Initial commit

Signed-off-by: Piotr Jaroszek <[email protected]>

kraken_nav/launch/config/bt.xml

@@ -0,0 +1,40 @@
+<!--
+  This Behavior Tree replans the global path periodically at 1 Hz and it also has
+  recovery actions specific to planning / control as well as general system issues.
+  This will be continuous if a kinematically valid planner is selected.
+-->
+<root main_tree_to_execute="MainTree">
+  <BehaviorTree ID="MainTree">
+    <RecoveryNode number_of_retries="6" name="NavigateRecovery">
+      <PipelineSequence name="NavigateWithReplanning">
+        <RateController hz="0.5">
+          <RecoveryNode number_of_retries="2" name="ComputePathToPose">
+            <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
+            <ReactiveFallback name="ComputePathToPoseRecoveryFallback">
+              <GoalUpdated/>
+              <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
+            </ReactiveFallback>
+          </RecoveryNode>
+        </RateController>
+        <RecoveryNode number_of_retries="3" name="FollowPath">
+          <FollowPath path="{path}" controller_id="FollowPath"/>
+          <ReactiveFallback name="FollowPathRecoveryFallback">
+            <GoalUpdated/>
+            <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
+          </ReactiveFallback>
+        </RecoveryNode>
+      </PipelineSequence>
+      <ReactiveFallback name="RecoveryFallback">
+        <GoalUpdated/>
+        <RoundRobin name="RecoveryActions">
+          <!-- <Sequence name="ClearingActions">
+            <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
+            <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
+          </Sequence> -->
+          <BackUp backup_dist="1.5" backup_speed="0.3"/>
+          <Wait wait_duration="2"/>
+        </RoundRobin>
+      </ReactiveFallback>
+    </RecoveryNode>
+  </BehaviorTree>
+</root>

