Develop Guide

TDB

Developing a New Package

TDB

Architecture of a New Package

Every new package should have the following architecture:

/package_name
/include
    /package_name
    header_files(.hpp)
/launch
/src
    implementation_files(.cpp)
    main_files(.cpp)
/tests
    CMakeLists.txt
    test_files(.cpp)
CmakeLists.txt
package.xml
Readme.md
.gitignore

Code Style

TDB

C++

Code should follows the google c++ style guide.

Every file should start with the Licence text, which looks like this:

/*********************************************************************************************
*  \file       [file name]
*  \brief      [brief description of the file]
*  \authors    [name of the author]
*  \copyright  Copyright (c) 2021 Universidad Politécnica de Madrid
*              All Rights Reserved
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
*    this list of conditions and the following disclaimer.
* 2. 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.
* 3. Neither the name of the copyright holder 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 HOLDER 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.
**********************************************************************************************/

Documentation will be generate using Doxygen. Therefore, header files should include a comment over every definition in order to generate the documentation properly. The comments made in the current nodes are writing using Javadoc style.

Please, do not use std::cout or similar functions to show messages in command line. Instead, use logging macros like RCLCPP_INFO from ROS logging library.

Python

TDB: PEP8

Test

TDB: How to pass tests

Code Style Test

A Cpp style check must be done in order to use the same style through all the packages. Each package must have the same .clang-format file.

For configuring style tests, this must be added on the CMakeList.txt

if(BUILD_TESTING)

find_package(ament_cmake_cppcheck REQUIRED)
find_package(ament_cmake_clang_format REQUIRED)

ament_cppcheck(src/ include/ tests/)
ament_clang_format(src/ include/ tests/ --config ${CMAKE_CURRENT_SOURCE_DIR}/.clang-format)

endif()

Also, these packages must be added to the package.xml

<test_depend>ament_cmake_clang_format</test_depend>
<test_depend>ament_cmake_cppcheck</test_depend>

if ament clang format test fails you can autoformat the code using :

$ ament_clang_format ./src/ ./include/ ./tests/ --reformat --config .clang-format

Code Functional Test

In aerostack2 we use googletest (GTest) library to perform unit tests across the packages. GTest complete documentation about how to write your own unit tests can be found at: https://github.com/google/googletest

In order to compile this tests some lines must be added into a NEW CMakeLists.txt file located in a tests/ folder.

# Add gtest dependencies and install them if they are not already installed

find_package(gtest QUIET)
if (${Gtest_FOUND})
MESSAGE(STATUS "Found Gtest.")
else (${Gtest_FOUND})
MESSAGE(STATUS "Could not locate Gtest.")
include(FetchContent)
FetchContent_Declare(
    googletest
    URL https://github.com/google/googletest/archive/609281088cfefc76f9d0ce82e1ff6c30cc3591e5.zip
)
# For Windows: Prevent overriding the parent project's compiler/linker settings
set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
FetchContent_MakeAvailable(googletest)

endif(${Gtest_FOUND})

include(GoogleTest)

enable_testing()
# find all *.cpp files in the tests directory

file(GLOB TEST_SOURCES tests/*.cpp )

# create a test executable for each test file
foreach(TEST_SOURCE ${TEST_SOURCES})

get_filename_component(_src_filename ${TEST_SOURCE} NAME)
string(LENGTH ${_src_filename} name_length)
math(EXPR final_length  "${name_length}-4") # remove .cpp of the name
string(SUBSTRING ${_src_filename} 0 ${final_length} TEST_NAME)

add_executable(${TEST_NAME}_test ${TEST_SOURCE})
ament_target_dependencies(${TEST_NAME}_test  ${PROJECT_DEPENDENCIES})
target_link_libraries(${TEST_NAME}_test gtest_main ${PROJECT_NAME})

# add the test executable to the list of executables to build
gtest_discover_tests(${TEST_NAME}_test)

endforeach()

In order to link this ./tests/CMakeLists.txt file into the CMakeLists.txt file of the package, the following line must be added:

if(BUILD_TESTING)
# all the other tests
include(./tests/CMakeLists.txt)
endif()

To run these tests:

$ colcon test

Code Coverage Test

TDB