Rebase from 'debian/noetic/opencv_apps'

Author: k-okada

.clang-format

@@ -1,66 +1,77 @@
 ---
 BasedOnStyle:  Google
+ColumnLimit:    120
+MaxEmptyLinesToKeep: 1
+SortIncludes: false
+
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
 AccessModifierOffset: -2
 ConstructorInitializerIndentWidth: 2
+NamespaceIndentation: None
+ContinuationIndentWidth: 4
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+
 AlignEscapedNewlinesLeft: false
 AlignTrailingComments: true
+
 AllowAllParametersOfDeclarationOnNextLine: false
+ExperimentalAutoDetectBinPacking: false
+ObjCSpaceBeforeProtocolList: true
+Cpp11BracedListStyle: false
+
+AllowShortBlocksOnASingleLine: true
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
-AllowShortLoopsOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+
 AlwaysBreakTemplateDeclarations: true
 AlwaysBreakBeforeMultilineStrings: false
 BreakBeforeBinaryOperators: false
 BreakBeforeTernaryOperators: false
 BreakConstructorInitializersBeforeComma: true
+
 BinPackParameters: true
-ColumnLimit:    120
 ConstructorInitializerAllOnOneLineOrOnePerLine: true
 DerivePointerBinding: false
 PointerBindsToType: true
-ExperimentalAutoDetectBinPacking: false
-IndentCaseLabels: true
-MaxEmptyLinesToKeep: 1
-NamespaceIndentation: None
-ObjCSpaceBeforeProtocolList: true
-PenaltyBreakBeforeFirstCallParameter: 19
-PenaltyBreakComment: 60
+
+PenaltyExcessCharacter: 50
+PenaltyBreakBeforeFirstCallParameter: 30
+PenaltyBreakComment: 1000
+PenaltyBreakFirstLessLess: 10
 PenaltyBreakString: 100
-PenaltyBreakFirstLessLess: 1000
-PenaltyExcessCharacter: 1000
-PenaltyReturnTypeOnItsOwnLine: 70
+PenaltyReturnTypeOnItsOwnLine: 50
+
 SpacesBeforeTrailingComments: 2
-Cpp11BracedListStyle: false
-Standard:        Auto
-IndentWidth:     2
-TabWidth:        2
-UseTab:          Never
-IndentFunctionDeclarationAfterType: false
 SpacesInParentheses: false
 SpacesInAngles:  false
 SpaceInEmptyParentheses: false
 SpacesInCStyleCastParentheses: false
+SpaceAfterCStyleCast: false
 SpaceAfterControlStatementKeyword: true
 SpaceBeforeAssignmentOperators: true
-ContinuationIndentWidth: 4
-SortIncludes: false
-SpaceAfterCStyleCast: false
+
+ReflowComments: false
 
 # Configure each individual brace in BraceWrapping
 BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
-BraceWrapping: {
-    AfterClass: 'true'
-    AfterControlStatement: 'true'
-    AfterEnum : 'true'
-    AfterFunction : 'true'
-    AfterNamespace : 'true'
-    AfterStruct : 'true'
-    AfterUnion : 'true'
-    BeforeCatch : 'true'
-    BeforeElse : 'true'
-    IndentBraces : 'false'
-}
+BraceWrapping:
+    AfterCaseLabel: true
+    AfterClass: true
+    AfterControlStatement: true
+    AfterEnum: true
+    AfterFunction: true
+    AfterNamespace: true
+    AfterStruct: true
+    AfterUnion: true
+    BeforeCatch: true
+    BeforeElse: true
+    IndentBraces: false
 ...

