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| Original file line number | Diff line number | Diff line change |
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| # This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git). | ||
| # For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst) | ||
|
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| name: CI | ||
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| on: [push, pull_request] | ||
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| jobs: | ||
| default: | ||
| strategy: | ||
| fail-fast: false | ||
| matrix: | ||
| env: | ||
| - IMAGE: noetic | ||
| CATKIN_LINT: true | ||
| CCOV: true | ||
| env: | ||
| DOCKER_IMAGE: 'moveit/moveit:${{ matrix.env.IMAGE }}-release' | ||
| AFTER_RUN_TARGET_TEST: ${{ matrix.env.CCOV && './.ci.prepare_codecov' || '' }} | ||
| TARGET_CMAKE_ARGS: > | ||
| -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'RelWithDebInfo' || 'Release'}} | ||
| ${{ matrix.env.CCOV && '-DCMAKE_CXX_FLAGS="--coverage" --no-warn-unused-cli' || '' }} | ||
| CCACHE_DIR: "${{ github.workspace }}/.ccache" | ||
| BASEDIR: ${{ github.workspace }}/.work | ||
| CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}" | ||
| CLANG_TIDY_BASE_REF: "${{ github.base_ref || github.ref }}" | ||
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| name: "${{ matrix.env.IMAGE }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.IKFAST_TEST && ' + ikfast' || ''}}${{ matrix.env.CLANG_TIDY && ' + clang-tidy' || '' }}" | ||
| runs-on: ubuntu-latest | ||
| steps: | ||
| - uses: actions/checkout@v4 | ||
| - name: cache upstream_ws | ||
| uses: actions/cache@v4 | ||
| with: | ||
| save-always: true | ||
| path: ${{ env.BASEDIR }}/upstream_ws | ||
| key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('upstream.rosinstall') }}-${{ github.run_id }} | ||
| restore-keys: | | ||
| upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('upstream.rosinstall') }} | ||
| - name: cache ccache | ||
| uses: actions/cache@v4 | ||
| with: | ||
| save-always: true | ||
| path: ${{ env.CCACHE_DIR }} | ||
| key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }} | ||
| restore-keys: | | ||
| ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }} | ||
| ccache-${{ env.CACHE_PREFIX }} | ||
| - name: industrial_ci | ||
| uses: ros-industrial/industrial_ci@master | ||
| env: ${{ matrix.env }} | ||
| - name: upload test artifacts (on failure) | ||
| uses: actions/upload-artifact@v4 | ||
| if: failure() | ||
| with: | ||
| name: test-results | ||
| path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml | ||
| - name: upload codecov report | ||
| uses: codecov/codecov-action@v4 | ||
| if: ${{ matrix.env.CCOV }} | ||
| with: | ||
| files: ${{ env.BASEDIR }}/coverage.info |
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| @@ -0,0 +1,20 @@ | ||
| # This is a format job. Pre-commit has a first-party GitHub action, so we use | ||
| # that: https://github.com/pre-commit/action | ||
|
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| name: Format | ||
|
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| on: | ||
| workflow_dispatch: | ||
| pull_request: | ||
| push: | ||
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| jobs: | ||
| pre-commit: | ||
| name: pre-commit | ||
| runs-on: ubuntu-20.04 | ||
| steps: | ||
| - uses: actions/checkout@v4 | ||
| - name: Install clang-format-10 | ||
| run: sudo apt-get install clang-format-10 | ||
| - uses: rhaschke/[email protected] | ||
| - uses: pre-commit/[email protected] |
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89 changes: 89 additions & 0 deletions
89
..._rviz_plugin/include/moveit/handeye_calibration_rviz_plugin/handeye_calibration_display.h
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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2019, Intel Corporation. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of Willow Garage nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
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| /* Author: Yu Yan */ | ||
|
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| #pragma once | ||
|
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| // ros | ||
| #include <rviz_visual_tools/tf_visual_tools.h> | ||
|
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| // local | ||
| #include <moveit/handeye_calibration_rviz_plugin/handeye_calibration_frame.h> | ||
|
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| #ifndef Q_MOC_RUN | ||
| #include <ros/ros.h> | ||
| #include <rviz/display.h> | ||
| #include <rviz/panel_dock_widget.h> | ||
| #include <rviz/properties/property.h> | ||
| #include <rviz/properties/float_property.h> | ||
| #include <rviz/properties/ros_topic_property.h> | ||
| #include <rviz/properties/string_property.h> | ||
| #endif | ||
|
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| namespace moveit_rviz_plugin | ||
| { | ||
| class HandEyeCalibrationDisplay : public rviz::Display | ||
| { | ||
| Q_OBJECT | ||
| public: | ||
| explicit HandEyeCalibrationDisplay(QWidget* parent = 0); | ||
| ~HandEyeCalibrationDisplay() override; | ||
|
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| void load(const rviz::Config& config) override; | ||
| void save(rviz::Config config) const override; | ||
|
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| rviz::StringProperty* move_group_ns_property_; | ||
| rviz::RosTopicProperty* planning_scene_topic_property_; | ||
| rviz::BoolProperty* fov_marker_enabled_property_; | ||
| rviz::FloatProperty* fov_marker_alpha_property_; | ||
| rviz::FloatProperty* fov_marker_size_property_; | ||
|
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| private Q_SLOTS: | ||
|
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| // ****************************************************************************************** | ||
| // Slot Event Functions | ||
| // ****************************************************************************************** | ||
| void fillPlanningGroupNameComboBox(); | ||
| void updateMarkers(); | ||
|
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| protected: | ||
| void onInitialize() override; | ||
|
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| private: | ||
| rviz::PanelDockWidget* frame_dock_; | ||
| HandEyeCalibrationFrame* frame_; | ||
| }; | ||
|
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| } // namespace moveit_rviz_plugin |
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