Release Version 2.3.0

.github/workflows/build-release.yaml

@@ -0,0 +1,62 @@
+name: Build and Push Multi-Arch Images
+
+on:
+  push:
+    branches:
+      - develop
+      - main
+    tags:
+      - "v*.*.*"
+
+jobs:
+  get-tag:
+    runs-on: ubuntu-latest
+    name: Get tag
+    outputs:
+      tag: ${{ steps.parse-tag.outputs.tag }}
+    steps:
+      - uses: actions/checkout@v3
+      - uses: aica-technology/.github/.github/actions/docker-tag-from-git@v0.6.1
+        id: parse-tag
+
+  build:
+    needs: [get-tag]
+    strategy:
+      matrix:
+        arch: [amd64, arm64]
+        include:
+          # FIXME (#33): high memory usage during build
+          - image: ubuntu-latest
+          - image: buildjet-8vcpu-ubuntu-2204-arm
+            arch: arm64
+
+    runs-on: ${{ matrix.image }}
+    name: Build and publish (${{ matrix.arch }})
+    steps:
+      - uses: actions/checkout@v3
+
+      - uses: aica-technology/.github/.github/actions/list-add-suffixes@v0.6.0
+        id: merge-tags
+        with:
+          list: ${{ needs.get-tag.outputs.tag }}
+          suffixes: ${{ matrix.arch }}
+          glue_separator: "-"
+
+      - uses: aica-technology/.github/.github/actions/ghcr-build@v0.6.1
+        with:
+          image_name: aica-technology/modulo
+          image_tags: ${{ steps.merge-tags.outputs.list }}
+          dockerfile_path: Dockerfile.ci
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+  multi-arch:
+    runs-on: ubuntu-latest
+    name: Merge into a multi-arch image
+    needs: [get-tag, build]
+    steps:
+      - uses: aica-technology/.github/.github/actions/ghcr-manifest-merge@v0.6.1
+        with:
+          image_name: aica-technology/modulo
+          image_tags: ${{ needs.get-tag.outputs.tag }}
+          archs: amd64,arm64
+          token: ${{ secrets.GITHUB_TOKEN }}

CHANGELOG.md

@@ -1,10 +1,28 @@
 # CHANGELOG
 
 Release Versions:
+
+- [2.3.0](#230)
 - [2.2.0](#220)
 - [2.1.1](#211)
 - [2.1.0](#210)
 
+## 2.3.0
+
+### July 25, 2023
+
+Version 2.3.0 is a minor update to modulo that improves test coverage and adds a feature to publish outputs manually.
+It also contains behind-the-scenes structural improvements to the build system and the CI.
+
+### Changes
+
+- feat(ci): add prebuilt modulo image akin to other internal ones (#36)
+- Add and install component descriptions (#31)
+- Apply AICA C++ style guide (#30)
+- Add option to publish outputs manually instead of periodically (#23)
+- Add unittests for modulo component service calls and triggers (#20)
+- Extend testutils with C++ classes (#19)
+
 ## 2.2.0
 
 ### March 21, 2023

Dockerfile.ci

@@ -0,0 +1,37 @@
+#syntax=docker/dockerfile:1.4.0
+ARG CL_VERSION=v7.1.0
+ARG ROS2_VERSION=humble
+FROM ghcr.io/aica-technology/control-libraries:${CL_VERSION} as cl
+FROM ghcr.io/aica-technology/ros2-ws:${ROS2_VERSION} as base
+# setup the environment
+USER ${USER}
+ENV WORKSPACE ${HOME}/ws
+WORKDIR ${WORKSPACE}
+SHELL ["/bin/bash", "-l", "-c"]
+
+# create a workspace
+RUN source ${HOME}/ros2_ws/install/setup.bash && colcon build
+# source the new workspace on login
+RUN echo "source ${WORKSPACE}/install/setup.bash" | cat - ${HOME}/.bashrc > tmp && mv tmp ${HOME}/.bashrc
+# install deps
+COPY --from=cl / /
+# install sources
+COPY --chown=${USER}:${USER} ./source ${WORKSPACE}/src
+
+FROM base as development
+
+FROM base as build
+ARG TARGETPLATFORM
+RUN --mount=type=cache,target=./build,id=${TARGETPLATFORM},uid=1000 \
+  sudo apt-get update && rosdep update \
+  && rosdep install --from-paths src --ignore-src -r -y \
+  --skip-keys "ros2_control ros2_controllers controller_interface hardware_interface controller_manager" \
+  && sudo rm -rf /var/lib/apt/lists/* \
+  && colcon build
+
+FROM build as test
+ARG TARGETPLATFORM
+RUN --mount=type=cache,target=./build,id=${TARGETPLATFORM},uid=1000 colcon test
+
+FROM scratch as production
+COPY --from=build /home/ros2/ws/install /colcon