kraken_nav/launch/config/navigation_params.yaml

@@ -0,0 +1,279 @@
+bt_navigator:
+  ros__parameters:
+    use_sim_time: True
+    default_nav_to_pose_bt_xml: "bt.xml"
+    global_frame: map
+    robot_base_frame: base_link
+    odom_topic: /odom
+    bt_loop_duration: 10
+    default_server_timeout: 20
+    enable_groot_monitoring: True
+    groot_zmq_publisher_port: 1666
+    groot_zmq_server_port: 1667
+    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
+    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
+    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
+    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
+    plugin_lib_names:
+    - nav2_compute_path_to_pose_action_bt_node
+    - nav2_compute_path_through_poses_action_bt_node
+    - nav2_follow_path_action_bt_node
+    - nav2_back_up_action_bt_node
+    - nav2_spin_action_bt_node
+    - nav2_wait_action_bt_node
+    - nav2_clear_costmap_service_bt_node
+    - nav2_is_stuck_condition_bt_node
+    - nav2_goal_reached_condition_bt_node
+    - nav2_goal_updated_condition_bt_node
+    - nav2_initial_pose_received_condition_bt_node
+    - nav2_reinitialize_global_localization_service_bt_node
+    - nav2_rate_controller_bt_node
+    - nav2_distance_controller_bt_node
+    - nav2_speed_controller_bt_node
+    - nav2_truncate_path_action_bt_node
+    - nav2_goal_updater_node_bt_node
+    - nav2_recovery_node_bt_node
+    - nav2_pipeline_sequence_bt_node
+    - nav2_round_robin_node_bt_node
+    - nav2_transform_available_condition_bt_node
+    - nav2_time_expired_condition_bt_node
+    - nav2_distance_traveled_condition_bt_node
+    - nav2_single_trigger_bt_node
+    - nav2_is_battery_low_condition_bt_node
+    - nav2_navigate_through_poses_action_bt_node
+    - nav2_navigate_to_pose_action_bt_node
+    - nav2_remove_passed_goals_action_bt_node
+    - nav2_planner_selector_bt_node
+    - nav2_controller_selector_bt_node
+    - nav2_goal_checker_selector_bt_node
+
+bt_navigator_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+controller_server:
+  ros__parameters:
+    controller_frequency: 10.0
+    min_x_velocity_threshold: 0.2
+    min_y_velocity_threshold: 0.5
+    min_theta_velocity_threshold: 0.001
+    progress_checker_plugin: "progress_checker"
+    goal_checker_plugins: ["goal_checker"]
+    controller_plugins: ["FollowPath"]
+
+    progress_checker:
+      plugin: "nav2_controller::SimpleProgressChecker"
+      required_movement_radius: 1.0
+      movement_time_allowance: 5.0
+    goal_checker:
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 1.0
+      yaw_goal_tolerance: 0.1
+      stateful: True
+    FollowPath:
+      plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
+      desired_linear_vel: 0.7
+      lookahead_dist: 1.0
+      min_lookahead_dist: 0.3
+      max_lookahead_dist: 2.0
+      lookahead_time: 3.5
+      rotate_to_heading_angular_vel: 0.2
+      transform_tolerance: 0.01
+      use_velocity_scaled_lookahead_dist: false
+      min_approach_linear_velocity: 0.05
+      use_approach_linear_velocity_scaling: true
+      approach_velocity_scaling_dist: 3.5
+      max_allowed_time_to_collision_up_to_carrot: 1.0
+      use_regulated_linear_velocity_scaling: true
+      use_cost_regulated_linear_velocity_scaling: true
+      regulated_linear_scaling_min_radius: 3.6
+      regulated_linear_scaling_min_speed: 0.20
+      use_rotate_to_heading: false
+      rotate_to_heading_min_angle: 0.785
+      max_angular_accel: 3.2
+      max_robot_pose_search_dist: 10.0
+      use_interpolation: false
+      cost_scaling_dist: 0.3
+      cost_scaling_gain: 1.0
+      inflation_cost_scaling_factor: 1.0
+      
+controller_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      width: 20
+      height: 20
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      global_frame: odom
+      robot_base_frame: base_link
+      use_sim_time: True
+      rolling_window: true
+      resolution: 0.1
+      plugins: ["obstacle_layer", "inflation_layer"]
+      footprint: "[ [2.5, 0.8], [2.5, -0.8], [-0.5, -0.8], [-0.5, 0.8] ]"
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 20.0
+        inflation_radius: 10.20
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: True
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 10.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 5.5
+          obstacle_min_range: 0.0
+      always_send_full_costmap: True
+  local_costmap_client:
+    ros__parameters:
+      use_sim_time: True
+  local_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: True
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      origin_x: -50.0
+      origin_y: -50.0
+      width: 100
+      height: 100
+      update_frequency: 2.0
+      publish_frequency: 2.0
+      global_frame: map
+      robot_base_frame: base_link
+      use_sim_time: True
+      footprint: "[ [2.5, 0.8], [2.5, -0.8], [-0.5, -0.8], [-0.5, 0.8] ]"
+      resolution: 0.2
+      rolling_window: true
+      track_unknown_space: true
+      plugins: ["obstacle_layer", "inflation_layer"]
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: True
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 4.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 20.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 15.0
+          obstacle_min_range: 0.0
+      inflation_layer:
+        enabled: True
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 0.8
+        inflation_radius: 15.0
+      always_send_full_costmap: True
+  global_costmap_client:
+    ros__parameters:
+      use_sim_time: True
