Migration to Humble

.github/workflows/asan.yaml

@@ -2,20 +2,21 @@ name: asan
 on:
   pull_request:
   push:
+    branches: [ main ]
   schedule:
     - cron: '7 0 * * *'
 
 jobs:
   asan:
     name: asan
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     container:
-      image: rostooling/setup-ros-docker:ubuntu-focal-latest
+      image: rostooling/setup-ros-docker:ubuntu-jammy-latest
     steps:
       - name: deps
-        uses: ros-tooling/setup-ros@v0.3
+        uses: ros-tooling/setup-ros@v0.4
         with:
-          required-ros-distributions: galactic
+          required-ros-distributions: humble
       - name: install_clang
         run: sudo apt update && sudo apt install -y clang clang-tools lld
       - name: build_and_test
@@ -24,15 +25,15 @@ jobs:
           CC: clang
           CXX: clang++
         with:
-          target-ros2-distro: galactic
+          target-ros2-distro: humble
           # build all packages listed in the meta package
           package-name: |
             rmf_building_sim_common
-            rmf_building_sim_gazebo_plugins
-            rmf_building_sim_ignition_plugins
+            rmf_building_sim_gz_classic_plugins
+            rmf_building_sim_gz_plugins
             rmf_robot_sim_common
-            rmf_robot_sim_gazebo_plugins
-            rmf_robot_sim_ignition_plugins
+            rmf_robot_sim_gz_classic_plugins
+            rmf_robot_sim_gz_plugins
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
           colcon-defaults: |

.github/workflows/build.yaml

@@ -1,43 +1,39 @@
 name: build
 on:
   push:
+    branches: [ main ]
   pull_request:
   schedule:
     - cron: '0 0 * * *'
 
 jobs:
   build_and_test:
     name: Build and test
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     container:
-      image: rostooling/setup-ros-docker:ubuntu-focal-latest
-    strategy:
-      matrix:
-        ros_distribution:
-          - foxy
-          - galactic
+      image: rostooling/setup-ros-docker:ubuntu-jammy-latest
     steps:
       - name: deps
-        uses: ros-tooling/[email protected]
-        env:
-          CC: clang
-          CXX: clang++
+        uses: ros-tooling/[email protected]
         with:
-          required-ros-distributions: ${{ matrix.ros_distribution }}
+          required-ros-distributions: humble
       - name: install_clang
         run: sudo apt update && sudo apt install -y clang clang-tools lld
       - name: build
         uses: ros-tooling/[email protected]
+        env:
+          CC: clang
+          CXX: clang++
         with:
-          target-ros2-distro: ${{ matrix.ros_distribution }}
+          target-ros2-distro: humble
           # build all packages listed in the meta package
           package-name: |
             rmf_building_sim_common
-            rmf_building_sim_gazebo_plugins
-            rmf_building_sim_ignition_plugins
+            rmf_building_sim_gz_classic_plugins
+            rmf_building_sim_gz_plugins
             rmf_robot_sim_common
-            rmf_robot_sim_gazebo_plugins
-            rmf_robot_sim_ignition_plugins
+            rmf_robot_sim_gz_classic_plugins
+            rmf_robot_sim_gz_plugins
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
           colcon-defaults: |

.github/workflows/style.yaml

@@ -0,0 +1,24 @@
+name: style
+on:
+  pull_request:
+  push:
+    branches: [ main ]
+defaults:
+  run:
+    shell: bash
+jobs:
+  linter:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        docker_image: ['ros:humble-ros-base']
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - name: checkout
+        uses: actions/checkout@v2
+      - name: uncrustify
+        run: |
+          sudo apt update && sudo apt install wget
+          wget https://raw.githubusercontent.com/open-rmf/rmf_utils/main/rmf_utils/test/format/rmf_code_style.cfg
+          /ros_entrypoint.sh ament_uncrustify -c rmf_code_style.cfg . --language C++

