Use gcovr to enforce code coverage everywhere (#437)

### Proposed changes

Closes #434 (kinda). This patch introduces `gcovr` for code coverage
enforcement for all distributions and workflows. `codecov` remains in
use for Humble jobs triggered by local workflows.

#### Type of change

- [x] 🐛 Bugfix (change which fixes an issue)
- [ ] 🚀 Feature (change which adds functionality)
- [ ] 📚 Documentation (change which fixes or extends documentation)

### Checklist

- [x] Lint and unit tests (if any) pass locally with my changes
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have added necessary documentation (if appropriate)
- [x] All commits have been signed for
[DCO](https://developercertificate.org/)

## Additional comments

The choice of `gcovr` in addition to `lcov` has to do with feature
support. Only the newest versions of `lcov`, available starting Noble,
have the "fail under X coverage" feature. Alas, `colcon`'s `lcov`
integration is all broken in Noble -.-.

---------

Signed-off-by: Michel Hidalgo <[email protected]>

.github/workflows/ci_pipeline.yml

@@ -48,6 +48,7 @@ jobs:
       - name: Install debian packages
         run: >-
           sudo apt-get update && sudo apt-get install -y \
+            gcovr \
             git \
             lcov \
             python3-colcon-common-extensions \
@@ -101,6 +102,10 @@ jobs:
         working-directory: ${{ github.workspace }}
         run: ./src/beluga/tools/run-clang-tidy.sh
 
+      - name: Enforce code coverage
+        working-directory: ${{ github.workspace }}
+        run: ./src/beluga/tools/check-code-coverage.sh
+
       - name: Upload code coverage report
         uses: codecov/codecov-action@v3
         with:
@@ -109,7 +114,7 @@ jobs:
           name: codecov-umbrella
           fail_ci_if_error: true
           verbose: true
-        if: ${{ matrix.upload_artifacts }}
+        if: ${{ matrix.upload_artifacts && !github.event.pull_request.head.repo.fork }}
 
   build-docs:
     needs: build-test

beluga/CMakeLists.txt

@@ -35,6 +35,9 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
               -Wextra
               -Wpedantic)
 endif()
+if(CMAKE_BUILD_TYPE MATCHES "Debug")
+  target_compile_options(beluga_compile_options INTERFACE -fno-inline)
+endif()
 
 find_package(Eigen3 REQUIRED NO_MODULE)
 find_package(

beluga_amcl/CMakeLists.txt

@@ -33,6 +33,9 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     -Werror
     -Wpedantic)
 endif()
+if(CMAKE_BUILD_TYPE MATCHES "Debug")
+  add_compile_options(-fno-inline)
+endif()
 
 set(ROS_VERSION $ENV{ROS_VERSION})
 set(ROS_VERSION $ENV{ROS_VERSION})

beluga_amcl/test/test_amcl_nodelet.cpp

@@ -111,6 +111,8 @@ class Tester {
     laser_scan_publisher_ = nh_.advertise<sensor_msgs::LaserScan>("scan", 1);
 
     global_localization_client_ = nh_.serviceClient<std_srvs::Empty>("global_localization");
+
+    nomotion_update_client_ = nh_.serviceClient<std_srvs::Empty>("request_nomotion_update");
   }
 
   void create_pose_subscriber() {
@@ -120,7 +122,7 @@ class Tester {
 
   void pose_callback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& message) { latest_pose_ = *message; }
 
-  const auto& latest_pose() const { return latest_pose_; }
+  auto& latest_pose() { return latest_pose_; }
 
   void create_particle_cloud_subscriber() {
     particle_cloud_subscriber_ = nh_.subscribe<geometry_msgs::PoseArray>(
@@ -241,6 +243,16 @@ class Tester {
     return global_localization_client_.call(srv);
   }
 
+  template <class Rep, class Period>
+  bool wait_for_nomotion_update_service(const std::chrono::duration<Rep, Period>& timeout) {
+    return nomotion_update_client_.waitForExistence(ros::Duration(std::chrono::duration<double>(timeout).count()));
+  }
+
+  bool request_nomotion_update() {
+    std_srvs::Empty srv;
+    return nomotion_update_client_.call(srv);
+  }
+
  private:
   static bool static_map_callback(nav_msgs::GetMap::Request&, nav_msgs::GetMap::Response& response) {
     response.map = make_dummy_map();
@@ -267,6 +279,7 @@ class Tester {
   tf2_ros::TransformListener tf_listener_;
 
   ros::ServiceClient global_localization_client_;
+  ros::ServiceClient nomotion_update_client_;
 };
 
 /// Base node fixture class with common utilities.
@@ -279,13 +292,12 @@ class BaseTestFixture : public T {
     tester_ = std::make_shared<Tester>();
   }
 
-  void TearDown() override {}
-
   bool wait_for_initialization() {
     return spin_until([this] { return amcl_nodelet_->is_initialized(); }, 1000ms);
   }
 
   bool wait_for_pose_estimate() {
+    tester_->latest_pose().reset();
     return spin_until([this] { return tester_->latest_pose().has_value(); }, 1000ms);
   }
 
@@ -301,6 +313,13 @@ class BaseTestFixture : public T {
     return tester_->request_global_localization();
   }
 
+  bool request_nomotion_update() {
+    if (!tester_->wait_for_nomotion_update_service(500ms)) {
+      return false;
+    }
+    return tester_->request_nomotion_update();
+  }
+
  protected:
   std::shared_ptr<AmclNodeletUnderTest> amcl_nodelet_;
   std::shared_ptr<Tester> tester_;
@@ -551,6 +570,24 @@ TEST_F(TestFixture, FirstMapOnly) {
   }
 }
 
