Refactor project to be a normal ROS package (#33)

* Move to more typical ROS package structure to allow for inclusion in the build process of other packages

* Do not expect a test to fail any more, since ROS was fixed by now

* Update CI to new versions and adapt it to the new layout

* Fix CI

* Debug CI

* More CI debugging

* Fix Sphinx configuration

* Revert debugging attempts

* Cleanup and attempt using CI tools

* debug

* Try without ros-tooling/setup-ros

* Fix installation of packages

* Install dev tools

* Run `rosdep init`

* Update dependency installation

* Fix dependency installation

* Switch from black to ruff

* Try to fix target-ros2-distro argument passing

* Parameterize test

* Ignore CI artifacts in formatting/linting

* Try to repair ruff excludes

* Actually install dependencies

* Fix some paths

* Debug again

* Cleanup

* Link to contributors

* Apply formatting

* Fix tests cases broken after merge

* Slightly better signal handling in with_launch_file

* Remove foxy leftovers

* Cleanup

.devcontainer/devcontainer.json

@@ -4,19 +4,17 @@
     "dockerfile": "../Dockerfile",
     "context": ".."
   },
-  "settings": {
-    "terminal.integrated.defaultProfile.linux": "zsh"
-  },
   "customizations": {
     "vscode": {
       "extensions": [
         "ms-python.python",
         "redhat.vscode-yaml",
         "bungcip.better-toml",
         "trond-snekvik.simple-rst",
-        "GitHub.vscode-github-actions"
+        "GitHub.vscode-github-actions",
+        "ms-python.black-formatter"
       ]
     }
   },
-  "postStartCommand": "pip install -e '.[dev,doc]'"
+  "postStartCommand": "rosdep install --from-paths ros2_easy_test && colcon build --symlink-install && pip install -e './ros2_easy_test[dev,doc]'"
 }

.github/workflows/python-package.yaml

@@ -13,41 +13,52 @@ jobs:
     strategy:
       fail-fast: false  # Tests may behave very different across these systems
       matrix:
-        # We do not test on ros:foxy-ros-core, since it causes many problems in the CI pipeline
-        # TODO: add ros:iron-ros-core when it is available
+        # We test on all supported LTS versions and the latest rolling release
+        # TODO: Add `ros:jazzy-ros-core`
         container: ["ros:humble-ros-core", "ros:rolling-ros-core"]
     container: ${{ matrix.container }}
 
     defaults:
       run:
         shell: bash
     steps:
-      - 
+      -
         name: Checkout repository
         uses: actions/checkout@v3
       -
-        name: Install dependencies and the package
+        name: Install dependencies
         run: |
-          apt-get update -q && apt-get install -qy python3-pip python-is-python3 ros-$ROS_DISTRO-example-interfaces
-          pip install --upgrade pip setuptools
-          python -m pip install -e '.[dev]'
+          apt-get update -q
+          apt-get install -qy python3-pip python-is-python3 ros-dev-tools
+          rosdep init
+          # There seems to be no other way to install the PiPI dependencies:
+          export PIP_BREAK_SYSTEM_PACKAGES=1
+          pip install -e './ros2_easy_test[dev]'
+      - run: echo "ROS_DISTRO=$ROS_DISTRO" >> "$GITHUB_OUTPUT"
+        id: save_envs
+      -
+        uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          target-ros2-distro: ${{ steps.save_envs.outputs.ROS_DISTRO }}
+          package-name: ros2_easy_test
+          skip-tests: true
       -
-        name: Format (with black)
+        name: Format (with ruff)
         run: |
-          black --check .
+          ruff format --check
       -
         name: Lint (with ruff)
         run: |
-          ruff check .
+          ruff check
       -
         name: Type check main code (with mypy)
         run: |
-          mypy ros2_easy_test
+          mypy ros2_easy_test/ros2_easy_test
       -
         name: Type check tests (with mypy)
         continue-on-error: true  # We do not want to fail the build if the type checker fails on the tests
         run: |
-          mypy tests
+          mypy ros2_easy_test/tests
       -
         name: Testing (with pytest)
         run: |

.github/workflows/python-release.yaml

@@ -22,7 +22,7 @@ jobs:
       - name: Create GitHub Release
         uses: softprops/action-gh-release@v1
         with:
-          release_name: Release ${{ github.ref }}
+          name: Release ${{ github.ref }}
           draft: false
           prerelease: false
 
