMapTest, geoTransform) {
  Eigen::Vector3d berghaus_wgs84(46.7209147, 9.9219592, 488.0);
  Eigen::Vector3d berghaus_lv03(789823.96735451114, 177416.47911055354, 440.3752994351089);