PickNikRobotics · mosfet80 · Jul 2, 2021 · Jul 2, 2021 · Aug 19, 2021 · Sep 14, 2021
diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
@@ -0,0 +1,72 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: Build
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - ros2
+
+jobs:
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+          - ROS_DISTRO: iron
+            ROS_REPO: main
+          - ROS_DISTRO: iron
+            ROS_REPO: testing
+          - ROS_DISTRO: humble
+            ROS_REPO: main
+          - ROS_DISTRO: humble
+            ROS_REPO: testing
+          - ROS_DISTRO: rolling
+            ROS_REPO: main
+          - ROS_DISTRO: rolling
+            ROS_REPO: testing
+    env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+
+    name: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      # The target directory cache doesn't include the source directory because
+      # that comes from the checkout.  See "prepare target_ws for cache" task below
+      - name: cache target_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/always-upload-cache@v3.0.11
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/always-upload-cache@v3.0.11
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ccache-${{ env.CACHE_PREFIX }}
+      - name: industrial_ci
+        uses: 'ros-industrial/industrial_ci@master'
+        env: ${{ matrix.env }}
+      - name: upload test artifacts (on failure)
+        uses: actions/upload-artifact@v4
+        if: failure()
+        with:
+          name: test-results
+          path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
+      - name: prepare target_ws for cache
+        if: ${{ always() && ! matrix.env.CCOV }}
+        run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
@@ -0,0 +1,20 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Formatting (pre-commit)
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
+    - name: Install clang-format-14
+      run: sudo apt-get install clang-format-14
+    - uses: pre-commit/action@v3.0.1
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,34 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: pretty-format-json
+      - id: trailing-whitespace
diff --git a/.travis.yml b/.travis.yml
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package graph_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.2.0 (2021-09-14)
+------------------
+* Port to ROS 2 (`#5 <https://github.com/PickNikRobotics/graph_msgs/issues/5>`_)
+* Contributors: Dave Coleman, Henning Kayser, Tyler Weaver, Vatan Aksoy Tezer
+
 0.1.0 (2014-10-24)
 ------------------
 * Added header / timestamp

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,133 +1,42 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.10)
 project(graph_msgs)
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  message_generation
-  geometry_msgs
-  std_msgs
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+# Disable Wredundant-decls warnings since rosidl generates redundant function
+#  declarations
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  set(CMAKE_CXX_FLAGS
+    "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic -Wno-redundant-decls")
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+set(msg_files
+  "msg/Edges.msg"
+  "msg/GeometryGraph.msg"
 )
 
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## Generate messages in the 'msg' folder
-add_message_files(
-  FILES
-   Edges.msg
-   GeometryGraph.msg
-)
-
-## Generate added messages and services with any dependencies listed here
-generate_messages(
-   DEPENDENCIES
-   std_msgs
-   geometry_msgs   
-)
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES graph_msgs
-  CATKIN_DEPENDS 
-    message_runtime 
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  DEPENDENCIES
+    builtin_interfaces
     std_msgs
     geometry_msgs
-#  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
-include_directories(
-  ${catkin_INCLUDE_DIRS}
 )
 
-## Declare a cpp library
-# add_library(graph_msgs
-#   src/${PROJECT_NAME}/graph_msgs.cpp
-# )
-
-## Declare a cpp executable
-# add_executable(graph_msgs_node src/graph_msgs_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(graph_msgs_node graph_msgs_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(graph_msgs_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS graph_msgs graph_msgs_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
+ament_export_dependencies(rosidl_default_runtime)
 
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_graph_msgs.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
 
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+ament_package()
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -0,0 +1,3 @@
+Any contribution that you make to this repository will
+be under the 3-Clause BSD License, as dictated by that
+[license](https://opensource.org/licenses/BSD-3-Clause).
diff --git a/LICENSE b/LICENSE
@@ -0,0 +1,25 @@
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+   * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
diff --git a/README.md b/README.md
@@ -1,13 +1,11 @@
-graph_msgs
-==========
+# graph_msgs
 
 ROS messages for publishing graphs of different data types
 
-Status:
+### Continuous Integration Status
 
- * [![Build Status](https://travis-ci.org/davetcoleman/graph_msgs.svg)](https://travis-ci.org/davetcoleman/graph_msgs) Travis CI
- * [![Devel Job Status](http://jenkins.ros.org/buildStatus/icon?job=devel-indigo-graph_msgs)](http://jenkins.ros.org/job/devel-indigo-graph_msgs) Devel Job Status
- * [![Build Status](http://jenkins.ros.org/buildStatus/icon?job=ros-indigo-graph-msgs_binarydeb_trusty_amd64)](http://jenkins.ros.org/job/ros-indigo-graph-msgs_binarydeb_trusty_amd64/) AMD64 Debian Job Status
+[![Formatting (pre-commit)](https://github.com/PickNikRobotics/graph_msgs/actions/workflows/format.yaml/badge.svg?branch=ros2)](https://github.com/PickNikRobotics/graph_msgs/actions/workflows/format.yaml?query=branch%3Aros2)
+[![Build](https://github.com/PickNikRobotics/graph_msgs/actions/workflows/build.yaml/badge.svg?branch=ros2)](https://github.com/PickNikRobotics/graph_msgs/actions/workflows/build.yaml?query=branch%3Aros2)
 
 ## Supported Graph Types
 

diff --git a/msg/Edges.msg b/msg/Edges.msg
@@ -2,4 +2,4 @@
 uint32[] node_ids
 
 # optional cost/weight of each edge. if vector is empty assume all weights are equal (1)
-float64[] weights
+float64[] weights