@@ -32,19 +32,19 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - name: Checkout repository
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
     - name: Set up Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: '3.x'  # The latest stable version of CPython 3
     - name: Install dependencies
       run: |
         python -m pip install --upgrade pip
         pip install build
     - name: Build package
-      run: python -m build
+      run: python -m build ros2_easy_test
     - name: Publish package
-      uses: pypa/gh-action-pypi-publish@0bf742be3ebe032c25dd15117957dc15d0cfc38d  # Version v1.8.5
+      uses: pypa/gh-action-pypi-publish@81e9d935c883d0b210363ab89cf05f3894778450  # Version v1.8.14
       with:
         user: __token__
         password: ${{ secrets.PYPI_API_TOKEN }}

.gitignore

@@ -129,3 +129,63 @@ dmypy.json
 .pyre/
 
 .ruff_cache
+
+devel/
+logs/
+build/
+bin/
+lib/
+install/
+log/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
+
+############ CUSTOM ############
+
+# Gets created in the CI pipeline, but we don't want ruff to look at it
+ros_ws/build
+ros_ws/install

.readthedocs.yaml

@@ -10,7 +10,7 @@ build:
 python:
   install:
     - method: pip
-      path: .
+      path: ros2_easy_test
       extra_requirements:
         - doc
 

Dockerfile

@@ -8,7 +8,8 @@
 FROM ros:humble-ros-core
 
 # Install runtime dependencies
-RUN apt-get update -q && apt-get install -qy python3-pip python-is-python3 git zsh ros-$ROS_DISTRO-example-interfaces
+RUN apt-get update -q && apt-get install -qy python3-pip python-is-python3 git ros-dev-tools
+RUN rosdep init && rosdep update
 
 # Need to have setuptools version 64+ for editable installs
 RUN pip install --upgrade pip setuptools

README.md

@@ -7,8 +7,7 @@
 
 [![CI status](https://github.com/felixdivo/ros2-easy-test/actions/workflows/python-package.yaml/badge.svg)](https://github.com/felixdivo/ros2-easy-test/actions/workflows/python-package.yaml)
 [![documentation status](https://readthedocs.org/projects/ros2-easy-test/badge/)](https://ros2-easy-test.readthedocs.io/en/latest/)
-[![code style](https://img.shields.io/badge/code%20style-black-black)](https://github.com/psf/black)
-[![linter](https://img.shields.io/badge/linter-ruff-black)](https://github.com/charliermarsh/ruff)
+[![Ruff](https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json)](https://github.com/astral-sh/ruff)
 [![static type checker](https://img.shields.io/badge/static%20typing-mypy-black)](https://mypy-lang.org/)
 
 A Python test framework for [ROS2](https://ros.org/) allowing for:
@@ -115,7 +114,10 @@ See [the documentation on that](https://ros2-easy-test.readthedocs.io/en/latest/
 
 ## Contributing
 
-You can install the development dependencies with `pip install -e ".[dev]"`. After this, you will have access to the configured formatters `black .` and `ruff check .`.
+Basic installation is easiest with the porvided `Dockerfile`.
+For the last piece of setup, either open it in the provided [Devcontainer](https://code.visualstudio.com/docs/remote/containers) or maunally run `rosdep install --from-paths ros2_easy_test && colcon build --symlink-install && pip install -e './ros2_easy_test[dev]` afterward.
+
+After this, you will have access to the configured formatter (`ruff format`) and linter (`ruff check`).
 
 You can run the test with simply `pytest`. Coverage reports and timings will be printed on the command line, and a fresh line-by-line coverage report is in `htmlcov/index.html`.
 
@@ -143,4 +145,4 @@ See [Releases](https://github.com/felixdivo/ros2-easy-test/releases).
 See [LICENSE](LICENSE).
 