.github/workflows/ci.yml

@@ -0,0 +1,83 @@
+on: [push, pull_request]
+
+jobs:
+  ci:
+    runs-on: ubuntu-latest
+    name: ci
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - CHECK_PYTHON3_COMPILE : true
+          - TEST : catkin_lint
+            DOCKER_IMAGE : ubuntu:focal
+          - TEST : clang-format
+          - TEST : clang-tidy
+            ROS_DISTRO : melodic
+            DOCKER_IMAGE : ubuntu:bionic
+          - ROS_DISTRO : hydro
+            DOCKER_IMAGE : ubuntu:precise
+          - OPENCV_VERSION : 2
+            ROS_DISTRO : indigo
+            DOCKER_IMAGE : ubuntu:trusty
+          - OPENCV_VERSION : 3
+            ROS_DISTRO : indigo
+            DOCKER_IMAGE : ubuntu:trusty
+          - ROS_DISTRO : kinetic
+            DOCKER_IMAGE : ubuntu:xenial
+          - ROS_DISTRO : melodic
+            DOCKER_IMAGE : ubuntu:bionic
+          - ROS_DISTRO : noetic
+            DOCKER_IMAGE : ubuntu:focal
+          - ROS_DISTRO : one
+            DOCKER_IMAGE : ubuntu:jammy
+          - ROS_DISTRO : one
+            DOCKER_IMAGE : ubuntu:noble
+          - TEST : debian-unstable
+            DOCKER_IMAGE : debian:unstable
+    steps:
+      - name: Setup OS
+        run: |
+          sudo apt-get update -y
+          sudo apt-get upgrade -y
+      - name: Setup Git
+        run: |
+          sudo apt-get install -y git
+      - name: Chcekout
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+          submodules: recursive
+      # python3_check
+      - name: python3_check
+        if: matrix.CHECK_PYTHON3_COMPILE  == true
+        run: python3 -m compileall .
+      # catkin_lint
+      - name: catkin_lint setup
+        if: matrix.TEST == 'catkin_lint' && matrix.DOCKER_IMAGE == ''
+        run: |
+          sudo apt-get install -y -q python3-pip
+          # See https://github.com/ros-perception/opencv_apps/pull/143
+          # In catkin_lint > 1.6.18, cmake_minimum_required >= 2.8.12
+          sudo pip3 install catkin_lint==1.6.18 rosdep
+          sudo rosdep init
+          rosdep update
+      - name: catkin_lint test
+        if: matrix.TEST == 'catkin_lint' && matrix.DOCKER_IMAGE == ''
+        run: |
+          ROS_DISTRO=melodic catkin_lint --resolve-env --strict $PWD
+      # clang-format
+      - name: clang-format setup
+        if: matrix.TEST == 'clang-format'
+        run: |
+          sudo apt-get install -y -q clang-format git
+      - name: clang-format test
+        if: matrix.TEST == 'clang-format'
+        run: |
+          find $PWD -name '*.h' -or -name '*.hpp' -or -name '*.cpp' | xargs clang-format -i -style=file
+          git -C $PWD --no-pager diff
+          git -C $PWD diff-index --quiet HEAD -- .
+      - name: script
+        if: matrix.DOCKER_IMAGE
+        run: |
+          docker run --rm -i -v $PWD:$PWD -e "CI_SOURCE_PATH=$PWD" -e "HOME=$HOME" -e "ROS_DISTRO=${{ matrix.ROS_DISTRO }}" -e "OPENCV_VERSION=${{ matrix.OPENCV_VERSION }}" -e "TEST=${{ matrix.TEST }}" -e "DOCKER_IMAGE=${{ matrix.DOCKER_IMAGE }}" ${{ matrix.DOCKER_IMAGE }} sh -c "cd $PWD; /bin/bash .travis.sh"

