commit 7d49d33cfcd0d281e6757596961a198110b6277b Author: 유창훈 Date: Tue Jul 28 10:35:36 2026 +0900 feat: add lms-nav2-gazebo-map module diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..76b3365 --- /dev/null +++ b/.gitignore @@ -0,0 +1,5 @@ +build/ +install/ +log/ +.colcon/ +*.log diff --git a/build.sh b/build.sh new file mode 100755 index 0000000..0c1c5bc --- /dev/null +++ b/build.sh @@ -0,0 +1,6 @@ +#!/usr/bin/env bash +set -euo pipefail + +MODULE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +RUNTIME_ROOT="${AUTONOMY_STUDIO_RUNTIME_ROOT:-$HOME/autonomy-studio/runtime/nav2}" +exec bash "$RUNTIME_ROOT/docker/docker_build_nav2.sh" "$(dirname "$MODULE_PATH")" "$(basename "$MODULE_PATH")" "${NAV2_DOCKER_IMAGE:-future-nav2-gazebo:humble}" "${ROS_DOMAIN_ID:-0}" diff --git a/run.sh b/run.sh new file mode 100755 index 0000000..656b11d --- /dev/null +++ b/run.sh @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +set -euo pipefail + +MODULE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +RUNTIME_ROOT="${AUTONOMY_STUDIO_RUNTIME_ROOT:-$HOME/autonomy-studio/runtime/nav2}" +FOLDER_NAME="$(basename "$MODULE_PATH")" +CONTAINER_NAME="${FOLDER_NAME#\[}"; CONTAINER_NAME="${CONTAINER_NAME/\]/-}" +exec bash "$RUNTIME_ROOT/docker/docker_run_nav2.sh" "$CONTAINER_NAME" "$(dirname "$MODULE_PATH")" "$FOLDER_NAME" "${NAV2_DOCKER_IMAGE:-future-nav2-gazebo:humble}" "${ROS_DOMAIN_ID:-0}" "$@" diff --git a/src/map_pkg/config/map_2d.yaml b/src/map_pkg/config/map_2d.yaml new file mode 100755 index 0000000..3f4ea00 --- /dev/null +++ b/src/map_pkg/config/map_2d.yaml @@ -0,0 +1,15 @@ +# File: map.yaml +# Description: Map server parameters + +map_server: + ros__parameters: + use_sim_time: True + yaml_filename: "" # overridden at launch time via map_yaml arg + +map_saver: + ros__parameters: + use_sim_time: True + map_subscribe_transient_local: True + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 \ No newline at end of file diff --git a/src/map_pkg/config/map_3d_fr09.yaml b/src/map_pkg/config/map_3d_fr09.yaml new file mode 100755 index 0000000..4b661ff --- /dev/null +++ b/src/map_pkg/config/map_3d_fr09.yaml @@ -0,0 +1,97 @@ +icp_odometry: + ros__parameters: + odom_frame_id: icp_odom + guess_frame_id: odom + OdomF2M/ScanSubtractRadius: '0.0' + OdomF2M/ScanMaxSize: '10000' + + + frame_id: base_link + wait_for_transform: 5.0 + + approx_sync: true + topic_queue_size: 30 + sync_queue_size: 30 + + Reg/Strategy: "1" + Reg/Force3DoF: "true" + Mem/NotLinkedNodesKept: "false" + + Icp/VoxelSize: "0.03" + Icp/MaxCorrespondenceDistance: "0.2" + Icp/PointToPlaneGroundNormalsUp: "0.9" + Icp/RangeMin: "0.0" + Icp/MaxTranslation: "1.0" + Icp/MaxRotation: "0.5" # 한 번의 odometry 업데이트 최대 회전 제한. 크면 오정합 발생. 작으면 계산량 증가. default: 0.78rad + + Icp/PointToPlaneMinComplexity: "0.03" + Icp/PointToPlaneLowComplexityStrategy: "1" + Icp/OutlierRatio: "0.6" + Icp/Force4DoF: "true" + Icp/CorrespondenceRatio: "0.02" + Icp/GuessFromTf: "true" + + Odom/GuessMotion: "false" + +rtabmap: + ros__parameters: + subscribe_rgb: false + subscribe_depth: false + subscribe_scan_cloud: true + use_action_for_goal: true + odom_sensor_sync: true + + approx_sync: true + topic_queue_size: 30 + sync_queue_size: 30 + + Mem/NotLinkedNodesKept: "false" + Grid/RangeMin: "0.0" + Grid/NormalsSegmentation: "false" + Grid/MaxGroundHeight: "-0.8" + Grid/MinGroundHeight: "-1.3" + Grid/MaxObstacleHeight: "1.0" + Grid/RayTracing: "false" + Grid/3D: "false" + Grid/Sensor: "0" + RGBD/OptimizeMaxError: "0.5" + + RGBD/LinearUpdate: "0.05" + RGBD/AngularUpdate: "0.05" + RGBD/ProximityPathMaxNeighbors: "1" + Grid/RangeMax: "25.0" + Mem/LaserScanVoxelSize: "0.01" + Odom/FilteringStrategy: "1" + Odom/ScanKeyFrameThr: "0.9" + Odom/GuessMotion: "false" + + Grid/CellSize: "0.2" + Grid/MinClusterSize: "10" + Grid/FlatObstacleDetected: "false" + + RGBD/StartAtOrigin: "true" + RGBD/LocalizationPriorError: "2.0" + RGBD/LocalizationSmoothing: "false" + Icp/GuessFromTf: "true" + + + frame_id: base_link + wait_for_transform: 5.0 + + Reg/Strategy: "1" + Reg/Force3DoF: "true" + + Icp/VoxelSize: "0.03" + Icp/MaxCorrespondenceDistance: "0.2" + Icp/PointToPlaneGroundNormalsUp: "0.9" + Icp/RangeMin: "0.0" + Icp/MaxTranslation: "1.0" + Icp/MaxRotation: "0.78" + + Icp/PointToPlaneMinComplexity: "0.03" + Icp/PointToPlaneLowComplexityStrategy: "1" + Icp/OutlierRatio: "0.6" + Icp/Force4DoF: "true" + Icp/CorrespondenceRatio: "0.2" + + Odom/GuessMotion: "false" \ No newline at end of file diff --git a/src/map_pkg/config/map_3d_mkmini.yaml b/src/map_pkg/config/map_3d_mkmini.yaml new file mode 100755 index 0000000..910b31b --- /dev/null +++ b/src/map_pkg/config/map_3d_mkmini.yaml @@ -0,0 +1,96 @@ +icp_odometry: + ros__parameters: + odom_frame_id: icp_odom + guess_frame_id: odom + OdomF2M/ScanSubtractRadius: '0.0' + OdomF2M/ScanMaxSize: '10000' + + + frame_id: base_link + wait_for_transform: 2.0 + + approx_sync: true + topic_queue_size: 30 + sync_queue_size: 30 + + Reg/Strategy: "1" + Reg/Force3DoF: "true" + Mem/NotLinkedNodesKept: "false" + + Icp/VoxelSize: "0.03" + Icp/MaxCorrespondenceDistance: "0.2" + Icp/PointToPlaneGroundNormalsUp: "0.9" + Icp/RangeMin: "0.0" + Icp/MaxTranslation: "1.0" + Icp/MaxRotation: "0.78" + + Icp/PointToPlaneMinComplexity: "0.03" + Icp/PointToPlaneLowComplexityStrategy: "1" + Icp/OutlierRatio: "0.6" + Icp/Force4DoF: "true" + Icp/CorrespondenceRatio: "0.02" + Icp/GuessFromTf: "false" + + Odom/GuessMotion: "false" + +rtabmap: + ros__parameters: + subscribe_rgb: false + subscribe_depth: false + subscribe_scan_cloud: true + use_action_for_goal: true + odom_sensor_sync: true + + approx_sync: true + topic_queue_size: 30 + sync_queue_size: 30 + + Mem/NotLinkedNodesKept: "false" + Grid/RangeMin: "0.0" + Grid/NormalsSegmentation: "false" + Grid/MaxGroundHeight: "0.1" + Grid/MinGroundHeight: "-0.2" + Grid/MaxObstacleHeight: "1.0" + Grid/RayTracing: "false" + Grid/3D: "false" + RGBD/OptimizeMaxError: "0.5" + + RGBD/LinearUpdate: "0.05" + RGBD/AngularUpdate: "0.05" + RGBD/ProximityPathMaxNeighbors: "1" + Grid/RangeMax: "10.0" + Mem/LaserScanVoxelSize: "0.01" + Odom/FilteringStrategy: "1" + Odom/ScanKeyFrameThr: "0.9" + Odom/GuessMotion: "false" + + Grid/CellSize: "0.2" + Grid/MinClusterSize: "10" + Grid/FlatObstacleDetected: "true" + + RGBD/StartAtOrigin: "true" + RGBD/LocalizationPriorError: "5.0" + RGBD/LocalizationSmoothing: "false" + Icp/GuessFromTf: "false" + + + frame_id: base_link + wait_for_transform: 2.0 + + Reg/Strategy: "1" + Reg/Force3DoF: "true" + + Icp/VoxelSize: "0.03" + Icp/MaxCorrespondenceDistance: "0.2" + Icp/PointToPlaneGroundNormalsUp: "0.9" + Icp/RangeMin: "0.0" + Icp/MaxTranslation: "1.0" + Icp/MaxRotation: "0.78" + + Icp/PointToPlaneMinComplexity: "0.03" + Icp/PointToPlaneLowComplexityStrategy: "1" + Icp/OutlierRatio: "0.6" + Icp/Force4DoF: "true" + Icp/CorrespondenceRatio: "0.02" + + Odom/GuessMotion: "false" \ No newline at end of file diff --git a/src/map_pkg/launch/__pycache__/map.launch.cpython-313.pyc b/src/map_pkg/launch/__pycache__/map.launch.cpython-313.pyc new file mode 100755 index 0000000..f346770 Binary files /dev/null and b/src/map_pkg/launch/__pycache__/map.launch.cpython-313.pyc differ diff --git a/src/map_pkg/launch/gazebo_map.launch.py b/src/map_pkg/launch/gazebo_map.launch.py new file mode 100644 index 0000000..2bad6c6 --- /dev/null +++ b/src/map_pkg/launch/gazebo_map.launch.py @@ -0,0 +1,45 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration, PythonExpression +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + default_map = [FindPackageShare('map_pkg'), '/map/gazebo/turtlebot3_world.yaml'] + selected_map = LaunchConfiguration('map') + + return LaunchDescription([ + DeclareLaunchArgument('map', default_value=default_map), + DeclareLaunchArgument('use_sim_time', default_value='true'), + Node( + package='map_pkg', + executable='pub_map_config', + name='pub_map_config', + output='screen', + parameters=[{'level': '2d'}], + ), + Node( + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + parameters=[{ + 'use_sim_time': LaunchConfiguration('use_sim_time'), + 'yaml_filename': selected_map, + }], + ), + Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='map_server_lifecycle_manager', + output='screen', + condition=IfCondition(PythonExpression(["'", selected_map, "' != ''"])), + parameters=[{ + 'use_sim_time': LaunchConfiguration('use_sim_time'), + 'autostart': True, + 'node_names': ['map_server'], + }], + ), + ]) diff --git a/src/map_pkg/launch/map.launch.py b/src/map_pkg/launch/map.launch.py new file mode 100755 index 0000000..cbaa9cb --- /dev/null +++ b/src/map_pkg/launch/map.launch.py @@ -0,0 +1,153 @@ +# File: map.launch.py +# Description: +# 맵 서버 — map_server (2D) 또는 rtabmap (3D) +# /nav2_ws/selected_map/ 폴더 자동 스캔 → *.yaml 면 2D, *.db 면 3D 분기 +# 사용자 UI 가 선택한 map 을 그 폴더에 cp 해두면 launch 가 자동 처리. +# Publishes : /map +# Note: localization(AMCL)보다 먼저 실행되어야 함 + +import glob +import os + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, GroupAction, OpaqueFunction +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch.substitutions import PythonExpression +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare +from launch_ros.descriptions import ParameterFile +from nav2_common.launch import RewrittenYaml + + +SELECTED_MAP_DIR = '/nav2_ws/selected_map' + +ARGUMENTS = [ + DeclareLaunchArgument('robot', default_value='fr09', choices=['mkmini', 'fr09']), +] + + +def _detect_level_and_file(): + """selectedMap 폴더 스캔: *.yaml → 2D, *.db → 3D. 우선순위 yaml > db (둘 다 있을 때).""" + yaml_files = sorted(glob.glob(os.path.join(SELECTED_MAP_DIR, '*.yaml'))) + db_files = sorted(glob.glob(os.path.join(SELECTED_MAP_DIR, '*.db'))) + if yaml_files: + return '2d', yaml_files[0] + if db_files: + return '3d', db_files[0] + raise RuntimeError( + f"No map file found in {SELECTED_MAP_DIR}. " + f"Expected *.yaml (2D) or *.db (3D). " + f"User must select a map in the UI which copies the file to selectedMap/." + ) + + +def launch_setup(context, *args, **kwargs): + robot = LaunchConfiguration('robot').perform(context) + + level, map_file = _detect_level_and_file() + print(f"[map.launch.py] auto-detected level={level} map={map_file}") + + if level == '2d': + lifecycle_nodes = ['map_server'] + + configured_params = ParameterFile( + RewrittenYaml( + source_file=PathJoinSubstitution([ + FindPackageShare('map_pkg'), 'config', 'map_2d.yaml' + ]), + param_rewrites={ + 'use_sim_time': 'true', + 'yaml_filename': map_file, + }, + convert_types=True, + ), + allow_substs=True, + ) + + load_nodes = GroupAction( + actions=[ + Node( + package='map_pkg', + executable='pub_map_config', + name='pub_map_config', + output='screen', + parameters=[{'level': level}] + ), + Node( + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + parameters=[configured_params], + ), + Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_map', + output='screen', + parameters=[{ + 'use_sim_time': True, + 'autostart': True, + 'node_names': lifecycle_nodes, + }], + ), + ], + ) + else: # 3d + configured_params = ParameterFile( + RewrittenYaml( + source_file=PathJoinSubstitution([ + FindPackageShare('map_pkg'), + 'config', + PythonExpression(["'map_", level, "_", robot, ".yaml'"]) + ]), + param_rewrites={ + 'use_sim_time': 'true', + 'Mem/IncrementalMemory': 'False', + 'Mem/InitWMWithAllNodes': 'True', + }, + convert_types=True, + ), + allow_substs=True, + ) + + remappings = [ + ('/tf', 'tf'), + ('/tf_static', 'tf_static'), + ('odom', 'icp_odom'), + ('scan_cloud', '/lidar_filtered'), + ('rgb/image', '/carla/hero/rgb_front/image'), + ('rgb/camera_info', '/carla/hero/rgb_front/camera_info'), + ] + + load_nodes = GroupAction( + actions=[ + Node( + package='map_pkg', + executable='pub_map_config', + name='pub_map_config', + output='screen', + parameters=[{'level': level}] + ), + Node( + package='rtabmap_slam', + executable='rtabmap', + name='rtabmap', + output='screen', + parameters=[configured_params, + {'Mem/IncrementalMemory': 'False', + 'Mem/InitWMWithAllNodes': 'True', + 'use_sim_time': True, + 'database_path': map_file}], + remappings=remappings, + ) + ], + ) + + return [load_nodes] + + +def generate_launch_description(): + ld = LaunchDescription(ARGUMENTS) + ld.add_action(OpaqueFunction(function=launch_setup)) + return ld diff --git a/src/map_pkg/map/2d/hallway.pgm b/src/map_pkg/map/2d/hallway.pgm new file mode 100755 index 0000000..39d43c2 Binary files /dev/null and b/src/map_pkg/map/2d/hallway.pgm differ diff --git a/src/map_pkg/map/2d/hallway.yaml b/src/map_pkg/map/2d/hallway.yaml new file mode 100755 index 0000000..d8bb313 --- /dev/null +++ b/src/map_pkg/map/2d/hallway.yaml @@ -0,0 +1,7 @@ +image: hallway.pgm +mode: trinary +resolution: 0.05 +origin: [-6.78, -5.39, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/src/map_pkg/map/2d/map.pgm b/src/map_pkg/map/2d/map.pgm new file mode 100755 index 0000000..883afa1 Binary files /dev/null and b/src/map_pkg/map/2d/map.pgm differ diff --git a/src/map_pkg/map/2d/map.yaml b/src/map_pkg/map/2d/map.yaml new file mode 100755 index 0000000..b5628fa --- /dev/null +++ b/src/map_pkg/map/2d/map.yaml @@ -0,0 +1,7 @@ +image: map.pgm +mode: trinary +resolution: 0.05 +origin: [-7.36, -29.4, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 diff --git a/src/map_pkg/map/2d/office.pgm b/src/map_pkg/map/2d/office.pgm new file mode 100755 index 0000000..d83bfae Binary files /dev/null and b/src/map_pkg/map/2d/office.pgm