Minor changes

Signed-off-by: Alberto Tudela <[email protected]>

.github/workflows/build.yml

@@ -63,3 +63,12 @@ jobs:
           flags: unittests
           name: codecov-umbrella
           slug: grupo-avispa/scitos2
+      - name: Upload cpp coverage to Coveralls
+        uses: coverallsapp/github-action@v2
+        with:
+          github-token: ${{ secrets.COVERALLS_REPO_TOKEN }}
+          fail-on-error: true
+          flag-name: unittests
+          debug: true
+          files: ros_ws/lcov/total_coverage.info,ros_ws/coveragepy/.coverage
+          format: lcov

scitos2_behavior_tree/CMakeLists.txt

@@ -27,6 +27,7 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 option(COVERAGE_ENABLED "Enable code coverage" FALSE)
+
 if(COVERAGE_ENABLED)
   add_compile_options(--coverage)
   set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --coverage")
@@ -51,7 +52,8 @@ endif()
 # # Find ament macros and libraries
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(sensor_msgs REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
 find_package(scitos2_msgs REQUIRED)
 find_package(behaviortree_cpp_v3 REQUIRED)
 find_package(nav2_behavior_tree REQUIRED)
@@ -67,7 +69,8 @@ include_directories(
 
 set(dependencies
   rclcpp
-  sensor_msgs
+  rclcpp_action
+  rclcpp_lifecycle
   scitos2_msgs
   behaviortree_cpp_v3
   nav2_behavior_tree
@@ -112,7 +115,7 @@ install(DIRECTORY include/
 )
 
 install(DIRECTORY test/utils/
-        DESTINATION include/${PROJECT_NAME}/utils/
+  DESTINATION include/${PROJECT_NAME}/utils/
 )
 
 install(FILES scitos2_tree_nodes.xml DESTINATION share/${PROJECT_NAME})

scitos2_behavior_tree/include/scitos2_behavior_tree/action/emergency_stop_service.hpp

@@ -37,14 +37,7 @@ class EmergencyStopService : public BtServiceNode<scitos2_msgs::srv::EmergencySt
    * @param service_node_name Service name this node creates a client for
    * @param conf BT node configuration
    */
-  EmergencyStopService(
-    const std::string & service_node_name,
-    const BT::NodeConfiguration & conf);
-
-  /**
-   * @brief Function to perform some user-defined operation on tick
-   */
-  void on_tick() override;
+  EmergencyStopService(const std::string & service_node_name, const BT::NodeConfiguration & conf);
 };
 
 }  // namespace scitos2_behavior_tree

scitos2_behavior_tree/include/scitos2_behavior_tree/action/reset_motor_stop_service.hpp

@@ -37,14 +37,7 @@ class ResetMotorStopService : public BtServiceNode<scitos2_msgs::srv::ResetMotor
    * @param service_node_name Service name this node creates a client for
    * @param conf BT node configuration
    */
-  ResetMotorStopService(
-    const std::string & service_node_name,
-    const BT::NodeConfiguration & conf);
-
-  /**
-   * @brief Function to perform some user-defined operation on tick
-   */
-  void on_tick() override;
+  ResetMotorStopService(const std::string & service_node_name, const BT::NodeConfiguration & conf);
 };
 
 }  // namespace scitos2_behavior_tree

scitos2_behavior_tree/package.xml

@@ -9,7 +9,8 @@
   <author email="[email protected]">Alberto Tudela</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>rclcpp</depend>
-  <depend>sensor_msgs</depend>
+  <depend>rclcpp_action</depend>
+  <depend>rclcpp_lifecycle</depend>
   <depend>scitos2_msgs</depend>
   <depend>behaviortree_cpp_v3</depend>
   <depend>nav2_behavior_tree</depend>

scitos2_behavior_tree/src/action/emergency_stop_service.cpp

@@ -22,21 +22,14 @@ namespace scitos2_behavior_tree
 {
 
 EmergencyStopService::EmergencyStopService(
-  const std::string & service_node_name,
-  const BT::NodeConfiguration & conf)
+  const std::string & service_node_name, const BT::NodeConfiguration & conf)
 : BtServiceNode<scitos2_msgs::srv::EmergencyStop>(service_node_name, conf)
 {
 }
 
-void EmergencyStopService::on_tick()
-{
-}
-
 }  // namespace scitos2_behavior_tree
 
