Adding in CI/CD and style guide

.clang-format

@@ -0,0 +1,27 @@
+---
+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

@@ -0,0 +1,18 @@
+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

@@ -1 +1,7 @@
-.vscode/
+.vscode/
+log
+build
+install
+.vscode
+.cache
+compile_commands.json

include/teleop_ack_rc/rc_joy_node.hpp

@@ -1,9 +1,10 @@
 #ifndef RC_JOY_NODE_HPP_
 #define RC_JOY_NODE_HPP_
 
+#include <libserial/SerialPort.h> /* SerialPort, Open(), ReadByte(), Read() */
+
 #include <rclcpp/rclcpp.hpp>
-#include <sensor_msgs/msg/joy.hpp> /*  sensor_msgs::msg::Joy container for axes and button layouts */ 
-#include <libserial/SerialPort.h>  /* SerialPort, Open(), ReadByte(), Read() */
+#include <sensor_msgs/msg/joy.hpp> /*  sensor_msgs::msg::Joy container for axes and button layouts */
 
 namespace teleop_ack_rc {
 
@@ -14,16 +15,16 @@ namespace teleop_ack_rc {
 * deadman is for PWM-Serial converter internal use only.
 */
 struct __attribute__((packed)) RC_PACKET {
-    uint8_t header;     /* 0xAA */
-    uint16_t steer;     /* Channel 1 */
-    uint16_t throttle;  /* Channel 4 */
-    uint16_t teleop;    /* Channel 5 */
-    uint16_t deadman;   /* Channel 6 */
+    uint8_t header;    /* 0xAA */
+    uint16_t steer;    /* Channel 1 */
+    uint16_t throttle; /* Channel 4 */
+    uint16_t teleop;   /* Channel 5 */
+    uint16_t deadman;  /* Channel 6 */
 };
 /* RcJoyNode: responsible for converting PWM values to joy like messages */
 class RcJoyNode : public rclcpp::Node {
 public:
-    explicit RcJoyNode(const rclcpp::NodeOptions & options);
+    explicit RcJoyNode(const rclcpp::NodeOptions& options);
     virtual ~RcJoyNode();
 
 private:

include/teleop_ack_rc/teleop_ack_rc_node.hpp

@@ -1,27 +1,27 @@
 #ifndef TELEOP_ACK_RC_NODE_HPP_
 #define TELEOP_ACK_RC_NODE_HPP_
 
+#include <ackermann_msgs/msg/ackermann_drive.hpp> /* Provides our ackerman signalling Speed (m/s) and angle (rad)*/
 #include <rclcpp/rclcpp.hpp>
-#include <sensor_msgs/msg/joy.hpp>                 /* Normalize our stick values [-1.0, 1.0]*/
-#include <ackermann_msgs/msg/ackermann_drive.hpp>  /* Provides our ackerman signalling Speed (m/s) and angle (rad)*/
+#include <sensor_msgs/msg/joy.hpp> /* Normalize our stick values [-1.0, 1.0]*/
 
 namespace teleop_ack_rc {
 
 /* TeleopAckRcNode: Convert our RC joy messages into ackerman values for drive_mode_switch */
 class TeleopAckRcNode : public rclcpp::Node {
 public:
-    explicit TeleopAckRcNode(const rclcpp::NodeOptions & options);
+    explicit TeleopAckRcNode(const rclcpp::NodeOptions& options);
 
 private:
     void joy_callback(const sensor_msgs::msg::Joy::SharedPtr msg);
 
     rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr joy_sub_;
     rclcpp::Publisher<ackermann_msgs::msg::AckermannDrive>::SharedPtr ack_pub_;
 
-    double max_speed_;           /* Maximum speed we will publish [-6.7056, 6.7056]*/
-    double max_steering_angle_;  /* Maximum angle we will publish [-0.2733, 0.2733]*/
+    double max_speed_;          /* Maximum speed we will publish [-6.7056, 6.7056]*/
+    double max_steering_angle_; /* Maximum angle we will publish [-0.2733, 0.2733]*/
 };
 
-} 
+}  // namespace teleop_ack_rc
 
 #endif

src/rc_joy.cpp

@@ -1,15 +1,16 @@
 #include <memory>
 #include <rclcpp/rclcpp.hpp>
+
 #include "teleop_ack_rc/rc_joy_node.hpp"
 
 /* main: main entry point for our joy node */
-int main(int argc, char * argv[]) {
+int main(int argc, char* argv[]) {
     rclcpp::init(argc, argv);
-    
+
     auto node = std::make_shared<teleop_ack_rc::RcJoyNode>(rclcpp::NodeOptions());
-    
+
     rclcpp::spin(node);
     rclcpp::shutdown();
-    
+
     return 0;
 }

src/rc_joy_node.cpp

@@ -1,42 +1,41 @@
 #include "teleop_ack_rc/rc_joy_node.hpp"
-#include <vector>
-#include <cstring>
+
 #include <algorithm>
+#include <cstring>
+#include <vector>
 