.github/workflows/tsan.yaml

@@ -7,14 +7,14 @@ on:
 jobs:
   tsan:
     name: tsan
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     container:
-      image: rostooling/setup-ros-docker:ubuntu-focal-latest
+      image: rostooling/setup-ros-docker:ubuntu-jammy-latest
     steps:
       - name: deps
-        uses: ros-tooling/setup-ros@v0.3
+        uses: ros-tooling/setup-ros@v0.4
         with:
-          required-ros-distributions: galactic
+          required-ros-distributions: humble
       - name: install_clang
         run: sudo apt update && sudo apt install -y clang clang-tools lld
       - name: tsan_build_test
@@ -24,15 +24,15 @@ jobs:
           CC: clang
           CXX: clang++
         with:
-          target-ros2-distro: galactic
+          target-ros2-distro: humble
           # build all packages listed in the meta package
           package-name: |
             rmf_building_sim_common
-            rmf_building_sim_gazebo_plugins
-            rmf_building_sim_ignition_plugins
+            rmf_building_sim_gz_classic_plugins
+            rmf_building_sim_gz_plugins
             rmf_robot_sim_common
-            rmf_robot_sim_gazebo_plugins
-            rmf_robot_sim_ignition_plugins
+            rmf_robot_sim_gz_classic_plugins
+            rmf_robot_sim_gz_plugins
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
           colcon-defaults: |

codecov.yml

@@ -9,12 +9,11 @@ coverage:
     patch: off
 fixes:
   - "ros_ws/src/*/rmf_building_sim_common/::"
-  - "ros_ws/src/*/rmf_building_sim_gazebo_plugins/::"
-  - "ros_ws/src/*/rmf_building_sim_ignition_plugins/::"
+  - "ros_ws/src/*/rmf_building_sim_gz_classic_plugins/::"
+  - "ros_ws/src/*/rmf_building_sim_gz_plugins/::"
   - "ros_ws/src/*/rmf_robot_sim_common/::"
-  - "ros_ws/src/*/rmf_robot_sim_gazebo_plugins/::"
-  - "ros_ws/src/*/rmf_robot_sim_ignition_plugins/::"
+  - "ros_ws/src/*/rmf_robot_sim_gz_classic_plugins/::"
+  - "ros_ws/src/*/rmf_robot_sim_gz_plugins/::"
 comment:
   layout: "diff, flags, files"
   behavior: default
-

rmf_building_sim_common/include/rmf_building_sim_common/door_common.hpp

@@ -225,9 +225,11 @@ std::shared_ptr<DoorCommon> DoorCommon::make(
         DoorCommon::DoorElement door_element;
         if (joint_name == right_door_joint_name)
           door_element =
-            DoorCommon::DoorElement{lower_limit, upper_limit, true};
+            DoorCommon::DoorElement{lower_limit, upper_limit, true}
+        ;
         else if (joint_name == left_door_joint_name)
-          door_element = DoorCommon::DoorElement{lower_limit, upper_limit};
+          door_element = DoorCommon::DoorElement{lower_limit, upper_limit}
+        ;
         doors.insert({joint_name, door_element});
       }
     };

rmf_building_sim_common/package.xml

@@ -2,7 +2,7 @@
   <name>rmf_building_sim_common</name>
   <version>1.3.1</version>
   <description>
-    Common utility functions for Gazebo and ignition building plugins
+    Common utility functions for Gazebo-classic and Gazebo building plugins
   </description>
   <author>Morgan Quigley</author>
   <author>Michael Grey</author>
@@ -11,6 +11,7 @@
   <author>Brandon Ong</author>
   <author>Kevin Ma</author>
   <author>Rushyendra Maganty</author>
+  <author>Yadunund</author>
   <maintainer email="[email protected]">Morgan Quigley</maintainer>
   <maintainer email="[email protected]">Marco A. Gutiérrez</maintainer>
   <license>Apache 2.0</license>

rmf_building_sim_gazebo_plugins/CHANGELOG.rst → rmf_building_sim_gz_classic_plugins/CHANGELOG.rst

