From 152fce79a3b4edc72c2b1216da82b610f659614e Mon Sep 17 00:00:00 2001
From: stelzo <stelzo@steado.de>
Date: Thu, 21 Mar 2024 11:45:34 +0100
Subject: [PATCH] ROS2 testing (#12)

* add humble tests

* simpler names

* fix linking problem with r2r v0.7

* tidy and badges

* cargo publish on release
---
 .github/workflows/crates.yml                  | 22 +++++++++
 ...2r_galactic_20.04.yml => r2r_galactic.yml} |  2 +-
 .github/workflows/r2r_humble.yml              | 17 +++++++
 .github/workflows/r2r_iron.yml                | 17 +++++++
 ...st_noetic_20.04.yml => rosrust_noetic.yml} |  2 +-
 .github/workflows/{ubuntu.yml => tests.yml}   |  2 +-
 Cargo.toml                                    |  6 +--
 README.md                                     | 45 +++++++++++--------
 tests/Dockerfile_r2r_galactic                 |  4 +-
 tests/Dockerfile_r2r_humble                   | 22 +++++++++
 tests/Dockerfile_r2r_iron                     | 22 +++++++++
 tests/r2r_msg_test.rs                         |  5 ++-
 tests/{r2r_20.04_test.bash => r2r_test.bash}  |  8 ++--
 13 files changed, 142 insertions(+), 32 deletions(-)
 create mode 100644 .github/workflows/crates.yml
 rename .github/workflows/{r2r_galactic_20.04.yml => r2r_galactic.yml} (93%)
 create mode 100644 .github/workflows/r2r_humble.yml
 create mode 100644 .github/workflows/r2r_iron.yml
 rename .github/workflows/{rosrust_noetic_20.04.yml => rosrust_noetic.yml} (99%)
 rename .github/workflows/{ubuntu.yml => tests.yml} (91%)
 create mode 100644 tests/Dockerfile_r2r_humble
 create mode 100644 tests/Dockerfile_r2r_iron
 rename tests/{r2r_20.04_test.bash => r2r_test.bash} (78%)

diff --git a/.github/workflows/crates.yml b/.github/workflows/crates.yml
new file mode 100644
index 0000000..0764c7b
--- /dev/null
+++ b/.github/workflows/crates.yml
@@ -0,0 +1,22 @@
+on:
+  release:
+    types: [created]
+
+jobs:
+  publish:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Setup Rust
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: stable
+          override: true
+
+      - name: Publish to crates.io
+        uses: actions-rs/cargo@v1
+        with:
+          command: publish
+          args: --token ${{ secrets.CRATES_IO_TOKEN }}
\ No newline at end of file
diff --git a/.github/workflows/r2r_galactic_20.04.yml b/.github/workflows/r2r_galactic.yml
similarity index 93%
rename from .github/workflows/r2r_galactic_20.04.yml
rename to .github/workflows/r2r_galactic.yml
index 2b904a7..99180aa 100644
--- a/.github/workflows/r2r_galactic_20.04.yml
+++ b/.github/workflows/r2r_galactic.yml
@@ -1,4 +1,4 @@
-name: galactic_r2r_test
+name: r2r_galactic
 
