ROS2 updates

Author: LaurieCheers-unity

.github/workflows/pre-commit.yaml

@@ -10,5 +10,4 @@ jobs:
             - uses: actions/checkout@v2
             - uses: actions/setup-python@v2
               with:
-                  python-version: 3.7.x
-            - uses: pre-commit/action@v2.0.0
+                  python-version: 3.7.x

launch/endpoint.py

@@ -0,0 +1,15 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            Node(
+                package="ros_tcp_endpoint",
+                executable="default_server_endpoint",
+                emulate_tty=True,
+                parameters=[{"ROS_IP": "0.0.0.0"}, {"ROS_TCP_PORT": 10000}],
+            )
+        ]
+    )

package.xml

@@ -1,23 +1,20 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>ros_tcp_endpoint</name>
   <version>0.6.0</version>
-  <description>Acts as the bridge between Unity messages sent via Websocket and ROS messages.</description>
-
+  <description>ROS TCP Endpoint Unity Integration (ROS2 version)
+  Acts as the bridge between Unity messages sent via TCP socket and ROS messages.
+  </description>
   <maintainer email="unity-robotics@unity3d.com">Unity Robotics</maintainer>
-
   <license>Apache 2.0</license>
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>message_generation</build_depend>
-  <build_export_depend>rospy</build_export_depend>
-  <exec_depend>rospy</exec_depend>
-  <exec_depend>message_runtime</exec_depend>
 
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
 
-  <!-- The export tag contains other, unspecified, tags -->
   <export>
-    <!-- Other tools can request additional information be placed here -->
-
+    <build_type>ament_python</build_type>
   </export>
 </package>

resource/ros_tcp_endpoint

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/ros_tcp_endpoint
+[install]
+install-scripts=$base/lib/ros_tcp_endpoint

setup.cfg

@@ -1,9 +1,29 @@
-## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+import os
 
 from setuptools import setup
-from catkin_pkg.python_setup import generate_distutils_setup
 
-# fetch values from package.xml
-setup_args = generate_distutils_setup(packages=["ros_tcp_endpoint"], package_dir={"": "src"})
+package_name = "ros_tcp_endpoint"
+share_dir = os.path.join("share", package_name)
 
-setup(**setup_args)
+setup(
+    name=package_name,
+    version="0.0.1",
+    packages=[package_name],
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        (share_dir, ["package.xml"]),
+        (os.path.join(share_dir, "launch"), ["launch/endpoint.py"]),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    maintainer="Unity Robotics",
+    maintainer_email="unity-robotics@unity3d.com",
+    description="ROS TCP Endpoint Unity Integration (ROS2 version)",
+    license="Apache 2.0",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [
+            "default_server_endpoint = ros_tcp_endpoint.default_server_endpoint:main"
+        ]
+    },
+)

setup.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found errors"

test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, "Found %d code style errors / warnings:\n" % len(errors) + "\n".join(errors)

test/test_flake8.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found code style errors / warnings"