Update for new pipeline (#8)

Author: Rockett8855

azure-pipelines.yml

@@ -12,63 +12,41 @@ jobs:
   variables:
     azure_tmpdir: $(Agent.TempDirectory)
     devtools: $(azure_tmpdir)/devtools
-    test_dir: mushr_rhc_ros/test
+    CatkinProjectDir: /catkin_ws/src/$(Build.Repository.Name)
 
-  container: prlmushr/mushr:xenial
+  container: prlmushr/mushr:bionic
 
   steps:
-  - script: git clone https://github.com/prl-mushr/devtools.git $(devtools)
+  - bash: git clone https://github.com/prl-mushr/devtools.git $(devtools)
     displayName: Get devtools
 
-  - bash: |
-      sudo apt-get update
-      wget https://repo.continuum.io/miniconda/Miniconda3-latest-Linux-x86_64.sh -O miniconda.sh
-      bash miniconda.sh -b -p $HOME/miniconda
-      echo "##vso[task.prependpath]$HOME/miniconda/bin"
-    displayName: 'Get conda and add to path'
-
-  - bash: |
-      conda config --set always_yes yes --set changeps1 no
-      conda update -q conda
-      conda env create --file $(devtools)/lint-env.yaml
-    displayName: Install dependencies and create Anaconda environment
-
-  - bash: |
-      set -e
-      source activate lint
-      source /opt/ros/"$ROS_DISTRO"/setup.bash
-
-      $(devtools)/bin/mushr_lint_flake8 .
+  - bash: /ros_entrypoint.sh $(devtools)/bin/mushr_lint_flake8 .
     displayName: flake8
     condition: succeededOrFailed()
 
-  - bash: |
-      set -e
-      source activate lint
-      source /opt/ros/"$ROS_DISTRO"/setup.bash
-
-      $(devtools)/bin/mushr_lint_isort . --check
+  - bash: /ros_entrypoint.sh $(devtools)/bin/mushr_lint_isort . --check
     displayName: isort
     condition: succeededOrFailed()
 
-  - bash: |
-      set -e
-      source activate lint
-      source /opt/ros/"$ROS_DISTRO"/setup.bash
-
-      $(devtools)/bin/mushr_lint_black . --check
+  - bash: /ros_entrypoint.sh $(devtools)/bin/mushr_lint_black . --check
     displayName: black
     condition: succeededOrFailed()
 
   - bash: |
-      source activate lint
-      source /opt/ros/"$ROS_DISTRO"/setup.bash
+      source /opt/ros/melodic/setup.bash
+
+      sudo chown -R $(whoami) /catkin_ws
 
-      sudo rosdep init
-      rosdep update
+      mkdir -p $(CatkinProjectDir)
+      cp -r * $(CatkinProjectDir)
 
-      # You can add any preamble here (install packages, load configuration, etc.) to setup testing
+      cd /catkin_ws
+      # build and source setup files
+      catkin_make
+      source devel/setup.bash
 
-      python -m nose2 -v --pretty-assert -s $(test_dir)
-    displayName: Run tests (nose2)
+      # test
+      cd $(CatkinProjectDir)
+      ./test.sh
+    displayName: Run tests
     condition: succeededOrFailed()

mushr_rhc_ros/CMakeLists.txt

@@ -22,7 +22,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## 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()
+catkin_python_setup()
 
 ################################################
 ## Declare ROS messages, services and actions ##

mushr_rhc_ros/setup.py

@@ -0,0 +1,12 @@
+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from distutils.core import setup
+
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    packages=["mushr_rhc_ros"], package_dir={"": "src"}
+)
+
+setup(install_requires=["numpy", "torch", "networkx", "scipy", "sklearn"], **setup_args)

mushr_rhc_ros/src/rhcnode.py

@@ -131,9 +131,7 @@ def setup_pub_sub(self):
         self.traj_chosen_pub = rospy.Publisher(traj_chosen_t, Marker, queue_size=10)
 
         # For the experiment framework, need indicators to listen on
-        self.expr_at_goal = rospy.Publisher(
-            "experiments/finished", Empty, queue_size=1
-        )
+        self.expr_at_goal = rospy.Publisher("experiments/finished", Empty, queue_size=1)
 
     def srv_reset_hard(self, msg):
         """

test.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+python2 -m unittest discover mushr_rhc_ros/test