 on:
   push:
diff --git a/.github/workflows/r2r_humble.yml b/.github/workflows/r2r_humble.yml
new file mode 100644
index 0000000..2f8721d
--- /dev/null
+++ b/.github/workflows/r2r_humble.yml
@@ -0,0 +1,17 @@
+name: r2r_humble
+
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  tests_humble:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - run: docker build . --file ./tests/Dockerfile_r2r_humble --tag r2r_humble
+    - run: docker run r2r_humble cargo test --features r2r_msg
diff --git a/.github/workflows/r2r_iron.yml b/.github/workflows/r2r_iron.yml
new file mode 100644
index 0000000..a773884
--- /dev/null
+++ b/.github/workflows/r2r_iron.yml
@@ -0,0 +1,17 @@
+name: r2r_iron
+
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  tests_humble:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - run: docker build . --file ./tests/Dockerfile_r2r_iron --tag r2r_iron
+    - run: docker run r2r_iron cargo test --features r2r_msg
diff --git a/.github/workflows/rosrust_noetic_20.04.yml b/.github/workflows/rosrust_noetic.yml
similarity index 99%
rename from .github/workflows/rosrust_noetic_20.04.yml
rename to .github/workflows/rosrust_noetic.yml
index d8fce57..a5acf78 100644
--- a/.github/workflows/rosrust_noetic_20.04.yml
+++ b/.github/workflows/rosrust_noetic.yml
@@ -1,4 +1,4 @@
-name: Ubuntu 20.04 Noetic from rosrust
+name: rosrust_noetic
 
 on:
   push:
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/tests.yml
similarity index 91%
rename from .github/workflows/ubuntu.yml
rename to .github/workflows/tests.yml
index 8295460..8066730 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/tests.yml
@@ -1,4 +1,4 @@
-name: Pure latest Ubuntu without integrations
+name: Tests
 
 on:
   push:
diff --git a/Cargo.toml b/Cargo.toml
index 044627c..a97e861 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,12 +1,12 @@
 [package]
 name = "ros_pointcloud2"
-version = "0.3.1"
+version = "0.3.2"
 edition = "2021"
 authors = ["Christopher Sieh <stelzo@steado.de>"]
 description = "Customizable conversions for working with sensor_msgs/PointCloud2."
 repository = "https://github.com/stelzo/ros_pointcloud2"
 license = "MIT"
-keywords = ["ros", "rosrust", "pointcloud2", "pointcloud", "message",]
+keywords = ["ros", "pointcloud2", "pointcloud", "message"]
 categories = ["science::robotics", "encoding", "data-structures", "api-bindings"]
 readme = "README.md"
 documentation = "https://docs.rs/ros_pointcloud2"
@@ -19,7 +19,7 @@ num-traits = "0.2.15"
 fallible-iterator = "0.3.0"
 rosrust_msg = { version = "0.1", optional = true }
 rosrust = { version = "0.9.11", optional = true }
-r2r = { version = "0.8.0", optional = true }
+r2r = { version = "0.8.4", optional = true }
 
 [features]
 rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
diff --git a/README.md b/README.md
index 8ef4357..aba9a92 100644
--- a/README.md
+++ b/README.md
@@ -1,19 +1,21 @@
-# ROS PointCloud2
-
-Customizable conversions to and from the `sensor_msgs/PointCloud2` ROS message.
+<p align="center">
+  <h3 align="center">ROS PointCloud2</h3>
+  <p align="center">Customizable conversions to and from the PointCloud2 ROS message.</p>
+  <p align="center"><a href="https://crates.io/crates/ros_pointcloud2"><img src="https://img.shields.io/crates/v/ros_pointcloud2.svg" alt=""></a> <a href="https://github.com/stelzo/ros_pointcloud2/tree/main/tests"><img src="https://github.com/stelzo/ros_pointcloud2/actions/workflows/tests.yml/badge.svg" alt=""></a>
+  </p>
+</p>
 
 Providing a memory efficient way for message conversion while allowing user defined types without the cost of iterations.
+Instead of converting the entire cloud into a `Vec`, you get an iterable type that converts each point from the message on the fly.
 