+TEST_F(TestFixture, CanForcePoseEstimate) {
+  beluga_amcl::AmclConfig config;
+  EXPECT_TRUE(amcl_nodelet_->default_config(config));
+  config.set_initial_pose = false;
+  EXPECT_TRUE(amcl_nodelet_->set(config));
+  tester_->publish_map();
+  EXPECT_TRUE(request_global_localization());
+  EXPECT_TRUE(wait_for_initialization());
+  tester_->create_pose_subscriber();
+  tester_->publish_laser_scan();
+  EXPECT_TRUE(wait_for_pose_estimate());
+  EXPECT_TRUE(tester_->can_transform("map", "odom"));
+  EXPECT_TRUE(request_nomotion_update());
+  tester_->publish_laser_scan();
+  EXPECT_TRUE(wait_for_pose_estimate());
+  EXPECT_TRUE(tester_->can_transform("map", "odom"));
+}
+
 TEST_F(TestFixture, KeepCurrentEstimate) {
   beluga_amcl::AmclConfig config;
   ASSERT_TRUE(amcl_nodelet_->default_config(config));

beluga_ros/CMakeLists.txt

@@ -33,6 +33,9 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     -Werror
     -Wpedantic)
 endif()
+if(CMAKE_BUILD_TYPE MATCHES "Debug")
+  add_compile_options(-fno-inline)
+endif()
 
 set(ROS_VERSION $ENV{ROS_VERSION})
 if(NOT ROS_VERSION)

beluga_ros/test/test_amcl.cpp

@@ -115,6 +115,17 @@ TEST(TestAmcl, UpdateWithParticles) {
   ASSERT_TRUE(estimate.has_value());
 }
 
+TEST(TestAmcl, UpdateWithParticlesWithMotion) {
+  auto amcl = make_amcl();
+  ASSERT_EQ(amcl.particles().size(), 0);
+  amcl.initialize_from_map();
+  ASSERT_EQ(amcl.particles().size(), 50UL);
+  auto estimate = amcl.update(Sophus::SE2d{}, make_dummy_laser_scan());
+  ASSERT_TRUE(estimate.has_value());
+  estimate = amcl.update(Sophus::SE2d{0.0, {1.0, 0.0}}, make_dummy_laser_scan());
+  ASSERT_TRUE(estimate.has_value());
+}
+
 TEST(TestAmcl, UpdateWithParticlesNoMotion) {
   auto amcl = make_amcl();
   ASSERT_EQ(amcl.particles().size(), 0);

docker/images/humble/Dockerfile

@@ -40,6 +40,7 @@ RUN apt-get update \
   && apt-get install --no-install-recommends -y \
     ccache \
     curl \
+    gcovr \
     gdb \
     git \
     lcov \

docker/images/iron/Dockerfile

@@ -40,6 +40,7 @@ RUN apt-get update \
   && apt-get install --no-install-recommends -y \
     ccache \
     curl \
+    gcovr \
     gdb \
     git \
     lcov \

docker/images/jazzy/Dockerfile

@@ -40,6 +40,7 @@ RUN apt-get update \
   && apt-get install --no-install-recommends -y \
     ccache \
     curl \
+    gcovr \
     gdb \
     git \
     lcov \

docker/images/noetic/Dockerfile

@@ -50,6 +50,7 @@ RUN apt-get update \
   && apt-get install --no-install-recommends -y \
     ccache \
     curl \
+    gcovr \
     gdb \
     git \
     lcov \

docker/images/rolling/Dockerfile

@@ -40,6 +40,7 @@ RUN apt-get update \
   && apt-get install --no-install-recommends -y \
     ccache \
     curl \
+    gcovr \
     gdb \
     git \
     lcov \

tools/build-and-test.sh

@@ -60,24 +60,25 @@ colcon build \
     --cmake-force-configure
 echo ::endgroup::
 
+LCOV_CONFIG_PATH=${SCRIPT_PATH}/../.lcovrc
+
 echo ::group::Test
-colcon lcov-result --initial
+colcon lcov-result \
+    --initial \
+    --lcov-config-file ${LCOV_CONFIG_PATH} \
+    --packages-select ${ROS_PACKAGES}
 colcon test \
     --packages-select ${ROS_PACKAGES} \
     --event-handlers console_cohesion+ \
     --return-code-on-test-failure \
     --mixin coverage-pytest
 echo ::endgroup::
 
-LCOV_CONFIG_PATH=${SCRIPT_PATH}/../.lcovrc
-
 echo ::group::Generate code coverage results
 colcon lcov-result \
     --packages-select ${ROS_PACKAGES} \
-    --lcov-config-file ${LCOV_CONFIG_PATH} \
-    --verbose
+    --lcov-config-file ${LCOV_CONFIG_PATH}
 colcon coveragepy-result \
     --packages-select ${ROS_PACKAGES} \
-    --coverage-report-args -m \
-    --verbose
+    --coverage-report-args -m
 echo ::endgroup::

tools/check-code-coverage.sh

@@ -0,0 +1,25 @@
+#!/bin/bash
+
+# Copyright 2024 Ekumen, 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.
+
+# Enforce code coverage limits
+
+[[ -z "${WITHIN_DEV}" ]] && echo -e "\033[1;33mWARNING: Try running this script inside the development container if you experience any issues.\033[0m"
+
+set -o errexit
+
+gcovr --fail-under-line 95 -j -u -f 'src/beluga/.*' -e '.*/test/.*cpp' build/
+# NOTE: Enable Python code coverage checks when attained
+# (cd coveragepy && python3 -m coverage report --fail-under=95)