VERSION

@@ -1 +1 @@
-2.2.0
+2.3.0

doxygen/doxygen.conf

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Modulo"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 2.2.0
+PROJECT_NUMBER = 2.3.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

source/modulo_component_interfaces/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_component_interfaces</name>
-  <version>2.2.0</version>
+  <version>2.3.0</version>
   <description>Interface package for communicating with modulo components through the ROS framework</description>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>
   <license>GPLv3</license>

source/modulo_components/CMakeLists.txt

@@ -24,13 +24,16 @@ ament_auto_find_build_dependencies()
 include_directories(include)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
-    ${PROJECT_SOURCE_DIR}/src/ComponentInterface.cpp
     ${PROJECT_SOURCE_DIR}/src/Component.cpp
     ${PROJECT_SOURCE_DIR}/src/LifecycleComponent.cpp)
 
 # Install Python modules
 ament_python_install_package(${PROJECT_NAME} SCRIPTS_DESTINATION lib/${PROJECT_NAME})
 
+# Install descriptions
+install(DIRECTORY ./component_descriptions
+        DESTINATION .)
+
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_cmake_pytest REQUIRED)
@@ -41,8 +44,7 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_modulo_components ${TEST_CPP_SOURCES})
   target_include_directories(test_modulo_components PRIVATE include)
-  target_link_libraries(test_modulo_components ${PROJECT_NAME} state_representation clproto)
-  target_compile_definitions(test_modulo_components PRIVATE TEST_FIXTURES="${CMAKE_CURRENT_SOURCE_DIR}/test/fixtures/")
+  target_link_libraries(test_modulo_components ${PROJECT_NAME})
 
   # prevent pluginlib from using boost
   target_compile_definitions(test_modulo_components PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")

source/modulo_components/component_descriptions/modulo_component.json

@@ -0,0 +1,31 @@
+{
+  "name": "Component",
+  "description": {
+    "brief": "A wrapper for rclcpp::Node to simplify application composition through unified component interfaces.",
+    "details": "This class is intended for direct inheritance to implement custom components that perform one-shot or externally triggered operations."
+  },
+  "virtual": true,
+  "registration":  "modulo_components::Component",
+  "inherits": "",
+  "parameters": [
+    {
+      "display_name": "Period",
+      "description": "The time interval in seconds for all periodic callbacks",
+      "parameter_name": "period",
+      "parameter_type": "double",
+      "default_value": "0.1"
+    }
+  ],
+  "predicates": [
+    {
+      "display_name": "In error state",
+      "description": "True if the component is in error state",
+      "predicate_name": "in_error_state"
+    },
+    {
+      "display_name": "Is finished",
+      "description": "True if the on_execute_callback() method of one-shot components successfully finished",
+      "predicate_name": "is_finished"
+    }
+  ]
+}

source/modulo_components/component_descriptions/modulo_lifecycle_component.json

@@ -0,0 +1,46 @@
+{
+  "name": "Lifecycle Component",
+  "description": {
+    "brief": "A wrapper for rclcpp_lifecycle::LifecycleNode to simplify application composition through unified component interfaces while supporting lifecycle states and transitions.",
+    "details": "This class is intended for direct inheritance to implement custom state-based components that perform different behaviors based on their state and on state transitions."
+  },
+  "virtual": true,
+  "registration":  "modulo_components::LifecycleComponent",
+  "inherits": "",
+  "parameters": [
+    {
+      "display_name": "Period",
+      "description": "The time interval in seconds for all periodic callbacks",
+      "parameter_name": "period",
+      "parameter_type": "double",
+      "default_value": "0.1"
+    }
+  ],
+  "predicates": [
+    {
+      "display_name": "In error state",
+      "description": "True if the component is in error state",
+      "predicate_name": "in_error_state"
+    },
+    {
+      "display_name": "Is unconfigured",
+      "description": "True if the component is in an unconfigured state, either through construction or cleanup transition",
+      "predicate_name": "is_unconfigured"
+    },
+    {
+      "display_name": "Is inactive",
+      "description": "True if the component is in an inactive state, either through the configuration or deactivation transition",
+      "predicate_name": "is_inactive"
+    },
+    {
+      "display_name": "Is active",
+      "description": "True if the component is in an active state, executing the step function periodically",
+      "predicate_name": "is_active"
+    },
+    {
+      "display_name": "Is finalized",
+      "description": "True if component is in a finalized state, either through the shutdown or error transition",
+      "predicate_name": "is_finalized"
+    }
+  ]
+}

source/modulo_components/include/modulo_components/Component.hpp

@@ -58,11 +58,12 @@ class Component : public ComponentInterface<rclcpp::Node> {
    * @param data Data to transmit on the output signal
    * @param default_topic If set, the default value for the topic name to use
    * @param fixed_topic If true, the topic name of the output signal is fixed
+   * @param publish_on_step If true, the output is published periodically on step
    */
   template<typename DataT>
   void add_output(
       const std::string& signal_name, const std::shared_ptr<DataT>& data, const std::string& default_topic = "",
-      bool fixed_topic = false
+      bool fixed_topic = false, bool publish_on_step = true
   );
 
 private:
@@ -93,11 +94,11 @@ class Component : public ComponentInterface<rclcpp::Node> {
 template<typename DataT>
 inline void Component::add_output(
     const std::string& signal_name, const std::shared_ptr<DataT>& data, const std::string& default_topic,
-    bool fixed_topic
+    bool fixed_topic, bool publish_on_step
 ) {
   using namespace modulo_core::communication;
   try {
-    auto parsed_signal_name = this->create_output(signal_name, data, default_topic, fixed_topic);
+    auto parsed_signal_name = this->create_output(signal_name, data, default_topic, fixed_topic, publish_on_step);
     auto topic_name = this->get_parameter_value<std::string>(parsed_signal_name + "_topic");
     RCLCPP_DEBUG_STREAM(this->get_logger(),
                         "Adding output '" << parsed_signal_name << "' with topic name '" << topic_name << "'.");
@@ -107,49 +108,43 @@ inline void Component::add_output(
         auto publisher = this->create_publisher<std_msgs::msg::Bool>(topic_name, this->qos_);
         this->outputs_.at(parsed_signal_name) =
             std::make_shared<PublisherHandler<rclcpp::Publisher<std_msgs::msg::Bool>, std_msgs::msg::Bool>>(
-                PublisherType::PUBLISHER, publisher
-            )->create_publisher_interface(message_pair);
+                PublisherType::PUBLISHER, publisher)->create_publisher_interface(message_pair);
         break;
       }
       case MessageType::FLOAT64: {
         auto publisher = this->create_publisher<std_msgs::msg::Float64>(topic_name, this->qos_);
         this->outputs_.at(parsed_signal_name) =
             std::make_shared<PublisherHandler<rclcpp::Publisher<std_msgs::msg::Float64>, std_msgs::msg::Float64>>(
-                PublisherType::PUBLISHER, publisher
-            )->create_publisher_interface(message_pair);
+                PublisherType::PUBLISHER, publisher)->create_publisher_interface(message_pair);
         break;
       }
       case MessageType::FLOAT64_MULTI_ARRAY: {
         auto publisher = this->create_publisher<std_msgs::msg::Float64MultiArray>(topic_name, this->qos_);
-        this->outputs_.at(parsed_signal_name) =
-            std::make_shared<PublisherHandler<rclcpp::Publisher<std_msgs::msg::Float64MultiArray>,
-                                              std_msgs::msg::Float64MultiArray>>(
-                PublisherType::PUBLISHER, publisher
-            )->create_publisher_interface(message_pair);
+        this->outputs_.at(parsed_signal_name) = std::make_shared<
+            PublisherHandler<
+                rclcpp::Publisher<std_msgs::msg::Float64MultiArray>, std_msgs::msg::Float64MultiArray>>(
+            PublisherType::PUBLISHER, publisher)->create_publisher_interface(message_pair);
         break;
       }
       case MessageType::INT32: {
         auto publisher = this->create_publisher<std_msgs::msg::Int32>(topic_name, this->qos_);
         this->outputs_.at(parsed_signal_name) =
             std::make_shared<PublisherHandler<rclcpp::Publisher<std_msgs::msg::Int32>, std_msgs::msg::Int32>>(
-                PublisherType::PUBLISHER, publisher
-            )->create_publisher_interface(message_pair);
+                PublisherType::PUBLISHER, publisher)->create_publisher_interface(message_pair);
         break;
       }
       case MessageType::STRING: {
         auto publisher = this->create_publisher<std_msgs::msg::String>(topic_name, this->qos_);
         this->outputs_.at(parsed_signal_name) =
             std::make_shared<PublisherHandler<rclcpp::Publisher<std_msgs::msg::String>, std_msgs::msg::String>>(
-                PublisherType::PUBLISHER, publisher
-            )->create_publisher_interface(message_pair);
+                PublisherType::PUBLISHER, publisher)->create_publisher_interface(message_pair);
         break;
       }
       case MessageType::ENCODED_STATE: {
         auto publisher = this->create_publisher<modulo_core::EncodedState>(topic_name, this->qos_);
         this->outputs_.at(parsed_signal_name) =
             std::make_shared<PublisherHandler<rclcpp::Publisher<modulo_core::EncodedState>, modulo_core::EncodedState>>(
-                PublisherType::PUBLISHER, publisher
-            )->create_publisher_interface(message_pair);
+                PublisherType::PUBLISHER, publisher)->create_publisher_interface(message_pair);
         break;
       }
     }