-Instead of converting the entire cloud into a `Vec`, you get an `Iterator` that converts each point from the message on the fly.
-An example for using this crate is [this filter node](https://github.com/stelzo/cloudfilter). It is also a good starting point for
-implementing ROS1 nodes in Rust inside a catkin environment.
-
-To keep the crate a general purpose library for the problem and support ROS1 and ROS2, it uses its own type for the message.
+To keep the crate a general purpose library for the problem and support ROS1 and ROS2, it uses its own type for the message `ros_types::PointCloud2Msg`.
 ```rust
-use ros_pointcloud2::fallible_iterator::FallibleIterator;
-use ros_pointcloud2::pcl_utils::PointXYZ;
-use ros_pointcloud2::ros_types::PointCloud2Msg;
-use ros_pointcloud2::ConvertXYZ;
+use ros_pointcloud2::{
+    fallible_iterator::FallibleIterator,
+    pcl_utils::PointXYZ,
+    ros_types::PointCloud2Msg,
+    ConvertXYZ,
+};
 
 // Your points (here using the predefined type PointXYZ).
 let cloud_points = vec![
@@ -29,9 +31,9 @@ let cloud_points = vec![
   },
 ];
 
-let cloud_copy = cloud_points.clone(); // Only for checking equality later.
+let cloud_copy = cloud_points.clone(); // For checking equality later.
 
-// Vector -> Convert -> Message
+// Vector -> Converter -> Message
 let internal_msg: PointCloud2Msg = ConvertXYZ::try_from(cloud_points)
     .unwrap()
     .try_into()
@@ -43,13 +45,14 @@ let internal_msg: PointCloud2Msg = ConvertXYZ::try_from(cloud_points)
 // Back to this crate's message type.
 // let internal_msg: PointCloud2Msg = msg.into();
 
-// Message -> Convert -> Vector
+// Message -> Converter -> Vector
 let convert: ConvertXYZ = ConvertXYZ::try_from(internal_msg).unwrap();
 let new_cloud_points = convert
     .map(|point: PointXYZ| {
-      // Insert your point business logic here or use other methods like .for_each().
-      // I will just copy the points into a vector as an example.
-      // Also, since we are using a fallible iterator, we need to return a Result.
+      // Insert your point business logic here
+      // or use other methods like .for_each().
+      
+      // We are using a fallible iterator so we need to return a Result.
       Ok(point)
     })
     .collect::<Vec<PointXYZ>>()
@@ -81,9 +84,13 @@ impl From<YourROSPointCloud2> for PointCloud2Msg {
 
 ## Integrations
 
-There are currently 2 integrations for common ROS crates such as rosrust for ROS1 and R2R for ROS2 (Galactic).
+There are currently 2 integrations for common ROS crates such as rosrust for ROS1 and R2R for ROS2.
 - [rosrust_msg](https://github.com/adnanademovic/rosrust)
+  - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rosrust_noetic.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rosrust_noetic.yml)
 - [r2r_msg](https://github.com/sequenceplanner/r2r)
+  - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_galactic.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_galactic.yml)
+  - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_humble.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_humble.yml)
+  - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_iron.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_iron.yml)
 
 You can use them by enabling the corresponding feature. Example:
 ```toml
diff --git a/tests/Dockerfile_r2r_galactic b/tests/Dockerfile_r2r_galactic
index db2cd5c..4060918 100644
--- a/tests/Dockerfile_r2r_galactic
+++ b/tests/Dockerfile_r2r_galactic
@@ -18,5 +18,5 @@ RUN curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | bash -s -- -y
 RUN echo 'source $HOME/.cargo/env' >> $HOME/.bashrc
 
