Merge pull request #5 from kavyadevd/phase_2

Phase 2 merge

CMakeLists.txt

@@ -1,12 +1,6 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(swarm_robots)
 
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   std_msgs
@@ -21,91 +15,6 @@ find_package(octomap REQUIRED)
 find_package(Eigen3 REQUIRED)
 
 
-## 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()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #   INCLUDE_DIRS include
 #  LIBRARIES swarm_robots
@@ -127,30 +36,7 @@ include_directories(
 
 )
 
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/swarm_robots.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-add_executable(${PROJECT_NAME}_node src/swarm_master.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_executable(${PROJECT_NAME}_node src/swarm_master.cpp src/arena.cpp)
 
 ## Specify libraries to link a library or executable target against
  target_link_libraries(${PROJECT_NAME}_node
@@ -211,3 +97,27 @@ add_executable(${PROJECT_NAME}_node src/swarm_master.cpp)
 
 ## Add folders to be run by python nosetests
 # catkin_add_nosetests(test)
+
+
+#############
+## Testing ##
+#############
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+
+  add_rostest_gtest(
+  TestSwarm
+  test/main.cpp
+  test/testswarm.cpp
+  )
+  target_link_libraries(
+  TestSwarm
+  ${catkin_LIBRARIES}
+  )
+  add_dependencies(
+  TestSwarm
+  ##${PROJECT_NAME}_swarm_test_cpp
+  ${catkin_EXPORTED_TARGETS}
+  )
+endif()

README.md

@@ -74,6 +74,69 @@ The project will be developed using industry-grade agile methodologies. The agil
 
 [AIP Spreadsheet](https://docs.google.com/spreadsheets/d/1eQ78AiMMgUXJpQEjbjUjjJoJ0I1oSbPfRSU09nT6VKE/edit?usp=sharing)
 
+### Installations
+
+It is assumed that the system has Ubuntu 18.04 and above with ROS Melodic/Noetic installed.
+If not, install Ubuntu from [here](https://ubuntu.com/download/desktop) and ROS from [here](http://wiki.ros.org/melodic/Installation/Ubuntu)
+
+#### First step is to install Jackal robot
+```bash
+sudo apt-get install ros-melodic-jackal-simulator ros-melodic-jackal-desktop
+cd ~
+mkdir -p swarm_robots/src
+cd swarm_robots/src && catkin_init_workspace
+git clone https://github.com/jackal/jackal.git
+git clone https://github.com/jackal/jackal_simulator.git
+git clone https://github.com/clearpathrobotics/LMS1xx.git
+git clone https://github.com/ros-drivers/pointgrey_camera_driver.git
+cd ..
+catkin_make
+```
+
+#### Clone git repository
+```bash
+cd swarm_robots/src
+git clone --recursive https://github.com/kavyadevd/swarm_robots.git
+```
+
+#### Execute program
+```bash
+catkin_make
+roslaunch swarm_robots main.launch
+```
+
+### Running ROS test/ Gtest
+
+To make the test files execute the following commands successively
+```bash
+catkin_make tests
+catkin_make test
+```
+
+Output will be similiar to :
+
+```bash
+... logging to /home/kavya/.ros/log/rostest-Matrix-27255.log
+[ROSUNIT] Outputting test results to /home/kavya/.ros/test_results/swarm_robots
+/rostest-test_testswarm.xml
+[ WARN] [1636828912.923804367]: Publisher message will be changed.
+[Testcase: testtestswarm] ... ok
+
+[ROSTEST]-----------------------------------------------------------------------
+
+[swarm_robots.rosunit-testswarm/TestArentsInit][passed]
+[swarm_robots.rosunit-testswarm/TestSwarmSize][passed]
+
+SUMMARY
+ * RESULT: SUCCESS
+ * TESTS: 2
+ * ERRORS: 0
+ * FAILURES: 0
+
+rostest log file is in /home/kavya/.ros/log/rostest-Matrix-27255.log
+
+```
+
 ## Licensing
 The project is licensed under the [3-Clause BSD License](https://opensource.org/licenses/BSD-3-Clause). Click [here](https://github.com/kavyadevd/swarm_robots/blob/main/LICENSE) to know more
 

Results/cppcheckoutput.txt

@@ -0,0 +1,44 @@
+Checking include/swarm_robots/agent.h ...
+1/22 files checked 10% done
+Checking include/swarm_robots/agent_node.h ...
+2/22 files checked 16% done
+Checking include/swarm_robots/arena.h ...
+3/22 files checked 25% done
+Checking include/swarm_robots/forward_kinematics.h ...
+4/22 files checked 32% done
+Checking include/swarm_robots/inverse_kinematics.h ...
+5/22 files checked 39% done
+Checking include/swarm_robots/obstacle.h ...
+6/22 files checked 39% done
+Checking include/swarm_robots/path_planner.h ...
+7/22 files checked 50% done
+Checking include/swarm_robots/safety_check.h ...
+8/22 files checked 58% done
+Checking include/swarm_robots/state.h ...
+9/22 files checked 62% done
+Checking include/swarm_robots/swarm_master.h ...
+10/22 files checked 66% done
+Checking src/agent.cpp ...
+11/22 files checked 70% done
+Checking src/arena.cpp ...
+12/22 files checked 74% done
+Checking src/forward_kinematics.cpp ...
+13/22 files checked 74% done
+Checking src/inverse_kinematics.cpp ...
+14/22 files checked 74% done
+Checking src/main.cpp ...
+15/22 files checked 75% done
+Checking src/obstacle.cpp ...
+16/22 files checked 75% done
+Checking src/path_planner.cpp ...
+17/22 files checked 85% done
+Checking src/safety_check.cpp ...
+18/22 files checked 85% done
+Checking src/state.cpp ...
+19/22 files checked 85% done
+Checking src/swarm_master.cpp ...
+20/22 files checked 88% done
+Checking test/main.cpp ...
+21/22 files checked 93% done
+Checking test/testswarm.cpp ...
+22/22 files checked 100% done

Results/cpplintoutput.txt

@@ -0,0 +1,13 @@
+Done processing ./src/agent.cpp
+Done processing ./src/arena.cpp
+Done processing ./src/forward_kinematics.cpp
+Done processing ./src/inverse_kinematics.cpp
+Done processing ./src/main.cpp
+Done processing ./src/obstacle.cpp
+Done processing ./src/path_planner.cpp
+Done processing ./src/safety_check.cpp
+Done processing ./src/state.cpp
+Done processing ./src/swarm_master.cpp
+Done processing ./test/main.cpp
+Done processing ./test/testswarm.cpp
+Total errors found: 15