Add ROS2 to CI and add a small test for it

.github/workflows/build-ros1.yml

@@ -0,0 +1,59 @@
+name: build
+
+on:
+  push:
+    branches:
+      - main
+    tags:
+      - 'v*'
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  build-cpython:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        name: [
+          "ubuntu-py39",
+          "ubuntu-py310",
+          "ubuntu-py311",
+        ]
+        include:
+          - name: "ubuntu-py39"
+            os: ubuntu-latest
+            python-version: "3.9"
+          - name: "ubuntu-py310"
+            os: ubuntu-latest
+            python-version: "3.10"
+          - name: "ubuntu-py311"
+            os: ubuntu-latest
+            python-version: "3.11"
+    steps:
+      - uses: actions/checkout@v3
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install wheel
+      - name: Install
+        run: |
+          python -m pip install --no-cache-dir -r requirements-dev.txt
+      - name: Set up docker containers
+        run: |
+          docker build -t gramaziokohler/rosbridge:integration_tests_ros1 ./docker/ros1
+          docker run -d -p 9090:9090 --name rosbridge gramaziokohler/rosbridge:integration_tests_ros1 /bin/bash -c "roslaunch /integration-tests.launch"
+          docker ps -a
+      - name: Run linter
+        run: |
+          invoke check
+      - name: Run tests
+        run: |
+          pytest tests/ros1
+      - name: Tear down docker containers
+        run: |
+          docker rm -f rosbridge

.github/workflows/build-ros2.yml

@@ -0,0 +1,59 @@
+name: build
+
+on:
+  push:
+    branches:
+      - main
+    tags:
+      - 'v*'
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  build-cpython:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        name: [
+          "ubuntu-py39",
+          "ubuntu-py310",
+          "ubuntu-py311",
+        ]
+        include:
+          - name: "ubuntu-py39"
+            os: ubuntu-latest
+            python-version: "3.9"
+          - name: "ubuntu-py310"
+            os: ubuntu-latest
+            python-version: "3.10"
+          - name: "ubuntu-py311"
+            os: ubuntu-latest
+            python-version: "3.11"
+    steps:
+      - uses: actions/checkout@v3
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install wheel
+      - name: Install
+        run: |
+          python -m pip install --no-cache-dir -r requirements-dev.txt
+      - name: Set up docker containers
+        run: |
+          docker build -t gramaziokohler/rosbridge:integration_tests_ros2 ./docker/ros2
+          docker run -d -p 9090:9090 --name rosbridge gramaziokohler/rosbridge:integration_tests_ros2 /bin/bash -c "ros2 launch /integration-tests.launch"
+          docker ps -a
+      - name: Run linter
+        run: |
+          invoke check
+      - name: Run tests
+        run: |
+          pytest tests/ros2
+      - name: Tear down docker containers
+        run: |
+          docker rm -f rosbridge

docker/ros2/Dockerfile

@@ -6,9 +6,9 @@ SHELL ["/bin/bash","-c"]
 # Install rosbridge
 RUN apt-get update && apt-get install -y \
     ros-iron-rosbridge-suite \
-    ros-iron-tf2-web-republisher \
-    ros-iron-ros-tutorials \
-    ros-iron-actionlib-tutorials \
+    # ros-iron-tf2-web-republisher \
+    # ros-iron-ros-tutorials \
+    # ros-iron-actionlib-tutorials \
     --no-install-recommends \
     # Clear apt-cache to reduce image size
     && rm -rf /var/lib/apt/lists/*

docker/ros2/integration-tests.launch

@@ -1,6 +1,4 @@
 <launch>
-    <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml">
-        <arg name="port" value="9092"/>
-    </include>
+    <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml" />
     <!-- <node pkg="tf2_web_republisher" type="tf2_web_republisher" name="tf2_web_republisher"></node> -->
 </launch>

tests/test_topic.py → tests/ros1/test_topic.py

@@ -68,7 +68,7 @@ def receive_message(message):
         context["wait"].set()
 
     def start_sending():
-        for i in range(3):
+        for _ in range(3):
             msg = dict(header=Header(stamp=Time.now(), frame_id="base"), point=dict(x=0.0, y=1.0, z=2.0))
             publisher.publish(Message(msg))
             time.sleep(0.1)

tests/ros2/test_topic_ros2.py

@@ -0,0 +1,94 @@
+from __future__ import print_function
+
+import threading
+import time
+
+from roslibpy import Message, Ros, Time, Topic
+from roslibpy.ros2 import Header
+
+
+def test_topic_pubsub():
+    context = dict(wait=threading.Event(), counter=0)
+
+    ros = Ros("127.0.0.1", 9090)
+    ros.run()
+
+    listener = Topic(ros, "/chatter", "std_msgs/String")
+    publisher = Topic(ros, "/chatter", "std_msgs/String")
+
+    def receive_message(message):
+        context["counter"] += 1
+        assert message["data"] == "hello world", "Unexpected message content"
+
+        if context["counter"] == 3:
+            listener.unsubscribe()
+            context["wait"].set()
+
+    def start_sending():
+        while True:
+            if context["counter"] >= 3:
+                break
+            publisher.publish(Message({"data": "hello world"}))
+            time.sleep(0.1)
+        publisher.unadvertise()
+
+    def start_receiving():
+        listener.subscribe(receive_message)
+
+    t1 = threading.Thread(target=start_receiving)
+    t2 = threading.Thread(target=start_sending)
+
+    t1.start()
+    t2.start()
+
+    if not context["wait"].wait(10):
+        raise Exception
+
+    t1.join()
+    t2.join()
+
+    assert context["counter"] >= 3, "Expected at least 3 messages but got " + str(context["counter"])
+    ros.close()
+
+
+def test_topic_with_header():
+    context = dict(wait=threading.Event())
+
+    ros = Ros("127.0.0.1", 9090)
+    ros.run()
+
+    listener = Topic(ros, "/points", "geometry_msgs/PointStamped")
+    publisher = Topic(ros, "/points", "geometry_msgs/PointStamped")
+
+    def receive_message(message):
+        assert message["header"]["frame_id"] == "base"
+        assert message["point"]["x"] == 0.0
+        assert message["point"]["y"] == 1.0
+        assert message["point"]["z"] == 2.0
+        listener.unsubscribe()
+        context["wait"].set()
+
+    def start_sending():
+        for _ in range(3):
+            msg = dict(header=Header(stamp=Time.now(), frame_id="base"), point=dict(x=0.0, y=1.0, z=2.0))
+            publisher.publish(Message(msg))
+            time.sleep(0.1)
+
+        publisher.unadvertise()
+
+    def start_receiving():
+        listener.subscribe(receive_message)
+
+    t1 = threading.Thread(target=start_receiving)
+    t2 = threading.Thread(target=start_sending)
+
+    t1.start()
+    t2.start()
+
+    if not context["wait"].wait(10):
+        raise Exception
+
+    t1.join()
+    t2.join()
+
+    ros.close()