add humble-navigation2

navigation2/nav2_simple_commander/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

navigation2/nav2_simple_commander/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

navigation2/nav2_simple_commander/test/test_line_iterator.py

@@ -0,0 +1,107 @@
+# Copyright 2022 Afif Swaidan
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import unittest
+from cmath import sqrt
+from nav2_simple_commander.line_iterator import LineIterator
+
+
+class TestLineIterator(unittest.TestCase):
+
+    def test_type_error(self):
+        # Test if a type error raised when passing invalid arguements types
+        self.assertRaises(TypeError, LineIterator, 0, 0, '10', 10, '1')
+
+    def test_value_error(self):
+        # Test if a value error raised when passing negative or zero step_size
+        self.assertRaises(ValueError, LineIterator, 0, 0, 10, 10, -2)
+        # Test if a value error raised when passing zero length line
+        self.assertRaises(ValueError, LineIterator, 2, 2, 2, 2, 1)
+
+    def test_get_xy(self):
+        # Test if the initial and final coordinates are returned correctly
+        lt = LineIterator(0, 0, 5, 5, 1)
+        self.assertEqual(lt.getX0(), 0)
+        self.assertEqual(lt.getY0(), 0)
+        self.assertEqual(lt.getX1(), 5)
+        self.assertEqual(lt.getY1(), 5)
+
+    def test_line_length(self):
+        # Test if the line length is calculated correctly
+        lt = LineIterator(0, 0, 5, 5, 1)
+        self.assertEqual(lt.get_line_length(), sqrt(pow(5, 2) + pow(5, 2)))
+
+    def test_straight_line(self):
+        # Test if the calculations are correct for y = x
+        lt = LineIterator(0, 0, 5, 5, 1)
+        i = 0
+        while lt.isValid():
+            self.assertEqual(lt.getX(), lt.getX0() + i)
+            self.assertEqual(lt.getY(), lt.getY0() + i)
+            lt.advance()
+            i += 1
+
+        # Test if the calculations are correct for y = 2x (positive slope)
+        lt = LineIterator(0, 0, 5, 10, 1)
+        i = 0
+        while lt.isValid():
+            self.assertEqual(lt.getX(), lt.getX0() + i)
+            self.assertEqual(lt.getY(), lt.getY0() + (i*2))
+            lt.advance()
+            i += 1
+
+        # Test if the calculations are correct for y = -2x (negative slope)
+        lt = LineIterator(0, 0, 5, -10, 1)
+        i = 0
+        while lt.isValid():
+            self.assertEqual(lt.getX(), lt.getX0() + i)
+            self.assertEqual(lt.getY(), lt.getY0() + (-i*2))
+            lt.advance()
+            i += 1
+
+    def test_hor_line(self):
+        # Test if the calculations are correct for y = 0x+b (horizontal line)
+        lt = LineIterator(0, 10, 5, 10, 1)
+        i = 0
+        while lt.isValid():
+            self.assertEqual(lt.getX(), lt.getX0() + i)
+            self.assertEqual(lt.getY(), lt.getY0())
+            lt.advance()
+            i += 1
+
+    def test_ver_line(self):
+        # Test if the calculations are correct for x = n (vertical line)
+        lt = LineIterator(5, 0, 5, 10, 1)
+        i = 0
+        while lt.isValid():
+            self.assertEqual(lt.getX(), lt.getX0())
+            self.assertEqual(lt.getY(), lt.getY0() + i)
+            lt.advance()
+            i += 1
+
+    def test_clamp(self):
+        # Test if the increments are clamped to avoid crossing the final points
+        # when step_size is large with respect to line length
+        lt = LineIterator(0, 0, 5, 5, 10)
+        self.assertEqual(lt.getX(), 0)
+        self.assertEqual(lt.getY(), 0)
+        lt.advance()
+        while lt.isValid():
+            self.assertEqual(lt.getX(), 5)
+            self.assertEqual(lt.getY(), 5)
+            lt.advance()
+
+
+if __name__ == '__main__':
+    unittest.main()

navigation2/nav2_simple_commander/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'