Ci test

.github/workflows/main.yaml

@@ -0,0 +1,112 @@
+name: Test Colcon Build
+on:
+  pull_request:
+    branches:
+      - main
+  push:
+
+jobs:
+  lint_and_format:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+          token: ${{ secrets.GH_PAT }}
+
+      - name: Install clang-format
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y clang-format
+
+      - name: Check formatting
+        run: |
+          find src -iname *.h -o -iname *.hpp -o -iname *.cpp -o -iname *.c | xargs clang-format --dry-run --Werror
+
+      - name: Install Ruff
+        run: pip install ruff
+
+      - name: Check Python formatting
+        run: ruff format --check .
+
+      - name: Check Python linting
+        run: ruff check .
+
+  # Currently this takes 3+ minutes, but I'm keeping this here if we ever need it
+  # build:
+  #   needs: format
+  #   runs-on: ubuntu-22.04
+  #   container:
+  #     image: ros:humble-ros-base
+
+  #   steps:
+  #     - name: Checkout code
+  #       uses: actions/checkout@v3
+  #       with:
+  #         submodules: recursive
+  #         token: ${{ secrets.GH_PAT }}
+
+  #     - name: Cache Python dependencies
+  #       uses: actions/cache@v3
+  #       id: cache-venv
+  #       with:
+  #         path: .venv
+  #         key: venv-${{ runner.os }}-${{ hashFiles('requirements/all_requirements.txt') }}
+  #         restore-keys: |
+  #           venv-${{ runner.os }}-
+
+  #     - name: Cache rosdep packages
+  #       uses: actions/cache@v3
+  #       id: cache-rosdep
+  #       with:
+  #         path: |
+  #           /var/cache/apt/archives
+  #           /var/lib/apt/lists
+  #         key: rosdep-${{ runner.os }}-${{ hashFiles('src/**/package.xml') }}
+  #         restore-keys: |
+  #           rosdep-${{ runner.os }}-
+
+  #     - name: Install Python Venv (if cache miss)
+  #       if: steps.cache-venv.outputs.cache-hit != 'true'
+  #       shell: bash
+  #       run: |
+  #         # Install python3-venv if not available
+  #         apt-get update
+  #         apt-get install -y python3-venv
+
+  #         # Create virtual environment
+  #         python3 -m venv .venv
+
+  #         # Activate and install dependencies
+  #         source .venv/bin/activate
+  #         pip install --upgrade pip
+  #         pip install -r requirements/all_requirements.txt
+
+  #     - name: Install rosdep dependencies
+  #       run: |
+  #         # Ensure apt cache is preserved
+  #         rm -f /etc/apt/apt.conf.d/docker-clean
+
+  #         # Update rosdep
+  #         apt-get update
+  #         rosdep update
+
+  #         # Install dependencies from all packages in src/
+  #         rosdep install --from-paths src --ignore-src -r -y
+
+  #     - name: Build with colcon
+  #       shell: bash
+  #       run: |
+  #         # Activate venv and source ROS2 and workspace environment
+  #         source .venv/bin/activate
+  #         source /opt/ros/humble/setup.bash
+
+  #         # Make sure build works (ignore hardware specific packages)
+  #         colcon build --packages-ignore \
+  #           camera_node \
+  #           tr-camera-basler \
+  #           lidar_node \
+  #           yolox_ros_cpp \
+  #           yolox_ros \
+  #           yolox_cpp

.gitignore

@@ -8,3 +8,4 @@ rosbag2*
 
 # clangd cache 
 .cache/
+.ruff_cache/

.md/cpp_python_lsp_setup.md

@@ -34,12 +34,17 @@ optionally also add the following to save on format
     "editor.formatOnSave": true,
 ```
 
+If you want to auto-format using the terminal, run:
+```
+find . -name "*.cpp" -o -name "*.h" | xargs clang-format -i -style=file
+```
+
 ## Python 
 
 1. Install the `Python` and `Pylance` extensions by microsoft
 2. install `Robot Developer Extensions for Ros2` by `Ranch Hand Robotics LLC`
 ![extension](ros2_vscode_extension.png)
-
+3. Install `Ruff` by Astral Software
 3. run `ROS2: Update Python Path` (you may need to run this periodically when you add new files or make major changes)
 4. you can verify it worked by checking `.vscode/settings.json` and seeing it has added python auto complete and analysis extra paths.
 5. you should now have type hints for ros msg definitions and custom msg definitions like tr_messages inside python! 

requirements/all_requirements.txt

@@ -0,0 +1,20 @@
+# colcon build deps
+catkin_pkg==1.1.0
+empy==3.3.4
+lark==1.3.1
+catkin-pkg==1.1.0
+PyYAML==6.0.3
+setuptools==80.9.0
+jinja2==3.1.6
+typeguard==4.4.4
+
+# for messages
+numpy==1.26.4
+
+# for sim_node
+mani_skill==3.0.0b21
+torch==2.9.1
+pynput==1.8.1
+
+# for linting & formatting
+ruff==0.14.14

requirements.txt → requirements/requirements.txt

@@ -1,13 +1,12 @@
-# simulation deps
-mani_skill
-torch 
-pynput==1.8.1
-coacd
-
 # colcon build deps
 catkin_pkg
 empy==3.3.4 
 lark 
 catkin-pkg 
 PyYAML 
-setuptools
+setuptools
+jinja2
+typeguard
+
+# for linting & formatting
+ruff==0.14.14

ruff.toml

@@ -0,0 +1,8 @@
+line-length = 88
+indent-width = 4
+
+[format]
+quote-style = "double"
+indent-style = "space"
+skip-magic-trailing-comma = false
+line-ending = "auto"