.travis.sh

@@ -26,7 +26,18 @@ function setup {
     travis_time_start setup.before_install
     #before_install:
     # Install ROS
-    sudo sh -c "echo \"deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main\" > /etc/apt/sources.list.d/ros-latest.list"
+    if [[ "$ROS_DISTRO" ==  "one" ]]; then
+        UBUNTU_DISTRO=$(echo "$DOCKER_IMAGE" | cut -d':' -f2)
+        echo "deb [trusted=yes] https://raw.githubusercontent.com/k-okada/ros-o-builder/$UBUNTU_DISTRO-one-unstable/repository/ ./" | sudo tee /etc/apt/sources.list.d/ros-o-builder.list
+        DEBIAN_FRONTEND=noninteractive TZ=Etc/UTC sudo -E apt install -y software-properties-common
+        [[ "$UBUNTU_DISTRO" ==  "noble" ]] && sudo -E add-apt-repository -y ppa:v-launchpad-jochen-sprickerhof-de/ros
+        [[ "$UBUNTU_DISTRO" ==  "jammy" ]] && sudo -E add-apt-repository -y ppa:k-okada/python3-catkin-tools
+        DEBIAN_FRONTEND=noninteractive TZ=Etc/UTC sudo -E apt install -y python3-rosdep2
+        echo "yaml https://raw.githubusercontent.com/k-okada/ros-o-builder/$UBUNTU_DISTRO-one-unstable/repository/local.yaml debian" | sudo tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
+rosdep update
+    else
+        sudo sh -c "echo \"deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main\" > /etc/apt/sources.list.d/ros-latest.list"
+    fi
     wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
     # Setup EoL repository
     if [[ "$ROS_DISTRO" ==  "hydro" || "$ROS_DISTRO" ==  "jade" || "$ROS_DISTRO" ==  "lunar" ]]; then
@@ -41,15 +52,42 @@ function setup {
     fi
     ###
     # Install ROS
-    if [[ "$ROS_DISTRO" ==  "noetic" ]]; then
+    if [[ "$ROS_DISTRO" ==  "one" ]]; then
+        if [[ "$UBUNTU_DISTRO" == "jammy" ]]; then
+            sudo apt-get install -y -q python3-catkin-pkg python3-wstool python3-rosinstall-generator python3-osrf-pycommon
+            sudo apt-get install -y -q python3-catkin-tools
+        else
+            sudo apt-get install -y -q python3-pip python3-zombie-imp
+            pip3 install --user --break-system-packages vcstool
+            pip3 install --user --break-system-packages rosinstall-generator
+            export PATH="$PATH:~/.local/bin"
+            sudo apt-get install -y -q python3-catkin-pkg python3-osrf-pycommon
+            sudo apt-get install -y -q catkin-tools
+        fi
+    elif [[ "$ROS_DISTRO" ==  "noetic" ]]; then
         sudo apt-get install -y -q python3-catkin-pkg python3-catkin-tools python3-rosdep python3-wstool python3-rosinstall-generator python3-osrf-pycommon
     else
         sudo apt-get install -y -q python-catkin-pkg python-catkin-tools python-rosdep python-wstool python-rosinstall-generator
     fi
-    sudo apt-get install -y -q ros-$ROS_DISTRO-catkin
+    if [[ "$ROS_DISTRO" ==  "one" ]]; then
+        sudo apt-get install -y -q catkin
+        sudo apt-get install -y -q ros-$ROS_DISTRO-rosbash ros-$ROS_DISTRO-ros-environment
+    else
+        sudo apt-get install -y -q ros-$ROS_DISTRO-catkin
+    fi
+    export ROS_DISTRO=$_ROS_DISTRO
     source /opt/ros/$ROS_DISTRO/setup.bash
     # Setup for rosdep
-    sudo rosdep init
+    [ -e /etc/ros/rosdep/sources.list.d ] || sudo rosdep init
+    # use snapshot of rosdep list
+    # https://github.com/ros/rosdistro/pull/31570#issuecomment-1000497517
+    if [[ "$ROS_DISTRO" =~ "hydro"|"indigo"|"jade"|"kinetic"|"lunar" ]]; then
+        sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
+        sudo wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_travis/refs/heads/master/rosdep_snapshots/30-xenial.list -O /etc/ros/rosdep/sources.list.d/30-xenial.list
+    elif [[ "$ROS_DISTRO" =~ "melodic" ]]; then
+        sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
+        sudo wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_travis/refs/heads/master/rosdep_snapshots/30-bionic.list -O /etc/ros/rosdep/sources.list.d/30-bionic.list
+    fi
     rosdep update --include-eol-distros
     travis_time_end
 
@@ -69,14 +107,17 @@ function setup {
     #before_script:
     # source dependencies: install using wstool.
     cd ~/catkin_ws/src
-    wstool init
+    wstool init || echo "OK"
     #if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
     if [ "$OPENCV_VERSION" == 3 ]; then rosinstall_generator image_pipeline --upstream >> .rosinstall.opencv3; fi # need to recompile image_proc
     if [ "$OPENCV_VERSION" == 3 ]; then rosinstall_generator compressed_image_transport --upstream >> .rosinstall.opencv3; fi # need to recompile compressed_image_transport
     if [ "$OPENCV_VERSION" == 3 ]; then rosinstall_generator vision_opencv --upstream >> .rosinstall.opencv3; fi # need to recompile visoin_opencv
-    if [ "$OPENCV_VERSION" == 3 ]; then wstool merge .rosinstall.opencv3; fi # need to recompile visoin_opencv
-    wstool up
-    wstool info
+    if [ "$ROS_DISTRO" == "indigo" ]; then ROS_DISTRO=kinetic rosinstall_generator roslaunch >> .rosinstall.opencv3; fi # face_detection.launch requires roslaunch-check >= 1.12.1
+    if [[ "$OPENCV_VERSION" == 3 || "$ROS_DISTRO" == "indigo" ]]; then wstool merge .rosinstall.opencv3 || [ ! -s .rosinstall.opencv3 ] || vcs import . < .rosinstall.opencv3 ; fi # need to recompile visoin_opencv
+    git config --global --add safe.directory $CI_SOURCE_PATH
+    git config --global --add safe.directory ~/catkin_ws/src || echo "OK"
+    wstool up || vcs pull
+    wstool info || vcs branch
     if [ "$OPENCV_VERSION" == 3 ]; then  sed -i 's@libopencv-dev@opencv3@' */*/package.xml ; fi
 
