use precommit checks (#23)

.github/workflows/test_ros2_humble.yml

@@ -3,31 +3,40 @@ name: ROS2 Humble
 on:
   pull_request:
     types: [opened, synchronize, reopened, labeled, unlabeled]
+  push:
+    branches:
+      - main
   schedule:
-    - cron:  '0 02 * * *'
+    - cron:  '0 10 * * *'
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 jobs:
-  code_quality:
-    name: Black Formatting
-    runs-on: ubuntu-22.04
+  lint:
+    name: Lint package
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        config:
+        - { python: "3.10" }
     steps:
-      - uses: actions/checkout@v3
-      - uses: actions/setup-python@v2
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - uses: actions/setup-python@v5
         with:
-          python-version: 3.x
-      - run: pip install --upgrade pip
-      - run: pip install "black<23" pylint==v3.0.0a3 mypy==v0.902
-      - run: black --diff --check $(git ls-files '*.py')
+          python-version: ${{ matrix.config.python }}
+
+      - name: Lint sources
+        uses: pre-commit/[email protected]
   webots_spot:
     name: Webots Spot with Nav2 and Moveit2
     runs-on: ubuntu-22.04
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Install ROS2 Humble
         run: >
           sudo apt update
@@ -81,4 +90,4 @@ jobs:
           export DEBIAN_FRONTEND=noninteractive
           cd ~/ros2_ws
           source install/setup.bash
-          colcon test --ctest-args tests --packages-select webots_spot --event-handlers console_direct+ --return-code-on-test-failure
+          colcon test --ctest-args tests --packages-select webots_spot --event-handlers console_direct+ --return-code-on-test-failure

.pre-commit-config.yaml

@@ -0,0 +1,20 @@
+repos:
+- repo: https://github.com/psf/black
+  rev: 23.3.0
+  hooks:
+    - id: black
+      language_version: python3.10
+
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v4.4.0
+  hooks:
+  - id: check-yaml
+  - id: check-added-large-files
+  - id: end-of-file-fixer
+
+# - repo: https://github.com/pre-commit/mirrors-mypy
+#   rev: v1.2.0
+#   hooks:
+#   - id: mypy
+#     types: [python]
+#     args: [--strict, --ignore-missing-imports]

LICENSE

@@ -658,4 +658,4 @@ specific requirements.
   You should also get your employer (if you work as a programmer) or school,
 if any, to sign a "copyright disclaimer" for the program, if necessary.
 For more information on this, and how to apply and follow the GNU AGPL, see
-<https://www.gnu.org/licenses/>.
+<https://www.gnu.org/licenses/>.

map/map.yaml

@@ -4,4 +4,4 @@ resolution: 0.05
 origin: [-1.22, -4.98, 0]
 negate: 0
 occupied_thresh: 0.65
-free_thresh: 0.25
+free_thresh: 0.25

map/map_arena3.yaml

@@ -4,4 +4,4 @@ resolution: 0.05
 origin: [-1.61, -5.08, 0]
 negate: 0
 occupied_thresh: 0.65
-free_thresh: 0.25
+free_thresh: 0.25

protos/ImageBox.proto

@@ -56,4 +56,4 @@ PROTO ImageBox [
     name IS name
     model "imagebox"
   }
-}
+}

protos/Spot.proto

@@ -935,4 +935,4 @@ PROTO Spot [
     synchronization IS synchronization
     selfCollision IS selfCollision
   }
-}
+}

resource/moveit_controllers.yaml

@@ -21,4 +21,4 @@ tiago_gripper_joint_trajectory_controller:
   default: true
   joints:
     - gripper_left_finger_joint
-    - gripper_right_finger_joint
+    - gripper_right_finger_joint

resource/moveit_kinematics.yaml

@@ -1,4 +1,4 @@
 spot_arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.5
-  kinematics_solver_timeout: 0.5
+  kinematics_solver_timeout: 0.5

resource/moveit_movegroup.yaml

@@ -7,4 +7,4 @@ request_adapters: >-
     default_planner_request_adapters/FixWorkspaceBounds
     default_planner_request_adapters/FixStartStateBounds
     default_planner_request_adapters/FixStartStateCollision
-    default_planner_request_adapters/FixStartStatePathConstraints
+    default_planner_request_adapters/FixStartStatePathConstraints

resource/webots_blocksworld.gpp

@@ -65,4 +65,4 @@ procedure main() {
 			pick (block x in {a, b, c})
 				pick(location y in {t1, t2, t3, a, b, c})
 					stack(x, y);
-}
+}

worlds/spot.wbt

@@ -768,4 +768,4 @@ DEF BLUE_3 SolidBox {
   }
   physics Physics {
   }
-}
+}