 #include "behaviortree_cpp_v3/bt_factory.h"
-// LCOV_EXCL_START
 BT_REGISTER_NODES(factory) {
   factory.registerNodeType<scitos2_behavior_tree::EmergencyStopService>("EmergencyStop");
 }
-// LCOV_EXCL_STOP

scitos2_behavior_tree/src/action/reset_motor_stop_service.cpp

@@ -22,21 +22,14 @@ namespace scitos2_behavior_tree
 {
 
 ResetMotorStopService::ResetMotorStopService(
-  const std::string & service_node_name,
-  const BT::NodeConfiguration & conf)
+  const std::string & service_node_name, const BT::NodeConfiguration & conf)
 : BtServiceNode<scitos2_msgs::srv::ResetMotorStop>(service_node_name, conf)
 {
 }
 
-void ResetMotorStopService::on_tick()
-{
-}
-
 }  // namespace scitos2_behavior_tree
 
 #include "behaviortree_cpp_v3/bt_factory.h"
-// LCOV_EXCL_START
 BT_REGISTER_NODES(factory) {
   factory.registerNodeType<scitos2_behavior_tree::ResetMotorStopService>("ResetMotorStop");
 }
-// LCOV_EXCL_STOP

scitos2_behavior_tree/src/condition/is_bumper_activated_condition.cpp

@@ -21,17 +21,13 @@ namespace scitos2_behavior_tree
 {
 
 IsBumperActivatedCondition::IsBumperActivatedCondition(
-  const std::string & condition_name,
-  const BT::NodeConfiguration & conf)
-: BT::ConditionNode(condition_name, conf),
-  bumper_topic_("/bumper"),
-  is_bumper_activated_(false)
+  const std::string & condition_name, const BT::NodeConfiguration & conf)
+: BT::ConditionNode(condition_name, conf), bumper_topic_("/bumper"), is_bumper_activated_(false)
 {
   getInput("bumper_topic", bumper_topic_);
   node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
   callback_group_ = node_->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive,
-    false);
+    rclcpp::CallbackGroupType::MutuallyExclusive, false);
   callback_group_executor_.add_callback_group(callback_group_, node_->get_node_base_interface());
 
   rclcpp::SubscriptionOptions sub_option;
@@ -60,8 +56,6 @@ void IsBumperActivatedCondition::bumperCallback(scitos2_msgs::msg::BumperStatus:
 }  // namespace scitos2_behavior_tree
 
 #include "behaviortree_cpp_v3/bt_factory.h"
-// LCOV_EXCL_START
 BT_REGISTER_NODES(factory) {
   factory.registerNodeType<scitos2_behavior_tree::IsBumperActivatedCondition>("IsBumperActivated");
 }
-// LCOV_EXCL_STOP

scitos2_behavior_tree/test/CMakeLists.txt

@@ -1,4 +1,12 @@
 include_directories(.)
 
 add_subdirectory(action)
-add_subdirectory(condition)
+add_subdirectory(condition)
+
+# Test register
+ament_add_gtest(test_register
+test_register.cpp
+)
+ament_target_dependencies(test_register
+  ${dependencies}
+)

scitos2_behavior_tree/test/test_register.cpp

@@ -0,0 +1,44 @@
+// Copyright (c) 2024 Alberto J. Tudela Roldán
+// Copyright (c) 2024 Grupo Avispa, DTE, Universidad de Málaga
+//
+// 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.
+
+#include <gtest/gtest.h>
+#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp_v3/utils/shared_library.h"
+#include "rclcpp/rclcpp.hpp"
+
+TEST(Scitos2BehaviorTree, register_nodes)
+{
+  BT::BehaviorTreeFactory factory;
+  BT::SharedLibrary loader;
+
+  factory.registerFromPlugin(loader.getOSName("scitos2_is_bumper_activated_condition_bt_node"));
+  factory.registerFromPlugin(loader.getOSName("scitos2_emergency_stop_service_bt_node"));
+  factory.registerFromPlugin(loader.getOSName("scitos2_reset_motor_stop_service_bt_node"));
+}
+
+int main(int argc, char ** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+
+  // initialize ROS
+  rclcpp::init(argc, argv);
+
+  bool all_successful = RUN_ALL_TESTS();
+
+  // shutdown ROS
+  rclcpp::shutdown();
+
+  return all_successful;
+}

scitos2_modules/src/charger.cpp

@@ -24,6 +24,9 @@
 namespace scitos2_modules
 {
 
+using std::placeholders::_1;
+using std::placeholders::_2;
+
 void Charger::configure(
   const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent, std::string name)
 {
@@ -45,26 +48,21 @@ void Charger::configure(
 