+  global_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: True
+
+map_saver:
+  ros__parameters:
+    use_sim_time: True
+    save_map_timeout: 5.0
+    free_thresh_default: 0.25
+    occupied_thresh_default: 0.65
+    map_subscribe_transient_local: True
+
+planner_server:
+  ros__parameters:
+    expected_planner_frequency: 10.0
+    use_sim_time: True
+    planner_plugins: ["GridBased"]
+    GridBased:
+      plugin: "nav2_smac_planner/SmacPlannerHybrid"
+      tolerance: 10.0                      # tolerance for planning if unable to reach exact pose, in meters, for 2D node
+      downsample_costmap: false           # whether or not to downsample the map
+      downsampling_factor: 1              # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
+      allow_unknown: true                # allow traveling in unknown space
+      max_iterations: 1000000             # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
+      max_on_approach_iterations: 1000    # maximum number of iterations to attempt to reach goal once in tolerance, 2D only
+      max_planning_time: 3.5              # max time in s for planner to plan, smooth, and upsample. Will scale maximum smoothing and upsampling times based on remaining time after planning.
+      motion_model_for_search: "DUBIN"    # For Hybrid Dubin, Redds-Shepp
+      cost_travel_multiplier: 2.0         # For 2D: Cost multiplier to apply to search to steer away from high cost areas. Larger values will place in the center of aisles more exactly (if non-`FREE` cost potential field exists) but take slightly longer to compute. To optimize for speed, a value of 1.0 is reasonable. A reasonable tradeoff value is 2.0. A value of 0.0 effective disables steering away from obstacles and acts like a naive binary search A*.
+      angle_quantization_bins: 64         # For Hybrid nodes: Number of angle bins for search, must be 1 for 2D node (no angle search)
+      analytic_expansion_ratio: 3.5       # For Hybrid/Lattice nodes: The ratio to attempt analytic expansions during search for final approach.
+      analytic_expansion_max_length: 3.0    # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting (in meters). This should be scaled with minimum turning radius and be no less than 4-5x the minimum radius
+      minimum_turning_radius: 2.37        # For Hybrid/Lattice nodes: minimum turning radius in m of path / vehicle
+      reverse_penalty: 2.1                # For Reeds-Shepp model: penalty to apply if motion is reversing, must be => 1
+      change_penalty: 0.0                 # For Hybrid nodes: penalty to apply if motion is changing directions, must be >= 0
+      non_straight_penalty: 2.30          # For Hybrid nodes: penalty to apply if motion is non-straight, must be => 1
+      cost_penalty: 2.0                   # For Hybrid nodes: penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
+      retrospective_penalty: 0.025        # For Hybrid/Lattice nodes: penalty to prefer later maneuvers before earlier along the path. Saves search time since earlier nodes are not expanded until it is necessary. Must be >= 0.0 and <= 1.0
+      rotation_penalty: 5.0               # For Lattice node: Penalty to apply only to pure rotate in place commands when using minimum control sets containing rotate in place primitives. This should always be set sufficiently high to weight against this action unless strictly necessary for obstacle avoidance or there may be frequent discontinuities in the plan where it requests the robot to rotate in place to short-cut an otherwise smooth path for marginal path distance savings.
+      lookup_table_size: 20.0               # For Hybrid nodes: Size of the dubin/reeds-sheep distance window to cache, in meters.
+      cache_obstacle_heuristic: True      # For Hybrid nodes: Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.  
+      allow_reverse_expansion: True      # For Lattice nodes: Whether to expand state lattice graph in forward primitives or reverse as well, will double the branching factor at each step.   
+      smooth_path: True                   # For Lattice/Hybrid nodes: Whether or not to smooth the path, always true for 2D nodes.
+      smoother:
+        max_iterations: 1000
+        w_smooth: 0.3
+        w_data: 0.2
+        tolerance: 1e-10
+        do_refinement: true               # Whether to recursively run the smoother 3 times on the results from prior runs to refine the results further
+
+# planner_server:
+#   ros__parameters:
+#     planner_plugins: ['GridBased']
+#     GridBased:
+#       plugin: 'nav2_navfn_planner/NavfnPlanner'
+#       use_astar: True
+#       allow_unknown: True
+#       tolerance: 1.0
+
+planner_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+recoveries_server:
+  ros__parameters:
+    costmap_topic: local_costmap/costmap_raw
+    footprint_topic: local_costmap/published_footprint
+    cycle_frequency: 10.0
+    recovery_plugins: ["spin", "backup", "wait"]
+    spin:
+      plugin: "nav2_recoveries/Spin"
+    backup:
+      plugin: "nav2_recoveries/BackUp"
+    wait:
+      plugin: "nav2_recoveries/Wait"
+    global_frame: odom
+    robot_base_frame: base_link
+    transform_timeout: 0.1
+    use_sim_time: true
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 1.0
+    min_rotational_vel: 0.4
+    rotational_acc_lim: 3.2
+
+robot_state_publisher:
+  ros__parameters:
+    use_sim_time: True
+
+waypoint_follower:
+  ros__parameters:
+    loop_rate: 20
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "wait_at_waypoint"   
+    wait_at_waypoint:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 200

