Migrate to github actions (#30)

amslabtech · May 7, 2024 · 90e612a · 90e612a
1 parent 1956c5d
commit 90e612a
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -0,0 +1,24 @@
+name: ci
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  build:
+    runs-on: ubuntu-20.04
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+      - name: Setup ROS
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: noetic
+      - name: Build
+        uses: ros-tooling/[email protected]
+        with:
+          target-ros1-distro: noetic
diff --git a/.travis.yml b/.travis.yml
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -85,6 +85,11 @@ target_link_libraries(trajectory_viewer
 )
 
 if(CATKIN_ENABLE_TESTING)
-    find_package(rostest REQUIRED)
-    add_subdirectory(test)
+  find_package(roslint REQUIRED)
+  set(ROSLINT_CPP_OPTS "--filter=-build/c++11,-runtime/references")
+  roslint_cpp()
+  roslint_add_test()
+
+  find_package(rostest REQUIRED)
+  add_subdirectory(test)
 endif()
diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
 # state_lattice_planner
 
-[![Build Status](https://travis-ci.org/amslabtech/state_lattice_planner.svg?branch=master)](https://travis-ci.org/amslabtech/state_lattice_planner)
+![Build Status](https://github.com/amslabtech/state_lattice_planner/actions/workflows/ci.yml/badge.svg)
 ![issue_opened](https://img.shields.io/github/issues/amslabtech/state_lattice_planner.svg)
 ![issue_closed](https://img.shields.io/github/issues-closed/amslabtech/state_lattice_planner.svg)
 
@@ -11,8 +11,7 @@ TBW
 The API documantation is [here](https://amslabtech.github.io/state_lattice_planner/).
 
 ## Enviornment
-- Ubuntu 16.04 or 18.04
-- ROS Kinetic or Melodic
+- Ubuntu 20.04, ROS noetic
 
 ## Install and Build
 
@@ -72,7 +71,7 @@ catkin_make
   - max time derivative of trajectory curvature (default: 2.0[rad/ms]
 - MAX_YAWRATE
   - max robot's yawrate (default: 0.8[rad/s])
-  
+
 #### Runtime requirement
 - TF (from /odom to /base_link) is required
 

diff --git a/include/state_lattice_planner/lookup_table_generator.h b/include/state_lattice_planner/lookup_table_generator.h
@@ -1,53 +1,56 @@
-#ifndef __LOOKUP_TABLE_GENERATOR_H
-#define __LOOKUP_TABLE_GENERATOR_H
+// Copyright 2019 amsl
+
+#ifndef STATE_LATTICE_PLANNER_LOOKUP_TABLE_GENERATOR_H
+#define STATE_LATTICE_PLANNER_LOOKUP_TABLE_GENERATOR_H
 
-#include <iostream>
 #include <fstream>
+#include <iostream>
+#include <string>
 
 #include <ros/ros.h>
 
 #include <Eigen/Dense>
 
+#include "state_lattice_planner/lookup_table_utils.h"
 #include "trajectory_generator/motion_model_diff_drive.h"
 #include "trajectory_generator/trajectory_generator_diff_drive.h"
-#include "state_lattice_planner/lookup_table_utils.h"
 
 class LookupTableGenerator
 {
 public:
-    LookupTableGenerator(void);
+  LookupTableGenerator(void);
 
-    std::string process(void);
-    void save(std::string&);
-    double get_target_velocity(const Eigen::Vector3d&);
+  std::string process(void);
+  void save(std::string&);
+  double get_target_velocity(const Eigen::Vector3d&);
 