@@ -1,7 +1,11 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package rmf_building_sim_gazebo_plugins
+Changelog for package rmf_building_sim_gz_classic_plugins
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.0.0 (2022-XX-XX)
+------------------
+* Renamed to rmf_building_sim_gz_classic_plugins
+
 1.3.1 (2021-30-11)
 ------------------
 * Making install location package specific to fix: `#100 <https://github.com/open-rmf/rmf/issues/100>`_

rmf_building_sim_gazebo_plugins/CMakeLists.txt → rmf_building_sim_gz_classic_plugins/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(rmf_building_sim_gazebo_plugins)
+project(rmf_building_sim_gz_classic_plugins)
 
 find_package(Qt5 COMPONENTS Widgets REQUIRED)
 set(CMAKE_AUTOMOC ON)

rmf_building_sim_gazebo_plugins/QUALITY_DECLARATION.md → rmf_building_sim_gz_classic_plugins/QUALITY_DECLARATION.md

@@ -1,49 +1,49 @@
-This document is a declaration of software quality for the `rmf_building_sim_gazebo_plugins` package, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html).
+This document is a declaration of software quality for the `rmf_building_sim_gz_classic_plugins` package, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html).
 
-# `rmf_building_sim_gazebo_plugins` Quality Declaration
+# `rmf_building_sim_gz_classic_plugins` Quality Declaration
 
-The package `rmf_building_sim_gazebo_plugins` claims to be in the **Quality Level 4** category.
+The package `rmf_building_sim_gz_classic_plugins` claims to be in the **Quality Level 4** category.
 
 Below are the detailed rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level 4 in REP-2004](https://www.ros.org/reps/rep-2004.html).
 
 ## Version Policy [1]
 
 ### Version Scheme [1.i]
 
-`rmf_building_sim_gazebo_plugins` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#versioning).
+`rmf_building_sim_gz_classic_plugins` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#versioning).
 
 ### Version Stability [1.ii]
 
-`rmf_building_sim_gazebo_plugins` is at a stable version, i.e. `>= 1.0.0`.
+`rmf_building_sim_gz_classic_plugins` is at a stable version, i.e. `>= 1.0.0`.
 The current version can be found in its [package.xml](package.xml), and its change history can be found in its [CHANGELOG](CHANGELOG.rst).
 
 ### Public API Declaration [1.iii]
 
-`rmf_building_sim_gazebo_plugins` does not have a public API.
+`rmf_building_sim_gz_classic_plugins` does not have a public API.
 
 ### API Stability Policy [1.iv]
 
-`rmf_building_sim_gazebo_plugins` does not have a public API.
+`rmf_building_sim_gz_classic_plugins` does not have a public API.
 
 ### ABI Stability Policy [1.v]
 
-`rmf_building_sim_gazebo_plugins` does not have a public API.
+`rmf_building_sim_gz_classic_plugins` does not have a public API.
 
 ### API and ABI Stability Within a Released ROS Distribution [1.vi]
 
-`rmf_building_sim_gazebo_plugins` does not have a public API.
+`rmf_building_sim_gz_classic_plugins` does not have a public API.
 
 ## Change Control Process [2]
 
-`rmf_building_sim_gazebo_plugins` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#package-requirements).
+`rmf_building_sim_gz_classic_plugins` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#package-requirements).
 
 ### Change Requests [2.i]
 
-`rmf_building_sim_gazebo_plugins` requires that all changes occur through a pull request.
+`rmf_building_sim_gz_classic_plugins` requires that all changes occur through a pull request.
 
 ### Contributor Origin [2.ii]
 
-`rmf_building_sim_gazebo_plugins` uses DCO as its confirmation of contributor origin policy.
+`rmf_building_sim_gz_classic_plugins` uses DCO as its confirmation of contributor origin policy.
 More information can be found in [CONTRIBUTING](../CONTRIBUTING.md).
 
 ### Peer Review Policy [2.iii]
@@ -64,15 +64,15 @@ All pull requests must resolve related documentation changes before merging.
 
 ### Feature Documentation [3.i]
 
-`rmf_building_sim_gazebo_plugins` does not provide feature documentation.
+`rmf_building_sim_gz_classic_plugins` does not provide feature documentation.
 
 ### Public API Documentation [3.ii]
 
-`rmf_building_sim_gazebo_plugins` does not have a public API.
+`rmf_building_sim_gz_classic_plugins` does not have a public API.
 