kraken_nav/launch/config/slam_params.yaml

@@ -0,0 +1,73 @@
+slam_toolbox:
+  ros__parameters:
+
+    # Plugin params
+    solver_plugin: solver_plugins::CeresSolver
+    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
+    ceres_preconditioner: SCHUR_JACOBI
+    ceres_trust_strategy: LEVENBERG_MARQUARDT
+    ceres_dogleg_type: TRADITIONAL_DOGLEG
+    ceres_loss_function: None
+
+    # ROS Parameters
+    odom_frame: odom
+    map_frame: map
+    base_frame: base_link
+    scan_topic: /scan
+    mode: mapping #localization
+
+    # if you'd like to immediately start continuing a map at a given pose
+    # or at the dock, but they are mutually exclusive, if pose is given
+    # will use pose
+    #map_file_name: test_steve
+    # map_start_pose: [0.0, 0.0, 0.0]
+    #map_start_at_dock: true
+
+    debug_logging: false
+    throttle_scans: 1
+    transform_publish_period: 0.02 #if 0 never publishes odometry
+    map_update_interval: 1.0
+    resolution: 0.1
+    max_laser_range: 100.0 #for rastering images
+    minimum_time_interval: 0.5
+    transform_timeout: 0.2
+    tf_buffer_duration: 30.
+    stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
+    enable_interactive_mode: true
+
+    # General Parameters
+    use_scan_matching: true
+    use_scan_barycenter: true
+    minimum_travel_distance: 0.5
+    minimum_travel_heading: 0.5
+    scan_buffer_size: 10
+    scan_buffer_maximum_scan_distance: 10.0
+    link_match_minimum_response_fine: 0.1  
+    link_scan_maximum_distance: 1.5
+    loop_search_maximum_distance: 3.0
+    do_loop_closing: true 
+    loop_match_minimum_chain_size: 10           
+    loop_match_maximum_variance_coarse: 3.0  
+    loop_match_minimum_response_coarse: 0.35    
+    loop_match_minimum_response_fine: 0.45
+
+    # Correlation Parameters - Correlation Parameters
+    correlation_search_space_dimension: 0.5
+    correlation_search_space_resolution: 0.01
+    correlation_search_space_smear_deviation: 0.1 
+
+    # Correlation Parameters - Loop Closure Parameters
+    loop_search_space_dimension: 8.0
+    loop_search_space_resolution: 0.05
+    loop_search_space_smear_deviation: 0.03
+
+    # Scan Matcher Parameters
+    distance_variance_penalty: 0.5      
+    angle_variance_penalty: 1.0    
+
+    fine_search_angle_offset: 0.00349     
+    coarse_search_angle_offset: 0.349   
+    coarse_angle_resolution: 0.0349        
+    minimum_angle_penalty: 0.9
+    minimum_distance_penalty: 0.5
+    use_response_expansion: true