 private:
-    double MIN_X;
-    double MAX_X;
-    double DELTA_X;
-    double MAX_Y;
-    double DELTA_Y;
-    double MAX_YAW;
-    double DELTA_YAW;
-    std::string LOOKUP_TABLE_FILE_NAME;
-    double TARGET_VELOCITY;
-    double MIN_V;
-    double MAX_V;
-    double DELTA_V;
-    double MAX_KAPPA;
-    double DELTA_KAPPA;
-    double MAX_ACCELERATION;
-    double MAX_YAWRATE;
-    double MAX_D_YAWRATE;
-    double MAX_WHEEL_ANGULAR_VELOCITY;
-    double WHEEL_RADIUS;
-    double TREAD;
-
-    ros::NodeHandle nh;
-    ros::NodeHandle local_nh;
-
-    LookupTableUtils::LookupTable lookup_table;
-    bool use_existing_lookup_table;
+  double MIN_X;
+  double MAX_X;
+  double DELTA_X;
+  double MAX_Y;
+  double DELTA_Y;
+  double MAX_YAW;
+  double DELTA_YAW;
+  std::string LOOKUP_TABLE_FILE_NAME;
+  double TARGET_VELOCITY;
+  double MIN_V;
+  double MAX_V;
+  double DELTA_V;
+  double MAX_KAPPA;
+  double DELTA_KAPPA;
+  double MAX_ACCELERATION;
+  double MAX_YAWRATE;
+  double MAX_D_YAWRATE;
+  double MAX_WHEEL_ANGULAR_VELOCITY;
+  double WHEEL_RADIUS;
+  double TREAD;
+
+  ros::NodeHandle nh;
+  ros::NodeHandle local_nh;
+
+  LookupTableUtils::LookupTable lookup_table;
+  bool use_existing_lookup_table;
 };
 
-#endif// __LOOKUP_TABLE_GENERATOR_H
+#endif  // STATE_LATTICE_PLANNER_LOOKUP_TABLE_GENERATOR_H
diff --git a/include/state_lattice_planner/lookup_table_utils.h b/include/state_lattice_planner/lookup_table_utils.h
@@ -1,31 +1,38 @@
-#ifndef __LOOKUP_TABLE_UTILS_H
-#define __LOOKUP_TABLE_UTILS_H
+// Copyright 2019 amsl
 
-#include <iostream>
+#ifndef STATE_LATTICE_PLANNER_LOOKUP_TABLE_UTILS_H
+#define STATE_LATTICE_PLANNER_LOOKUP_TABLE_UTILS_H
+
+#include <Eigen/Dense>
 #include <fstream>
-#include <vector>
+#include <iostream>
 #include <map>
-#include <Eigen/Dense>
+#include <string>
+#include <vector>
 
 #include "trajectory_generator/motion_model_diff_drive.h"
 
 namespace LookupTableUtils
 {
-    class StateWithControlParams
-    {
-    public:
-        StateWithControlParams(void);
+class StateWithControlParams
+{
+public:
+  StateWithControlParams(void);
+
+  Eigen::Vector3d state;  // x, y, yaw
+  MotionModelDiffDrive::ControlParams control;
 
-        Eigen::Vector3d state;// x, y, yaw
-        MotionModelDiffDrive::ControlParams control;
-    private:
-    };
+private:
+};
 
-    typedef std::map<double, std::map<double, std::vector<StateWithControlParams> > > LookupTable;
+typedef std::map<double, std::map<double, std::vector<StateWithControlParams>>>
+    LookupTable;
 
-    bool load_lookup_table(const std::string&, LookupTable&);
+bool load_lookup_table(const std::string&, LookupTable&);
 
-    void get_optimized_param_from_lookup_table(const LookupTable&, const Eigen::Vector3d, const double, const double, MotionModelDiffDrive::ControlParams&);
-}
+void get_optimized_param_from_lookup_table(
+    const LookupTable&, const Eigen::Vector3d, const double, const double,
+    MotionModelDiffDrive::ControlParams&);
+}  // namespace LookupTableUtils
 
-#endif// __LOOKUP_TABLE_UTILS_H
+#endif  // STATE_LATTICE_PLANNER_LOOKUP_TABLE_UTILS_H
diff --git a/include/state_lattice_planner/obstacle_map.h b/include/state_lattice_planner/obstacle_map.h
@@ -1,85 +1,99 @@
-#ifndef __OBSTACLE_MAP_H
-#define __OBSTACLE_MAP_H
+// Copyright 2019 amsl
+
+#ifndef STATE_LATTICE_PLANNER_OBSTACLE_MAP_H
+#define STATE_LATTICE_PLANNER_OBSTACLE_MAP_H
 
 #include <iostream>
 #include <vector>
 
 namespace state_lattice_planner
 {
+//
+//            x
+//            ^
+//            | height
+//            |
+//    y <- - -
+//       width
+//
 
