build pass

Signed-off-by: Jakub Delicat <delicat.kuba@gmail.com>

.pre-commit-config.yaml

@@ -0,0 +1,14 @@
+# .pre-commit-config.yaml
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.1.0  # this is optional, use `pre-commit autoupdate` to get the latest rev!
+    hooks:
+    -   id: check-yaml
+    -   id: end-of-file-fixer
+    -   id: trailing-whitespace
+
+-   repo: https://github.com/psf/black
+    rev: 23.7.0
+    hooks:
+    -   id: black
+        name: Format Python Code (black)

CMakeLists.txt

@@ -1,204 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(safety_user_plugin)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  rospy
-  rqt_gui
-  rqt_gui_py
-  std_msgs
-  geometry_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   RestrictionsMsg.msg
-#   RobotInfoMsg.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs
-#   geometry_msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-	CATKIN_DEPENDS message_runtime
-#  INCLUDE_DIRS include
-#  LIBRARIES safety_master_plugin
-#  CATKIN_DEPENDS rospy std_msgs
-#  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/safety_master_plugin.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/safety_master_plugin_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-install(PROGRAMS
-#   scripts/my_python_script
-	DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_safety_master_plugin.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)

package.xml

@@ -1,10 +1,13 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>safety_user_plugin</name>
-  <version>0.0.0</version>
+  <version>0.2.0</version>
   <description>The safety_user_plugin package</description>
 
-  <maintainer email="aleksander.bojda@pwr.edu.pl">Aleksander Bojda</maintainer>
+  <maintainer email="l15@kcir.pwr.edu.pl">Laboratory L1.5</maintainer>
+
+  <author email="aleksander.bojda@pwr.edu.pl">Aleksander Bojda</author>
+  <author email="jakub.delicat@pwr.edu.pl">Jakub Delicat</author>
 
   <license>MIT</license>
 
@@ -30,6 +33,7 @@
   <exec_depend>rosaria_msgs</exec_depend>
 
   <export>
+    <build_type>ament_python</build_type>
     <rqt_gui plugin="${prefix}/plugin.xml"/>
   </export>
 </package>

safety_user_plugin/user_plugin_node.py

@@ -0,0 +1,11 @@
+from safety_user_plugin.user_plugin import UserPlugin
+from rqt_gui.main import Main
+import sys
+
+def main():
+    """Run the plugin."""
+    Main().main(sys.argv, standalone="safety_user_plugin")
+
+
+if __name__ == "__main__":
+    main()

scripts/safety_user_plugin

@@ -0,0 +1,9 @@
+#!/usr/bin/env python3
+
+import sys
+
+from safety_user_plugin.user_plugin import UserPlugin
+from rqt_gui.main import Main
+
+
+sys.exit(Main().main(sys.argv, standalone='safety_user_plugin.user_plugin.UserPlugin'))

setup.cfg

@@ -0,0 +1,5 @@
+[develop]
+script_dir=$base/lib/safety_user_plugin
+[install]
+install_scripts=$base/lib/safety_user_plugin
+

setup.py

@@ -1,8 +1,31 @@
-from distutils.core import setup
-from catkin_pkg.python_setup import generate_distutils_setup
+import os
+from glob import glob
+from setuptools import setup
 
-setup_args = generate_distutils_setup(
-    package_dir={'': 'scripts'}
+
+package_name = 'safety_user_plugin'
+
+setup(
+    name=package_name,
+    version='0.2.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        ('share/' + package_name, ['plugin.xml']),
+        (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*.launch.py'))),
+        (os.path.join('share', package_name, 'ui'), glob(os.path.join('ui', '*.png'))),
+        (os.path.join('share', package_name, 'ui'), glob(os.path.join('ui', '*.ui'))),
+        (os.path.join('lib/', package_name), glob(os.path.join('ui', '*.ui'))),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='jdelicat',
+    maintainer_email='jakub.delicat@pwr.edu.pl',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': ['user_plugin_node = safety_user_plugin.user_plugin_node:main'],
+    },
 )
-
-setup(**setup_args)