kraken_nav/launch/navigation.launch.py

@@ -0,0 +1,40 @@
+import pathlib
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([str(pathlib.Path(__file__).parent.absolute().joinpath('slam.launch.py'))])
+        ),
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([str(pathlib.Path(get_package_share_directory("nav2_bringup")).joinpath('launch', 'navigation_launch.py'))]),
+            launch_arguments = {
+                'params_file': str(pathlib.Path(__file__).parent.absolute().joinpath('config', 'navigation_params.yaml'))
+            }.items()
+        ),
+        Node(
+            package='o3de_kraken_nav',
+            executable='twist_to_ackermann',
+            name='twist_to_ackermann',
+            output={
+                'stdout': 'log'
+            }
+        ),
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='slam',
+            output={
+                'stdout': 'log',
+            },
+            arguments=[
+                '-d', str(pathlib.Path(__file__).parent.absolute().joinpath('config', 'config.rviz')),
+            ]
+        ),
+    ])

kraken_nav/launch/slam.launch.py

@@ -0,0 +1,32 @@
+import pathlib
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([str(pathlib.Path(
+                get_package_share_directory('slam_toolbox')).joinpath('launch', 'online_async_launch.py'))]),
+            launch_arguments = {
+                'slam_params_file': str(pathlib.Path(__file__).parent.absolute().joinpath('config', 'slam_params.yaml'))
+            }.items()
+        ),
+        Node(
+            package='pointcloud_to_laserscan',
+            executable='pointcloud_to_laserscan_node',
+            name='pc_to_laserscan',
+            parameters=[{
+                'min_height': 0.2,
+                'max_height': 3.4,
+                'range_min': 0.1
+            }],
+            remappings=[
+                ('/cloud_in', '/pc'),
+            ]
+        )
+    ])

kraken_nav/o3de_kraken_nav/twist_to_ackermann.py

@@ -0,0 +1,44 @@
+#!/usr/bin/env python3
+
+import math
+from rclpy.node import Node
+import rclpy
+from geometry_msgs.msg import Twist
+from ackermann_msgs.msg import AckermannDrive
+
+class TwistToAckermann(Node):
+  def __init__(self):
+    super().__init__('twist_to_ackermann')
+    self.wheelbase_ = 2.0
+    self.sub_ = self.create_subscription(Twist, "cmd_vel", self.cmd_vel_cb, 10)
+    self.pub_ = self.create_publisher(AckermannDrive, 'ackermann_vel', 10)
+
+  def twist_to_ackermann(self, vel, omega):
+    if omega == 0 or vel == 0:
+      return 0
+
+    radius = vel/ omega
+    steering = math.atan(self.wheelbase_ / radius)
+    return float(steering)
+
+  def cmd_vel_cb(self, data):
+    vel = data.linear.x
+    steering = self.twist_to_ackermann(vel, data.angular.z)
+    # print(f"v: {vel} steering: {steering}")
+    
+    msg = AckermannDrive()
+    msg.steering_angle = float(steering)
+    msg.speed = vel
+    
+    self.pub_.publish(msg)
+
+def main(args=None): 
+  rclpy.init(args=args)
+  tta = TwistToAckermann()
+  rclpy.spin(tta)
+  
+  tta.destroy_node()
+  rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

kraken_nav/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>o3de_kraken_nav</name>
+  <version>1.0.0</version>
+  <description>Navigation package for Roscon apple kraken demo</description>
+  <maintainer email="[email protected]">Piotr Jaroszek</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <exec_depend>ros2launch</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

kraken_nav/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/o3de_kraken_nav
+[install]
+install_scripts=$base/lib/o3de_kraken_nav

kraken_nav/setup.py

@@ -0,0 +1,29 @@
+from setuptools import setup
+from glob import glob
+
+package_name = 'o3de_kraken_nav'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        ('share/' + package_name + "/launch/config", glob('launch/config/*.yaml')),
+        ('share/' + package_name + "/launch", glob('launch/*.launch.py')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Piotr Jaroszek',
+    maintainer_email='[email protected]',
+    description='Navigation package for Roscon apple kraken demo',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'twist_to_ackermann = o3de_kraken_nav.twist_to_ackermann:main'
+        ],
+    },
+)

kraken_nav/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
[email protected]
[email protected]
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

kraken_nav/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
[email protected]
[email protected]
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

kraken_nav/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
[email protected]
[email protected]
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'