differ diff --git a/src/map_pkg/map/2d/office.yaml b/src/map_pkg/map/2d/office.yaml new file mode 100755 index 0000000..d588001 --- /dev/null +++ b/src/map_pkg/map/2d/office.yaml @@ -0,0 +1,7 @@ +image: office.pgm +mode: trinary +resolution: 0.05 +origin: [-3.44, -11.4, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/src/map_pkg/map/2d/parkinglot.pgm b/src/map_pkg/map/2d/parkinglot.pgm new file mode 100755 index 0000000..883afa1 Binary files /dev/null and b/src/map_pkg/map/2d/parkinglot.pgm differ diff --git a/src/map_pkg/map/2d/parkinglot.yaml b/src/map_pkg/map/2d/parkinglot.yaml new file mode 100755 index 0000000..9ce7b76 --- /dev/null +++ b/src/map_pkg/map/2d/parkinglot.yaml @@ -0,0 +1,7 @@ +image: parkinglot.pgm +mode: trinary +resolution: 0.05 +origin: [-7.36, -29.4, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 diff --git a/src/map_pkg/map/2d/temp.pgm b/src/map_pkg/map/2d/temp.pgm new file mode 100755 index 0000000..d535c94 --- /dev/null +++ b/src/map_pkg/map/2d/temp.pgm @@ -0,0 +1,4 @@ +P5 +251 246 +255 + \ No newline at end of file diff --git a/src/map_pkg/map/2d/temp.yaml b/src/map_pkg/map/2d/temp.yaml new file mode 100755 index 0000000..9a942e3 --- /dev/null +++ b/src/map_pkg/map/2d/temp.yaml @@ -0,0 +1,7 @@ +image: map.pgm +mode: trinary +resolution: 0.05 +origin: [-3.78, -4.29, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/src/map_pkg/map/gazebo/turtlebot3_world.pgm b/src/map_pkg/map/gazebo/turtlebot3_world.pgm new file mode 100644 index 0000000..10700a1 --- /dev/null +++ b/src/map_pkg/map/gazebo/turtlebot3_world.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: Map_generator.cpp 0.050 m/pix +384 384 +255 + \ No newline at end of file diff --git a/src/map_pkg/map/gazebo/turtlebot3_world.yaml b/src/map_pkg/map/gazebo/turtlebot3_world.yaml new file mode 100644 index 0000000..51d4387 --- /dev/null +++ b/src/map_pkg/map/gazebo/turtlebot3_world.yaml @@ -0,0 +1,6 @@ +image: turtlebot3_world.pgm +resolution: 0.050000 +origin: [-10.000000, -10.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/map_pkg/map_pkg/__init__.py b/src/map_pkg/map_pkg/__init__.py new file mode 100755 index 0000000..e69de29 diff --git a/src/map_pkg/map_pkg/__pycache__/__init__.cpython-310.pyc b/src/map_pkg/map_pkg/__pycache__/__init__.cpython-310.pyc new file mode 100755 index 0000000..f09d42f Binary files /dev/null and b/src/map_pkg/map_pkg/__pycache__/__init__.cpython-310.pyc differ diff --git a/src/map_pkg/map_pkg/__pycache__/pub_map_config.cpython-310.pyc b/src/map_pkg/map_pkg/__pycache__/pub_map_config.cpython-310.pyc new file mode 100755 index 0000000..eca6f56 Binary files /dev/null and b/src/map_pkg/map_pkg/__pycache__/pub_map_config.cpython-310.pyc differ diff --git a/src/map_pkg/map_pkg/pub_map_config.py b/src/map_pkg/map_pkg/pub_map_config.py new file mode 100755 index 0000000..ca4f32a --- /dev/null +++ b/src/map_pkg/map_pkg/pub_map_config.py @@ -0,0 +1,47 @@ + +import rclpy +from rclpy.node import Node +from rclpy.qos import QoSProfile, DurabilityPolicy, ReliabilityPolicy +from std_msgs.msg import String +import json + +class ConfigPublisher(Node): + def __init__(self): + super().