 ### License [3.iii]
 
-The license for `rmf_building_sim_gazebo_plugins` is Apache 2.0, the type is declared in the [package.xml](package.xml) manifest file, and a full copy of the license is in the repository level [LICENSE](../LICENSE) file.
+The license for `rmf_building_sim_gz_classic_plugins` is Apache 2.0, the type is declared in the [package.xml](package.xml) manifest file, and a full copy of the license is in the repository level [LICENSE](../LICENSE) file.
 
 ### Copyright Statement [3.iv]
 
@@ -88,29 +88,29 @@ This quality declaration has not been externally peer-reviewed and is not regist
 
 ### Feature Testing [4.i]
 
-`rmf_building_sim_gazebo_plugins` does not have any tests.
+`rmf_building_sim_gz_classic_plugins` does not have any tests.
 
 ### Public API Testing [4.ii]
 
-`rmf_building_sim_gazebo_plugins` does not have a public API.
+`rmf_building_sim_gz_classic_plugins` does not have a public API.
 
 ### Coverage [4.iii]
 
-`rmf_building_sim_gazebo_plugins` does not track coverage statistics.
+`rmf_building_sim_gz_classic_plugins` does not track coverage statistics.
 
 ### Performance [4.iv]
 
-`rmf_building_sim_gazebo_plugins` does not have performance tests.
+`rmf_building_sim_gz_classic_plugins` does not have performance tests.
 
 ### Linters and Static Analysis [4.v]
 
-`rmf_building_sim_gazebo_plugins` does not use the standard linters and static analysis tools for its CMake code to ensure it follows the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#linters).
+`rmf_building_sim_gz_classic_plugins` does not use the standard linters and static analysis tools for its CMake code to ensure it follows the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#linters).
 
 ## Dependencies [5]
 
 ### Direct Runtime ROS Dependencies [5.i]
 
-`rmf_building_sim_gazebo_plugins` has the following direct runtime ROS dependencies.
+`rmf_building_sim_gz_classic_plugins` has the following direct runtime ROS dependencies.
 
 #### rclcpp
 
@@ -136,7 +136,7 @@ It is assumed to be at least **Quality Level 4** based on its widespread use.
 
 ### Optional Direct Runtime ROS Dependencies [5.ii]
 
-`rmf_building_sim_gazebo_plugins` does not have any optional direct runtime ROS dependencies.
+`rmf_building_sim_gz_classic_plugins` does not have any optional direct runtime ROS dependencies.
 
 ### Direct Runtime non-ROS Dependency [5.iii]
 
@@ -162,8 +162,8 @@ Due to its wide use, documentation, and testing, it is assumed to be **Quality L
 
 ## Platform Support [6]
 
-`rmf_building_sim_gazebo_plugins` does not support all of the tier 1 platforms as described in [REP-2000](https://www.ros.org/reps/rep-2000.html#support-tiers).
-`rmf_building_sim_gazebo_plugins` supports ROS Eloquent and ROS Foxy.
+`rmf_building_sim_gz_classic_plugins` does not support all of the tier 1 platforms as described in [REP-2000](https://www.ros.org/reps/rep-2000.html#support-tiers).
+`rmf_building_sim_gz_classic_plugins` supports ROS Eloquent and ROS Foxy.
 
 ## Security [7]
 

rmf_building_sim_gz_classic_plugins/README.md

@@ -0,0 +1,7 @@
+# rmf\_building\_sim\_gz_classic\_plugins
+
+This package provides Gazebo-classic simulator plugins for allowing simulated building infrastructure to communicate with a ROS system.
+
+## Quality Declaration
+
+This package claims to be in the **Quality Level 4** category, see the [Quality Declaration](./QUALITY_DECLARATION.md) for more details.

rmf_building_sim_gazebo_plugins/package.xml → rmf_building_sim_gz_classic_plugins/package.xml

@@ -1,5 +1,5 @@
 <package format="3">
-  <name>rmf_building_sim_gazebo_plugins</name>
+  <name>rmf_building_sim_gz_classic_plugins</name>
   <version>1.3.1</version>
   <description>
     Gazebo plugins so that buildings generated by rmf_building_map_tools can