- //
- //            x
- //            ^
- //            | height
- //            |
- //    y <- - -
- //       width
- //
-
-template<typename ELEMENT_TYPE>
+template <typename ELEMENT_TYPE>
 class ObstacleMap
 {
 public:
-    ObstacleMap(void);
-    unsigned int get_index_from_xy(double, double) const;
-    void set_shape(unsigned int, unsigned int, double);
-    double get_resolution(void) const;
+  ObstacleMap(void);
+  unsigned int get_index_from_xy(double, double) const;
+  void set_shape(unsigned int, unsigned int, double);
+  double get_resolution(void) const;
+
+  std::vector<ELEMENT_TYPE> data;
 
-    std::vector<ELEMENT_TYPE> data;
 protected:
-    unsigned int width;// cells
-    unsigned int height;// cells
-    double resolution;// m/cell
-    double origin_x;// m
-    double origin_y;// m
+  unsigned int width;   // cells
+  unsigned int height;  // cells
+  double resolution;    // m/cell
+  double origin_x;      // m
+  double origin_y;      // m
 };
 
-template<typename ELEMENT_TYPE>
+template <typename ELEMENT_TYPE>
 ObstacleMap<ELEMENT_TYPE>::ObstacleMap(void)
 {
-    width = 0;
-    height = 0;
-    resolution = 0.0;
-    origin_x = 0.0;
-    origin_y = 0.0;
-    data.clear();
+  width = 0;
+  height = 0;
+  resolution = 0.0;
+  origin_x = 0.0;
+  origin_y = 0.0;
+  data.clear();
 }
 
-template<typename ELEMENT_TYPE>
-unsigned int ObstacleMap<ELEMENT_TYPE>::get_index_from_xy(double x, double y) const
+template <typename ELEMENT_TYPE>
+unsigned int ObstacleMap<ELEMENT_TYPE>::get_index_from_xy(double x,
+                                                          double y) const
 {
-    unsigned int index = 0;
-    index = std::round((x - origin_x) / resolution) + std::round((y - origin_y) / resolution) * height;
-    return index;
+  unsigned int index = 0;
+  index = std::round((x - origin_x) / resolution) +
+          std::round((y - origin_y) / resolution) * height;
+  return index;
 }
 
-template<typename ELEMENT_TYPE>
-void ObstacleMap<ELEMENT_TYPE>::set_shape(unsigned int width_, unsigned int height_, double resolution_)
+template <typename ELEMENT_TYPE>
+void ObstacleMap<ELEMENT_TYPE>::set_shape(unsigned int width_,
+                                          unsigned int height_,
+                                          double resolution_)
 {
-    if(width_ > 0 && height_ > 0){
-        width = width_;
-        height = height_;
-    }else{
-        std::cout << "\033[31mvalue error: width and height must be > 0\033[0m" << std::endl;
-        return;
-    }
-    if(resolution_ > 0.0){
-        resolution = resolution_;
-    }else{
-        std::cout << "\033[31mvalue error: resolution must be > 0.0 m\033[0m" << std::endl;
-        return;
-    }
-    // origin is in the lower right-hand corner of the map.
-    origin_x = -static_cast<double>(height) * 0.5 * resolution;
-    origin_y = -static_cast<double>(width) * 0.5 * resolution;
+  if (width_ > 0 && height_ > 0)
+  {
+    width = width_;
+    height = height_;
+  }
+  else
+  {
+    std::cout << "\033[31mvalue error: width and height must be > 0\033[0m"
+              << std::endl;
+    return;
+  }
+  if (resolution_ > 0.0)
+  {
+    resolution = resolution_;
+  }
+  else
+  {
+    std::cout << "\033[31mvalue error: resolution must be > 0.0 m\033[0m"
+              << std::endl;
+    return;
+  }
+  // origin is in the lower right-hand corner of the map.
+  origin_x = -static_cast<double>(height) * 0.5 * resolution;
+  origin_y = -static_cast<double>(width) * 0.5 * resolution;
 }
 
-template<typename ELEMENT_TYPE>
+template <typename ELEMENT_TYPE>
 double ObstacleMap<ELEMENT_TYPE>::get_resolution(void) const
 {
-    return resolution;
+  return resolution;
 }
 
-}
+}  // namespace state_lattice_planner
 
-#endif// __OBSTACLE_MAP_H
+#endif  // STATE_LATTICE_PLANNER_OBSTACLE_MAP_H