__init__('pub_map_config') + + self.declare_parameter('level', '2d') + + level = self.get_parameter('level').value + + qos = QoSProfile( + depth=1, + durability=DurabilityPolicy.TRANSIENT_LOCAL, + reliability=ReliabilityPolicy.RELIABLE + ) + + self.pub = self.create_publisher(String, '/map_config', qos) + + msg = { + "level": level + } + + ros_msg = String() + ros_msg.data = json.dumps(msg) + + # 약간 대기 후 1회 발행 + self.create_timer(1.0, self.publish_once) + + self.sent = False + self.cached_msg = ros_msg + + def publish_once(self): + if not self.sent: + self.pub.publish(self.cached_msg) + self.get_logger().info("Published config once") + self.sent = True + +def main(): + rclpy.init() + node = ConfigPublisher() + rclpy.spin(node) + rclpy.shutdown() diff --git a/src/map_pkg/map_pkg/test.py b/src/map_pkg/map_pkg/test.py new file mode 100755 index 0000000..158e7a9 --- /dev/null +++ b/src/map_pkg/map_pkg/test.py @@ -0,0 +1,6 @@ +def main(): + print('Hi from map_pkg.') + + +if __name__ == '__main__': + main() diff --git a/src/map_pkg/package.xml b/src/map_pkg/package.xml new file mode 100755 index 0000000..62d6f7b --- /dev/null +++ b/src/map_pkg/package.xml @@ -0,0 +1,18 @@ + + + + map_pkg + 0.0.0 + TODO: Package description + dgist + TODO: License declaration + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/src/map_pkg/resource/map_pkg b/src/map_pkg/resource/map_pkg new file mode 100755 index 0000000..e69de29 diff --git a/src/map_pkg/setup.cfg b/src/map_pkg/setup.cfg new file mode 100755 index 0000000..7d56b20 --- /dev/null +++ b/src/map_pkg/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/map_pkg +[install] +install_scripts=$base/lib/map_pkg diff --git a/src/map_pkg/setup.py b/src/map_pkg/setup.py new file mode 100755 index 0000000..18f34bc --- /dev/null +++ b/src/map_pkg/setup.py @@ -0,0 +1,40 @@ + +import os +from glob import glob +from setuptools import find_packages, setup + +package_name = 'map_pkg' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')), + (os.path.join('share', package_name, 'config'), glob('config/*.yaml')), + (os.path.join('share', package_name, 'map/2d'), glob('map/2d/*.yaml')), + (os.path.join('share', package_name, 'map/2d'), glob('map/2d/*.pgm')), + (os.path.join('share', package_name, 'map/gazebo'), glob('map/gazebo/*.yaml')), + (os.path.join('share', package_name, 'map/gazebo'), glob('map/gazebo/*.pgm')), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='dgist', + maintainer_email='jang1future@gmail.com', + description='TODO: Package description', + license='TODO: License declaration', + extras_require={ + 'test': [ + 'pytest', + ], + }, + entry_points={ + 'console_scripts': [ + 'test = map_pkg.test:main', + 'pub_map_config = map_pkg.pub_map_config:main' + ], + }, +) diff --git a/src/map_pkg/test/test_copyright.py b/src/map_pkg/test/test_copyright.py new file mode 100755 index 0000000..97a3919 --- /dev/null +++ b/src/map_pkg/test/test_copyright.py @@ -0,0 +1,25 @@ +# 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 + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/src/map_pkg/test/test_flake8.py b/src/map_pkg/test/test_flake8.py new file mode 100755 index 0000000..27ee107 --- /dev/null +++ b/src/map_pkg/test/test_flake8.py @@ -0,0 +1,25 @@ +# 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) diff --git a/src/map_pkg/test/test_pep257.py b/src/map_pkg/test/test_pep257.py new file mode 100755 index 0000000..b234a38 --- /dev/null +++ b/src/map_pkg/test/test_pep257.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'