 Initially developed by [Felix Divo](https://github.com/felixdivo) at [*Sailing Team Darmstadt e. V.*](https://www.st-darmstadt.de/), a student group devoted to robotic sailing based in Darmstadt, Germany.
-Thanks to [Simon Kohaut](https://github.com/simon-kohaut) for his kind and nuanced feedback.
+Thanks to [Simon Kohaut](https://github.com/simon-kohaut) for his kind and nuanced feedback, and all [the other awesome contributors](https://github.com/felixdivo/ros2-easy-test/graphs/contributors) for their help and support!

doc/source/conf.py

@@ -14,7 +14,7 @@
 project = "ROS2 easy-test"
 
 # From: https://stackoverflow.com/a/5872024/3753684
-with open(Path(__file__).parents[2] / "ros2_easy_test" / "__init__.py") as init:
+with open(Path(__file__).parents[2] / "ros2_easy_test" / "ros2_easy_test" / "__init__.py") as init:
     metadata = dict(re.findall('''__([a-z]+)__ = "([^"]+)"''', init.read()))
 
 copyright = f"2021, {metadata['author']}"

pyproject.toml

@@ -1,77 +1,25 @@
-[build-system]
-requires = ["setuptools", "setuptools-scm"]
-build-backend = "setuptools.build_meta"
-
-[project]
-dynamic = ["version"]
-name = "ros2_easy_test"
-authors = [
-  { name = "Felix Divo", email = "felix.divo@sailingteam.tu-darmstadt.de" },
-]
-description = "A Python test framework for ROS2 allowing simple and expressive assertions based on message interactions."
-readme = "README.md"
-requires-python = ">=3.8"
-classifiers = [
-  "Programming Language :: Python :: 3",
-  "Operating System :: OS Independent",
-  "Natural Language :: English",
-  "License :: OSI Approved :: MIT License",
-  "Intended Audience :: Developers",
-  "Framework :: Robot Framework :: Library",
-  "Topic :: Software Development :: Testing",
-  "Topic :: Software Development :: Testing :: BDD",
-  "Typing :: Typed",
-]
-urls = { Homepage = "https://github.com/felixdivo/ros2-easy-test" }
-dependencies = [
-  "makefun>=1.15.2"
-]
-# The package is discovered automatically (including the py.typed file):
-# https://setuptools.pypa.io/en/latest/userguide/package_discovery.html#flat-layout
-
-[project.optional-dependencies]
-dev = [
-  "black~=24.2",
-  "ruff",
-  "mypy",
-  "pytest",
-  "pytest-cov",
-  "pytest-sugar",
-  "hypothesis",  # To demonstrate how it works with this
-]
-doc = [
-  "sphinx",
-  "sphinx_rtd_theme",
-]
-
-[tool.setuptools.dynamic]
-version = { attr = "ros2_easy_test.__version__" }
-
 [tool.pytest.ini_options]
 # We want errors to fail loudly to not miss any exceptions in the background
 # The latter part shows the duration of the slowest tests
 # -v prints the test case names to see deadlocks
 addopts = "-Werror --color=yes --cov=ros2_easy_test --doctest-modules --cov-report html --durations=0 --durations-min=3.0 -v"
 testpaths = [
-    "ros2_easy_test",  # for the doctests
-    "tests",  # for the actual tests
+    "ros2_easy_test/ros2_easy_test",  # for the doctests
+    "ros2_easy_test/tests",  # for the actual tests
 ]
 
-[tool.black]
-line-length = 110
-
-[tool.isort]
-profile = "black"
-
 [tool.ruff]
-# Same as Black
 line-length = 110
 # The lowest supported version
 target-version = "py38"
+exclude = ["ros_ws/**"]  # Gets created by the CI pipeline
 
 [tool.ruff.lint]
 select = ["E", "F", "W", "I", "N", "UP"]
 
+[tool.ruff.format]
+docstring-code-format = true
+
 [tool.mypy]
 warn_return_any = true
 warn_unused_configs = true

ros2_easy_test/package.xml

@@ -0,0 +1,16 @@
+<?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>ros2_easy_test</name>
+  <version>0.3.0</version>
+  <description>A Python test framework for ROS2 allowing simple and expressive assertions based on message interactions.</description>
+  <maintainer email="felix.divo@sailingteam.tu-darmstadt.de">Felix Divo</maintainer>
+  <license>MIT</license>
+
+  <test_depend>python3-pytest</test_depend>
+  <test_depend>example_interfaces</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros2_easy_test/__init__.py → ros2_easy_test/ros2_easy_test/__init__.py

@@ -4,7 +4,7 @@
 """
 
 __author__ = "Felix Divo <felix.divo@sailingteam.tu-darmstadt.de>"
-__version__ = "0.2.0.post1"
+__version__ = "0.3.0"
 
 from .decorators import with_launch_file, with_single_node
 from .env import ROS2TestEnvironment