Initial commit

Author: redto0

.clang-format

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+---
+Language: Cpp
+BasedOnStyle: Google
+
+TabWidth: 2
+IndentWidth: 4
+AccessModifierOffset: -4
+BraceWrapping:
+  AfterCaseLabel:         false
+  AfterClass:             false
+  AfterControlStatement:  "false"
+  AfterEnum:              false
+  AfterFunction:          false
+  AfterNamespace:         false
+  AfterObjCDeclaration:   false
+  AfterStruct:            false
+  AfterUnion:             false
+  AfterExternBlock:       false
+  BeforeCatch:            false
+  BeforeElse:             false
+  IndentBraces:           false
+BreakBeforeBraces: Custom
+ColumnLimit: 120
+DerivePointerAlignment: false
+PointerAlignment: Left
+ReflowComments: false
+...

.github/workflows/main.yml

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+name: CI
+
+on: [ push, pull_request ]
+
+jobs:
+  industrial_ci:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        env:
+          - { ROS_DISTRO: humble, ROS_REPO: testing }
+          - { ROS_DISTRO: humble, ROS_REPO: main }
+    name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
+    steps:
+      - uses: actions/checkout@v3
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{ matrix.env }}
+  

.gitignore

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+log
+build
+install
+.vscode
+.cache
+compile_commands.json

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(TODO_PACKAGE_NAME)
+include(FetchContent)
+
+if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif ()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+# Messages TODO_EXTRA
+find_package(ackermann_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+# OpenCV TODO_EXTRA
+find_package(cv_bridge REQUIRED)
+find_package(OpenCV 4.2.0 REQUIRED)
+
+# Add source for node executable (link non-ros dependencies here)
+add_executable(TODO_PACKAGE_NAME src/TODO_NODE_NAME.cpp src/TODO_NODE_NAME_node.cpp)
+target_include_directories(TODO_PACKAGE_NAME PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>)
+target_compile_features(TODO_PACKAGE_NAME PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+# Make ros deps a variable so they get linked to tests as well
+set(dependencies
+        rclcpp
+        # Messages TODO_EXTRA
+        ackermann_msgs
+        sensor_msgs
+        std_msgs
+        # OpenCv TODO_EXTRA
+        cv_bridge
+        OpenCV
+        )
+
+# Link ros dependencies
+ament_target_dependencies(
+        TODO_PACKAGE_NAME
+        ${dependencies}
+)
+
+install(TARGETS TODO_PACKAGE_NAME
+        DESTINATION lib/${PROJECT_NAME})
+
+# Uncomment below to make launch files available if created
+#install(
+#        DIRECTORY launch config
+#        DESTINATION share/${PROJECT_NAME}/
+#)
+
+if (BUILD_TESTING)
+    # Manually invoke clang format so it actually uses our file
+    find_package(ament_cmake_clang_format REQUIRED)
+    ament_clang_format(CONFIG_FILE ${CMAKE_CURRENT_SOURCE_DIR}/.clang-format)
+
+    find_package(ament_cmake_gtest REQUIRED)
+
+    # Add unit tests
+    ament_add_gtest(${PROJECT_NAME}-test
+            tests/unit.cpp
+            # Remember to add node source files
+            src/TODO_NODE_NAME_node.cpp
+            )
+    ament_target_dependencies(${PROJECT_NAME}-test ${dependencies})
+    target_include_directories(${PROJECT_NAME}-test PUBLIC
+            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+            $<INSTALL_INTERFACE:include>)
+endif ()
+
+ament_package()

README.md

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+An opinionated ROS2 C++ node template, optimised for ISC.
+
+# Instructions
+
+1. Clone repo inside your workspaces src directory (Ex. phnx_ws/src)
+2. `rosdep install --from-paths . --ignore-src -r -y` to install deps
+3. `colcon build` to make sure the repo builds before you mess with it
+4. Replace the following in both file names and code exactly and consistently. 
+   1. TODO_PACKAGE_NAME: Replace with the package name. Use snake case. Ex. `data_logger`
+   2. TODO_NODE_NAME: Replace with the node name. Use Pascal case. Ex. `DataLogger`
+5. `colcon build` again. If it builds, you are done
+6. Rename outer folder
+7. Review the optional dependencies, and remove what you do not need
+
+# Dependencies
+Some common extra dependencies are included. Review them and remove what you don't need.
+These are marked with TODO_EXTRA.
+
+# Features
+
+- Unit tests
+- ROS-Industrial github CI (will test units and lints)
+- C++ formatting via clangformat
+- A selection of sane lints
+- A single node setup in a multithreaded executor
+
+# File structure
+
+```
+.
+├── include
+│   └── TODO_PACKAGE_NAME
+│       └── TODO_NODE_NAME_node.hpp
+├── package.xml
+├── README.md
+├── src
+│   ├── TODO_NODE_NAME.cpp
+│   └── TODO_NODE_NAME_node.cpp
+└── tests
+    └── unit.cpp
+```
+
+TODO_NODE_NAME_node: Source files for the ROS2 node object itself, and only itself
+
+TODO_NODE_NAME.cpp: Source for the main function of the node, and only the main function
+
+tests/unit.cpp: Example file for unit tests. This is linked to the node and ros, so both can be used