 
@@ -87,6 +128,7 @@ function setup {
 }
 
 function build {
+    export ROS_DISTRO=$_ROS_DISTRO
     travis_time_start build.script
     source /opt/ros/$ROS_DISTRO/setup.bash
     cd ~/catkin_ws
@@ -95,15 +137,17 @@ function build {
 }
 
 function run_test {
+    export ROS_DISTRO=$_ROS_DISTRO
     travis_time_start run_test.script
     source /opt/ros/$ROS_DISTRO/setup.bash
     cd ~/catkin_ws
-    catkin run_tests -p1 -j1 --no-status opencv_apps --no-deps
+    catkin run_tests -p1 -j1 --no-status -i opencv_apps --no-deps
     catkin_test_results --verbose build || catkin_test_results --all build
     travis_time_end
 }
 
 function build_install {
+    export ROS_DISTRO=$_ROS_DISTRO
     travis_time_start build_install.script
     source /opt/ros/$ROS_DISTRO/setup.bash
     cd ~/catkin_ws
@@ -113,28 +157,34 @@ function build_install {
     travis_time_end
 }
 
+# setup.bash override ROS_DISTRO...
+export _ROS_DISTRO=$ROS_DISTRO
+
 travis_time_start apt.before_install
-apt-get update -qq && apt-get install -y -q wget sudo lsb-release gnupg # for docker
+apt-get -y -qq update || if [ $? -eq 100 ]; then sed -i 's/archive.ubuntu.com/old-releases.ubuntu.com/g' /etc/apt/sources.list; apt-get -y -qq update; fi
+apt-get install -y -q wget sudo lsb-release gnupg ca-certificates git # for docker
 # set DEBIAN_FRONTEND=noninteractive
 echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections
 travis_time_end
 
 if [ "$TEST" == "catkin_lint" ]; then
 
     travis_time_start catkin_lint.script
-    apt-get install -y -q python-pip
-    pip install catkin_lint rosdep
+    apt-get install -y -q python3-pip
+    # See https://github.com/ros-perception/opencv_apps/pull/143
+    # In catkin_lint > 1.6.18, cmake_minimum_required >= 2.8.12
+    sudo pip3 install catkin_lint==1.6.18 rosdep
     rosdep init
-    rosdep update
+    rosdep update --include-eol-distros
     travis_time_end
     ROS_DISTRO=melodic catkin_lint --resolve-env --strict $CI_SOURCE_PATH
 
 
 elif [ "$TEST" == "clang-format" ]; then
 
     travis_time_start clang_format.script
-    apt-get install -y -q clang-format-3.9 git
-    find $CI_SOURCE_PATH -name '*.h' -or -name '*.hpp' -or -name '*.cpp' | xargs clang-format-3.9 -i -style=file
+    apt-get install -y -q clang-format git
+    find $CI_SOURCE_PATH -name '*.h' -or -name '*.hpp' -or -name '*.cpp' | xargs clang-format -i -style=file
     travis_time_end
     git -C $CI_SOURCE_PATH --no-pager diff
     git -C $CI_SOURCE_PATH diff-index --quiet HEAD -- .
@@ -156,9 +206,32 @@ elif [ "$TEST" == "clang-tidy" ]; then
 	    run-clang-tidy -fix -p $(dirname $file)
     done
     travis_time_end
+    sudo chown -R $(whoami) $CI_SOURCE_PATH
     git -C $CI_SOURCE_PATH --no-pager diff
     git -C $CI_SOURCE_PATH diff-index --quiet HEAD -- .
 
+elif [ "$TEST" == "debian-unstable" ]; then
+
+    sed -i 's/Types: deb/Types: deb deb-src/' /etc/apt/sources.list.d/debian.sources
+    apt update
+    apt-get -y build-dep ros-opencv-apps
+
+    # rebuild cv-bridge to fix '/usr/bin/ld: cannot find -lopencv_barcode: No such file or directory'
+    travis_time_start rebuild_cv_bridge_deb.script
+    apt source ros-vision-opencv
+    apt-get -y build-dep $(find -type d -iname "ros-vision-opencv*")
+    (cd $(find -type d -iname "ros-vision-opencv*") && dpkg-buildpackage -b -us -uc)
+    dpkg -i *.deb
+    travis_time_end
+
+    travis_time_start build_debian_unstable.script
+    cd $CI_SOURCE_PATH
+    mkdir build
+    cd build
+    cmake ..
+    make VERBOSE=1
+    travis_time_end
+
 else
     # Compile and test.
     setup

.travis.yml

@@ -4,7 +4,7 @@ language: generic
 env:
   - CHECK_PYTHON3_COMPILE=true
   - TEST=catkin_lint                   DOCKER_IMAGE=ubuntu:bionic
-  - TEST=clang-format                  DOCKER_IMAGE=ubuntu:bionic
+  - TEST=clang-format                  DOCKER_IMAGE=ubuntu:focal
   - TEST=clang-tidy ROS_DISTRO=melodic DOCKER_IMAGE=ubuntu:bionic
   - ROS_DISTRO=hydro                   DOCKER_IMAGE=ubuntu:precise
   - OPENCV_VERSION=2 ROS_DISTRO=indigo DOCKER_IMAGE=ubuntu:trusty