 COPY . /r2r
-RUN chmod +x /r2r/tests/r2r_20.04_test.bash
-ENTRYPOINT [ "/r2r/tests/r2r_20.04_test.bash" ]
+RUN chmod +x /r2r/tests/r2r_test.bash
+ENTRYPOINT [ "/r2r/tests/r2r_test.bash" ]
diff --git a/tests/Dockerfile_r2r_humble b/tests/Dockerfile_r2r_humble
new file mode 100644
index 0000000..db92067
--- /dev/null
+++ b/tests/Dockerfile_r2r_humble
@@ -0,0 +1,22 @@
+# syntax=docker/dockerfile:1
+FROM ros:humble
+
+# Update default packages
+RUN apt-get update
+
+# Get Ubuntu packages
+RUN apt-get install -y \
+    build-essential \
+    curl \
+    libclang-dev
+
+# Get ros test messages
+RUN apt-get install -y ros-humble-test-msgs ros-humble-example-interfaces
+
+# Get Rust
+RUN curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | bash -s -- -y
+RUN echo 'source $HOME/.cargo/env' >> $HOME/.bashrc
+
+COPY . /r2r
+RUN chmod +x /r2r/tests/r2r_test.bash
+ENTRYPOINT [ "/r2r/tests/r2r_test.bash" ]
diff --git a/tests/Dockerfile_r2r_iron b/tests/Dockerfile_r2r_iron
new file mode 100644
index 0000000..a89d8c5
--- /dev/null
+++ b/tests/Dockerfile_r2r_iron
@@ -0,0 +1,22 @@
+# syntax=docker/dockerfile:1
+FROM ros:iron
+
+# Update default packages
+RUN apt-get update
+
+# Get Ubuntu packages
+RUN apt-get install -y \
+    build-essential \
+    curl \
+    libclang-dev
+
+# Get ros test messages
+RUN apt-get install -y ros-iron-test-msgs ros-iron-example-interfaces
+
+# Get Rust
+RUN curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | bash -s -- -y
+RUN echo 'source $HOME/.cargo/env' >> $HOME/.bashrc
+
+COPY . /r2r
+RUN chmod +x /r2r/tests/r2r_test.bash
+ENTRYPOINT [ "/r2r/tests/r2r_test.bash" ]
diff --git a/tests/r2r_msg_test.rs b/tests/r2r_msg_test.rs
index 373bfa9..fb430ed 100644
--- a/tests/r2r_msg_test.rs
+++ b/tests/r2r_msg_test.rs
@@ -5,6 +5,7 @@ fn convertxyz_r2r_msg() {
     use ros_pointcloud2::pcl_utils::PointXYZ;
     use ros_pointcloud2::ros_types::PointCloud2Msg;
     use ros_pointcloud2::ConvertXYZ;
+    use r2r::sensor_msgs::msg::PointCloud2;
 
     let cloud = vec![
         PointXYZ {
@@ -25,8 +26,8 @@ fn convertxyz_r2r_msg() {
     ];
     let copy = cloud.clone();
     let internal_cloud: PointCloud2Msg = ConvertXYZ::try_from(cloud).unwrap().try_into().unwrap();
-    let rosrust_msg_cloud: r2r::sensor_msgs::msg::PointCloud2 = internal_cloud.into();
-    let convert_back_internal: PointCloud2Msg = rosrust_msg_cloud.into();
+    let r2r_msg_cloud: PointCloud2 = internal_cloud.into();
+    let convert_back_internal: PointCloud2Msg = r2r_msg_cloud.into();
     let to_convert: ConvertXYZ = ConvertXYZ::try_from(convert_back_internal).unwrap();
     let back_to_type = to_convert.map(|point| Ok(point)).collect::<Vec<PointXYZ>>();
     assert_eq!(copy, back_to_type.unwrap());
diff --git a/tests/r2r_20.04_test.bash b/tests/r2r_test.bash
similarity index 78%
rename from tests/r2r_20.04_test.bash
rename to tests/r2r_test.bash
index 6a3acd4..322fe92 100644
--- a/tests/r2r_20.04_test.bash
+++ b/tests/r2r_test.bash
@@ -5,15 +5,17 @@
 # run rustup to test with latest rust version
 rustup update
 
+if [ -e "/opt/ros/iron/setup.bash" ]; then
+    source "/opt/ros/iron/setup.bash"
+fi
+
 if [ -e "/opt/ros/humble/setup.bash" ]; then
     source "/opt/ros/humble/setup.bash"
 fi
+
 if [ -e "/opt/ros/galactic/setup.bash" ]; then
     source "/opt/ros/galactic/setup.bash"
 fi
-if [ -e "/opt/ros/foxy/setup.bash" ]; then
-    source "/opt/ros/foxy/setup.bash"
-fi
 
 cd /r2r/ || exit