include/TODO_PACKAGE_NAME/TODO_NODE_NAME_node.hpp

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+#pragma once
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+class TODO_NODE_NAME : public rclcpp::Node {
+private:
+    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub;
+
+    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub;
+
+public:
+    TODO_NODE_NAME(const rclcpp::NodeOptions& options);
+
+    /// subscriber callback
+    void sub_cb(std_msgs::msg::String::SharedPtr msg);
+};

package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+    <name>TODO_PACKAGE_NAME</name>
+    <version>0.1.0</version>
+    <description>A node template</description>
+    <maintainer email="avealov@umich.edu">Andrew Ealovega</maintainer>
+    <license>MIT</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <depend>rclcpp</depend>
+
+    <!--Messages TODO_EXTRA-->
+    <depend>ackermann_msgs</depend>
+    <depend>sensor_msgs</depend>
+    <depend>std_msgs</depend>
+
+    <!--OpenCv Things TODO_EXTRA-->
+    <depend>cv_bridge</depend>
+    <depend>libopencv-dev</depend>
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_cmake_flake8</test_depend>
+    <test_depend>ament_cmake_xmllint</test_depend>
+    <test_depend>ament_cmake_clang_format</test_depend>
+    <test_depend>ament_cmake_cppcheck</test_depend>
+    <test_depend>ament_cmake_pep257</test_depend>
+    <test_depend>ament_clang_tidy</test_depend>
+    <test_depend>ament_cmake_gtest</test_depend>
+    <test_depend>ament_cmake_nose</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>

src/TODO_NODE_NAME.cpp

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+#include "TODO_PACKAGE_NAME/TODO_NODE_NAME_node.hpp"
+
+int main(int argc, char** argv) {
+    // Setup runtime
+    rclcpp::init(argc, argv);
+    rclcpp::executors::MultiThreadedExecutor exec;
+    rclcpp::NodeOptions options;
+
+    // Add nodes to executor
+    auto node = std::make_shared<TODO_NODE_NAME>(options);
+    exec.add_node(node);
+
+    // Run
+    exec.spin();
+    rclcpp::shutdown();
+    return 0;
+}

src/TODO_NODE_NAME_node.cpp

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+#include "TODO_PACKAGE_NAME/TODO_NODE_NAME_node.hpp"
+
+// For _1
+using namespace std::placeholders;
+
+TODO_NODE_NAME::TODO_NODE_NAME(const rclcpp::NodeOptions& options) : Node("TODO_NODE_NAME", options) {
+    // Parameters
+    float x = this->declare_parameter<float>("foo", -10.0);
+
+    // Pub Sub
+    this->sub =
+        this->create_subscription<std_msgs::msg::String>("/str", 1, std::bind(&TODO_NODE_NAME::sub_cb, this, _1));
+    this->pub = this->create_publisher<std_msgs::msg::String>("/run_folder", 1);
+
+    // Log a sample log
+    RCLCPP_INFO(this->get_logger(), "You passed %f", x);
+
+    // Send a sample message
+    std_msgs::msg::String msg{};
+    msg.data = std::string{"Hello World!"};
+    pub->publish(msg);
+}
+
+void TODO_NODE_NAME::sub_cb(const std_msgs::msg::String::SharedPtr msg) {
+    // Echo message
+    this->pub->publish(*msg);
+}

tests/unit.cpp

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+#include <gtest/gtest.h>
+
+#include <rclcpp/rclcpp.hpp>
+
+#include "TODO_PACKAGE_NAME/TODO_NODE_NAME_node.hpp"
+
+TEST(TODO_NODE_NAME, Test1) {}
+
+int main(int argc, char** argv) {
+    rclcpp::init(0, nullptr);
+
+    ::testing::InitGoogleTest(&argc, argv);
+    auto res = RUN_ALL_TESTS();
+
+    rclcpp::shutdown();
+    return res;
+}