   // Create MIRA subscribers
   authority_->subscribe<mira::robot::BatteryState>(
-    "/robot/charger/Battery", &Charger::batteryDataCallback, this);
+    "/robot/charger/Battery", std::bind(&Charger::batteryDataCallback, this, _1));
   authority_->subscribe<uint8>(
-    "/robot/charger/ChargerStatus", &Charger::chargerStatusCallback, this);
+    "/robot/charger/ChargerStatus", std::bind(&Charger::chargerStatusCallback, this, _1));
 
   // Create ROS services
   save_persistent_errors_service_ = node->create_service<scitos2_msgs::srv::SavePersistentErrors>(
-    "charger/save_persistent_errors",
-    std::bind(
-      &Charger::savePersistentErrors, this,
-      std::placeholders::_1, std::placeholders::_2));
+    "charger/save_persistent_errors", std::bind(&Charger::savePersistentErrors, this, _1, _2));
 
   RCLCPP_INFO(logger_, "Configured module : %s", plugin_name_.c_str());
 }
 
 void Charger::cleanup()
 {
   RCLCPP_INFO(
-    logger_,
-    "Cleaning up module : %s of type scitos2_module::Charger",
-    plugin_name_.c_str());
+    logger_, "Cleaning up module : %s of type scitos2_module::Charger", plugin_name_.c_str());
   authority_.reset();
   battery_pub_.reset();
   charger_pub_.reset();
@@ -74,9 +72,7 @@ void Charger::cleanup()
 void Charger::activate()
 {
   RCLCPP_INFO(
-    logger_,
-    "Activating module : %s of type scitos2_module::Charger",
-    plugin_name_.c_str());
+    logger_, "Activating module : %s of type scitos2_module::Charger", plugin_name_.c_str());
   battery_pub_->on_activate();
   charger_pub_->on_activate();
   authority_->start();
@@ -85,9 +81,7 @@ void Charger::activate()
 void Charger::deactivate()
 {
   RCLCPP_INFO(
-    logger_,
-    "Deactivating module : %s of type scitos2_module::Charger",
-    plugin_name_.c_str());
+    logger_, "Deactivating module : %s of type scitos2_module::Charger", plugin_name_.c_str());
   authority_->checkout();
   battery_pub_->on_deactivate();
   charger_pub_->on_deactivate();

scitos2_modules/src/display.cpp

@@ -46,7 +46,8 @@ void Display::configure(const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
 
   // Create MIRA subscriber
   authority_->subscribe<uint8>(
-    "/robot/StatusDisplayUserMenuEvent", &Display::menuDataCallback, this);
+    "/robot/StatusDisplayUserMenuEvent",
+    std::bind(&Display::menuDataCallback, this, std::placeholders::_1));
 
   // Declare and read parameters
   nav2_util::declare_parameter_if_not_declared(
@@ -99,29 +100,23 @@ void Display::configure(const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
 void Display::cleanup()
 {
   RCLCPP_INFO(
-    logger_,
-    "Cleaning up module : %s of type scitos2_module::Display",
-    plugin_name_.c_str());
+    logger_, "Cleaning up module : %s of type scitos2_module::Display", plugin_name_.c_str());
   authority_.reset();
   display_data_pub_.reset();
 }
 
 void Display::activate()
 {
   RCLCPP_INFO(
-    logger_,
-    "Activating module : %s of type scitos2_module::Display",
-    plugin_name_.c_str());
+    logger_, "Activating module : %s of type scitos2_module::Display", plugin_name_.c_str());
   display_data_pub_->on_activate();
   authority_->start();
 }
 
 void Display::deactivate()
 {
   RCLCPP_INFO(
-    logger_,
-    "Deactivating module : %s of type scitos2_module::Display",
-    plugin_name_.c_str());
+    logger_, "Deactivating module : %s of type scitos2_module::Display", plugin_name_.c_str());
   authority_->checkout();
   display_data_pub_->on_deactivate();
 }