 namespace teleop_ack_rc {
 
 /* RcJoyNode: Constructor for our Joynode */
-RcJoyNode::RcJoyNode(const rclcpp::NodeOptions & options)
-    : Node("rc_joy_node", options) {
-
-    this->declare_parameter("port", "/dev/rc_bridge");     /* make parameter to listen to port /dev/rc_bridge as STM will always connect there */
-    port_name_ = this->get_parameter("port").as_string();  
-    
+RcJoyNode::RcJoyNode(const rclcpp::NodeOptions& options) : Node("rc_joy_node", options) {
+    this->declare_parameter(
+        "port",
+        "/dev/rc_bridge"); /* make parameter to listen to port /dev/rc_bridge as STM will always connect there */
+    port_name_ = this->get_parameter("port").as_string();
+
     /* Gaurdbands for our steering input */
     this->declare_parameter("steer_min", 1038);
     this->declare_parameter("steer_max", 1990);
     this->declare_parameter("steer_dead_low", 1493);
     this->declare_parameter("steer_dead_high", 1504);
-    
+
     /* Gaurdbands for our steering input */
     this->declare_parameter("throttle_min", 1013);
     this->declare_parameter("throttle_max", 1940);
     this->declare_parameter("throttle_dead_low", 1492);
     this->declare_parameter("throttle_dead_high", 1504);
 
-    joy_pub_ = this->create_publisher<sensor_msgs::msg::Joy>("/rc_joy", 10); 
+    joy_pub_ = this->create_publisher<sensor_msgs::msg::Joy>("/rc_joy", 10);
 
     try {
         serial_port_.Open(port_name_);
         serial_port_.SetBaudRate(LibSerial::BaudRate::BAUD_115200);
         RCLCPP_INFO(this->get_logger(), "Opened port: %s", port_name_.c_str());
-    } catch (const std::exception & e) {
+    } catch (const std::exception& e) {
         RCLCPP_ERROR(this->get_logger(), "Serial Error: %s", e.what());
     }
 
-    timer_ = this->create_wall_timer(
-        std::chrono::milliseconds(20),
-        std::bind(&RcJoyNode::timer_callback, this));
+    timer_ = this->create_wall_timer(std::chrono::milliseconds(20), std::bind(&RcJoyNode::timer_callback, this));
 }
 
 /* RcJoyNode: Destructor closes node on completion. */
@@ -54,8 +53,7 @@ float RcJoyNode::apply_guardbands(uint16_t raw, int min_v, int max_v, int dead_l
         float range = static_cast<float>(max_v) - dead_high;
         float out = (val - dead_high) / range;
         return std::min(1.0f, out);
-    } 
-    else {
+    } else {
         float range = static_cast<float>(dead_low) - min_v;
         float out = (val - dead_low) / range;
         return std::max(-1.0f, out);
@@ -107,10 +105,9 @@ void RcJoyNode::timer_callback() {
                     joy_pub_->publish(joy_msg); /* send joy message */
                 }
             } catch (...) {
-
             }
         }
     }
 }
 
-} 
+}  // namespace teleop_ack_rc

src/teleop_ack_rc.cpp

@@ -1,15 +1,16 @@
 #include <memory>
 #include <rclcpp/rclcpp.hpp>
+
 #include "teleop_ack_rc/teleop_ack_rc_node.hpp"
 
 /* main: entry point for the teleop_ack_rc node */
-int main(int argc, char * argv[]) {
+int main(int argc, char* argv[]) {
     rclcpp::init(argc, argv);
-    
+
     auto node = std::make_shared<teleop_ack_rc::TeleopAckRcNode>(rclcpp::NodeOptions());
-    
+
     rclcpp::spin(node);
     rclcpp::shutdown();
-    
+
     return 0;
 }

src/teleop_ack_rc_node.cpp

@@ -1,20 +1,19 @@
 #include "teleop_ack_rc/teleop_ack_rc_node.hpp"
+
 #include <algorithm> /* clamp, min, max */
 
 namespace teleop_ack_rc {
 
 /* TeleopAckRcNode: set the parameters for our ackerman and topics */
-TeleopAckRcNode::TeleopAckRcNode(const rclcpp::NodeOptions & options)
-    : Node("teleop_ack_rc_node", options) {
-
-    this->declare_parameter("max_speed", 6.7056);           
-    this->declare_parameter("max_steering_angle", 0.2733);  
+TeleopAckRcNode::TeleopAckRcNode(const rclcpp::NodeOptions& options) : Node("teleop_ack_rc_node", options) {
+    this->declare_parameter("max_speed", 6.7056);
+    this->declare_parameter("max_steering_angle", 0.2733);
 
     max_speed_ = this->get_parameter("max_speed").as_double();
     max_steering_angle_ = this->get_parameter("max_steering_angle").as_double();
 
     ack_pub_ = this->create_publisher<ackermann_msgs::msg::AckermannDrive>("/ack_vel", 10);
-    
+
     joy_sub_ = this->create_subscription<sensor_msgs::msg::Joy>(
         "/rc_joy", 10, std::bind(&TeleopAckRcNode::joy_callback, this, std::placeholders::_1));
 }
@@ -26,9 +25,9 @@ void TeleopAckRcNode::joy_callback(const sensor_msgs::msg::Joy::SharedPtr msg) {
     auto ack_msg = ackermann_msgs::msg::AckermannDrive();
 
     ack_msg.steering_angle = msg->axes[0] * -max_steering_angle_;
-    ack_msg.speed = msg->axes[1] * max_speed_; 
+    ack_msg.speed = msg->axes[1] * max_speed_;
 
     ack_pub_->publish(ack_msg);
 }
 
-}
+}  // namespace teleop_ack_rc