Merge branch 'master' into fix_setup_script

.github/workflows/ci-format.yml

@@ -18,6 +18,6 @@ jobs:
       with:
         python-version: '3.10'
         cache: 'pip'
-    - uses: pre-commit/[email protected].0
+    - uses: pre-commit/[email protected].1
       with:
         extra_args: --all-files --hook-stage manual

scripts/create-new-package.bash

@@ -188,6 +188,23 @@ if [[ $ros_version == 1 ]]; then
 elif [[ $ros_version == 2 ]]; then
   ros2 pkg create --package-format 3 --description "$PKG_DESCRIPTION" --license "$LICENSE" --build-type "$BUILD_TYPE" --maintainer-email "$MAINTAINER_EMAIL" --maintainer-name "$MAINTAINER_NAME" $PKG_NAME
 
+  if [[ "$BUILD_TYPE" == "ament_cmake" || "$BUILD_TYPE" == "cmake" ]]; then
+    cd $PKG_NAME || print_and_exit "create-new-package internal error. cannot change dir to src/$PKG_NAME."
+    # set compile options - add more compilation flags to escalate warnings
+    sed -i -E 's/^[[:blank:]]*if\(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang"\)$/if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")/' CMakeLists.txt
+    sed -i -E 's/^[[:blank:]]*add_compile_options\(-Wall -Wextra -Wpedantic\)$/  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)/' CMakeLists.txt
+    # Remove auto lint stuff:
+    # 1) remove all the lint dependencies in package.xml
+    sed -i '/<test_depend>ament_lint_auto<\/test_depend>/d; /<test_depend>ament_lint_common<\/test_depend>/d' package.xml
+    # remove multiple newlines
+    awk '!NF { if (!blank++) print; next } { blank=0; print }' package.xml >tmp_file && mv tmp_file package.xml
+    # 2) remove all in between the if(BUILD_TESTING) and endif() block
+    # this usually contains linting stuff which we don't want for the tests
+    sed -i '/if(BUILD_TESTING)/,/endif()/ { /if(BUILD_TESTING)/b; /endif()/b; d; }' CMakeLists.txt
+    awk '!NF { if (!blank++) print; next } { blank=0; print }' CMakeLists.txt >tmp_file && mv tmp_file CMakeLists.txt
+    cd "-" || exit
+  fi
+
   ## Until it is corrected upstream
   if [[ "$PKG_TYPE" == "$package_type_metapackage_option" ]]; then
     cd $PKG_NAME

templates/.ros_team_ws_rc

@@ -14,10 +14,11 @@ TEAM_PRIVATE_CONFIG_PATH=""
 # set this to the location of RosTeamWorkspace
 source <PATH TO ros_team_workspace>/setup.bash
 
-# User specific setup / variables
+# User specific setup/variables
 
 #export CYCLONEDDS_URI='<CycloneDDS><Domain><General><NetworkInterfaceAddress>ADD_HERE_INTERFACE_NAME</NetworkInterfaceAddress></General></Domain></CycloneDDS>'
 
+export ROS_AUTOMATIC_DISCOVERY_RANGE="LOCALHOST"  # Doc: https://docs.ros.org/en/rolling/Tutorials/Advanced/Improved-Dynamic-Discovery.html
 export ROS_DOMAIN_ID=0 # Set your Domain ID if you are in a network with multiple computers
 
 # needed to execute cppcheck version 2.7 used in pre-commit

templates/licenses/proprietary_company_header.txt

@@ -0,0 +1 @@
+Copyright (c) $YEAR$, $NAME_ON_LICENSE$

templates/robot_description/robot_macro.ros2_control.xacro

@@ -21,7 +21,7 @@
           <plugin>gazebo_ros2_control/GazeboSystem</plugin>
         </xacro:if>
         <xacro:if value="${sim_gazebo}">
-          <plugin>ign_ros2_control/IgnitionSystem</plugin>
+          <plugin>gz_ros2_control/GazeboSimSystem</plugin>
         </xacro:if>
         <xacro:unless value="${use_mock_hardware or sim_gazebo_classic or sim_gazebo}">
           <plugin>robot_hardware_inteface/RobotHardwareInteface</plugin>
@@ -132,7 +132,7 @@
       <gazebo reference="world">
       </gazebo>
       <gazebo>
-        <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+        <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
           <parameters>${simulation_controllers}</parameters>
           <controller_manager_node_name>${prefix}controller_manager</controller_manager_node_name>
         </plugin>

templates/robot_description/robot_macro.xacro

@@ -7,8 +7,8 @@
     <!-- LINKS -->
     <!-- base link -->
     <link name="${prefix}base_link">
-      <!-- Default inertial for Gazebo/Ingnition - copy and edit block from 'common.xacro'
-           to get more realistic behaviour-->
+      <!-- Default inertial for Gazebo - copy and edit block from 'common.xacro'
+           to get more realistic behavior -->
       <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -27,8 +27,8 @@
     </link>
     <!-- link 1 -->
     <link name="${prefix}link1">
-      <!-- Default inertial for Gazebo/Ingnition - copy and edit block from 'common.xacro'
-           to get more realistic behaviour-->
+      <!-- Default inertial for Gazebo - copy and edit block from 'common.xacro'
+           to get more realistic behavior -->
       <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -47,8 +47,8 @@
     </link>
     <!-- link 2 -->
     <link name="${prefix}link2">
-      <!-- Default inertial for Gazebo/Ingnition - copy and edit block from 'common.xacro'
-           to get more realistic behaviour-->
+      <!-- Default inertial for Gazebo - copy and edit block from 'common.xacro'
+           to get more realistic behavior-->
       <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -67,8 +67,8 @@
     </link>
     <!-- link 3 -->
     <link name="${prefix}link3">
-      <!-- Default inertial for Gazebo/Ingnition - copy and edit block from 'common.xacro'
-           to get more realistic behaviour-->
+      <!-- Default inertial for Gazebo - copy and edit block from 'common.xacro'
+           to get more realistic behavior-->
       <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -87,8 +87,8 @@
     </link>
     <!-- link 4 -->
     <link name="${prefix}link4">
-      <!-- Default inertial for Gazebo/Ingnition - copy and edit block from 'common.xacro'
-           to get more realistic behaviour-->
+      <!-- Default inertial for Gazebo - copy and edit block from 'common.xacro'
+           to get more realistic behavior-->
       <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -107,8 +107,8 @@
     </link>
     <!-- link 5 -->
     <link name="${prefix}link5">
-      <!-- Default inertial for Gazebo/Ingnition - copy and edit block from 'common.xacro'
-           to get more realistic behaviour-->
+      <!-- Default inertial for Gazebo - copy and edit block from 'common.xacro'
+           to get more realistic behavior-->
       <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -127,8 +127,8 @@
     </link>
     <!-- link 6 -->
     <link name="${prefix}link6">
-      <!-- Default inertial for Gazebo/Ingnition - copy and edit block from 'common.xacro'
-           to get more realistic behaviour-->
+      <!-- Default inertial for Gazebo - copy and edit block from 'common.xacro'
+           to get more realistic behavior-->
       <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />