State machines behaviour trees

.codacy.yml

@@ -0,0 +1,13 @@
+engines:
+  pylint:
+    enabled: true
+  flake8:
+    enabled: true
+    config: .flake8
+
+patterns:
+  pylint:
+    - pylint
+  flake8:
+    - flake8
+

.github/workflows/ci.yml

@@ -0,0 +1,49 @@
+name: CI
+
+on: [push, pull_request]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v3
+
+    - name: Set up Python 3.10
+      uses: actions/setup-python@v2
+      with:
+        python-version: 3.10
+
+    - name: Set up ROS 2 Humble
+      run: |
+        sudo apt update
+        sudo apt install -y curl gnupg2 lsb-release
+        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+        sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
+        sudo apt update
+        sudo apt install -y ros-humble-desktop
+        echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+        source ~/.bashrc
+
+    - name: Install ROS 2 dependencies
+      run: |
+        source /opt/ros/humble/setup.bash
+        sudo apt install -y ros-humble-executive-smach ros-humble-rclpy ros-humble-geometry-msgs ros-humble-std-msgs ros-humble-sensor-msgs
+
+    - name: Install Python dependencies
+      run: |
+        source /opt/ros/humble/setup.bash
+        python3 -m venv venv
+        source venv/bin/activate
+        python -m pip install --upgrade pip
+        pip install -r requirements.txt
+        pip install pyyaml  # Install pyyaml to handle YAML files
+        pip install lark-parser  # Install lark module for parsing
+        pip install numpy  # Install numpy for scientific computing
+
+    - name: Run tests
+      run: |
+        source /opt/ros/humble/setup.bash
+        source venv/bin/activate
+        pytest tests/

.github/workflows/codacy-analysis.yml

@@ -0,0 +1,33 @@
+name: Codacy Analysis
+
+on: [pull_request]
+
+jobs:
+  codacy-analysis:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v3
+
+    - name: Set up Python 3.10
+      uses: actions/setup-python@v4
+      with:
+        python-version: 3.10
+
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install -r requirements.txt
+
+    - name: Run tests and coverage
+      run: |
+        pip install codacy-coverage
+        coverage run -m pytest
+        coverage xml -o coverage.xml
+
+    - name: Upload coverage to Codacy
+      run: |
+        python-codacy-coverage -r coverage.xml
+      env:
+        CODACY_PROJECT_TOKEN: ${{ secrets.CODACY_PROJECT_TOKEN }}

README.md

@@ -1,2 +1,23 @@
-# ast_ss24
- repository for Advanced Software technologies, for summer semester 2024, HBRS
+# AST_SS24
+
+[![Codacy Badge](https://app.codacy.com/project/badge/Grade/456677987e644642b1ceac03558b15ee)](https://app.codacy.com?utm_source=gh&utm_medium=referral&utm_content=&utm_campaign=Badge_grade)
+[![CI](https://github.com/zaid3727/ast_ss24/actions/workflows/ci.yml/badge.svg)](https://github.com/zaid3727/ast_ss24/actions/workflows/ci.yml)
+
+## Overview
+
+AST_SS24 is a project designed to implement and test behavior trees and state machines in ROS 2 using Python. This repository includes unit tests to ensure the functionality and correctness of the implementation.
+
+## Table of Contents
+
+- [Setup](#setup)
+- [Continuous Integration](#continuous-integration)
+- [Code Quality](#code-quality)
+- [Running Tests](#running-tests)
+
+## Setup
+
+1. **Clone the Repository:**
+
+   ```sh
+   git clone https://github.com/zaid3727/ast_ss24.git
+   cd ast_ss24

requirements.txt

@@ -0,0 +1,9 @@
+pytest
+py_trees
+py_trees_ros (Commented out if not available)
+rclpy
+geometry_msgs
+std_msgs
+sensor_msgs
+smach
+

safety_robile/LICENSE

@@ -0,0 +1,202 @@
+
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safety_robile/package.xml

@@ -0,0 +1,18 @@
+<?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>safety_robile</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">jay</maintainer>
+  <license>Apache-2.0</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>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>