Merge master into develop

.github/workflows/sync_master_to_develop.yml

@@ -0,0 +1,43 @@
+name: Branch synchronizer
+
+on:
+  schedule:
+    - cron:  '0 04 * * *'
+
+jobs:
+  sync-develop-with-master:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout master
+        uses: actions/checkout@v3
+        with:
+          submodules: true
+          fetch-depth: 0
+          ref: master
+      - name: Check for diff
+        id: check-diff
+        run: |
+          git fetch origin develop
+          git checkout develop
+          if [ -n "$(git diff develop...master)" ]; then
+            echo "Develop needs sync with master!";
+            git checkout master
+            export BRANCH_NAME=sync-master-$(git rev-parse --short HEAD)
+            echo "BRANCH_NAME=$BRANCH_NAME" >> $GITHUB_ENV
+            git checkout -b ${BRANCH_NAME}
+            git push origin ${BRANCH_NAME}
+            echo "create_pull_request=1" >> $GITHUB_OUTPUT
+          else
+            echo "Develop is already up to date.";
+            echo "create_pull_request=0" >> $GITHUB_OUTPUT
+          fi
+      - name: Create Pull Request if necessary
+        if: ${{ steps.check-diff.outputs.create_pull_request == 1 }}
+        uses: repo-sync/[email protected]
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          source_branch: ${{ env.BRANCH_NAME }}
+          destination_branch: develop
+          pr_title: Merge master into develop
+          pr_body: Synchronizes changes of master branch into develop branch.
+          pr_reviewer: Maintainers

.github/workflows/tests_sources.yml

@@ -21,24 +21,21 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04]
+        os: [ubuntu-22.04]
         python: ['3.10']
         include:
-          - os: ubuntu-20.04
-            DEPENDENCIES_INSTALLATION: "sudo apt -y install clang-format-10 cppcheck"
+          - os: ubuntu-22.04
+            DEPENDENCIES_INSTALLATION: "sudo apt -y install cppcheck"
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
-      if: github.event_name == 'schedule' || github.event.pull_request.draft == false || contains(github.event.pull_request.labels.*.name, 'test sources')
       with:
         submodules: true
     - name: Set up Python 3.10
-      if: github.event_name == 'schedule' || github.event.pull_request.draft == false || contains(github.event.pull_request.labels.*.name, 'test sources')
       uses: actions/setup-python@v4
       with:
         python-version: '3.10'
     - name: Test Sources
-      if: github.event_name == 'schedule' || github.event.pull_request.draft == false || contains(github.event.pull_request.labels.*.name, 'test sources')
       run: |
         ${{ matrix.DEPENDENCIES_INSTALLATION }}
         pip install -r tests/sources/requirements.txt

webots_ros2_control/src/Ros2Control.cpp

@@ -34,7 +34,9 @@ const double CONTROLLER_MANAGER_ALLOWED_SAMPLE_ERROR_MS = 1.0;
 
 namespace webots_ros2_control {
 
-  Ros2Control::Ros2Control() { mNode = NULL; }
+  Ros2Control::Ros2Control() {
+    mNode = NULL;
+  }
 
   void Ros2Control::step() {
     const int nowMs = wb_robot_get_time() * 1000.0;

webots_ros2_control/src/Ros2ControlSystem.cpp

@@ -28,7 +28,9 @@
 #include <webots/robot.h>
 
 namespace webots_ros2_control {
-  Ros2ControlSystem::Ros2ControlSystem() { mNode = NULL; }
+  Ros2ControlSystem::Ros2ControlSystem() {
+    mNode = NULL;
+  }
   void Ros2ControlSystem::init(webots_ros2_driver::WebotsNode *node, const hardware_interface::HardwareInfo &info) {
     mNode = node;
     for (hardware_interface::ComponentInfo component : info.joints) {

webots_ros2_driver/include/webots_ros2_driver/utils/Math.hpp

@@ -24,6 +24,6 @@ namespace webots_ros2_driver {
   void axisAngleToQuaternion(const double *axisAngle, geometry_msgs::msg::Quaternion &q);
   void quaternionToAxisAngle(const geometry_msgs::msg::Quaternion &q, double *axisAngle);
 
-  double interpolateLookupTable(double value, std::vector<double> &table);
+  double interpolateLookupTable(double value, const std::vector<double> &table);
 }  // namespace webots_ros2_driver
 #endif

webots_ros2_driver/src/WebotsNode.cpp

@@ -44,7 +44,9 @@ namespace webots_ros2_driver {
 
   bool gShutdownSignalReceived = false;
 
-  void handleSigint(int sig) { gShutdownSignalReceived = true; }
+  void handleSigint(int sig) {
+    gShutdownSignalReceived = true;
+  }
 
   WebotsNode::WebotsNode(std::string name) : Node(name), mPluginLoader(gPluginInterfaceName, gPluginInterface) {
     mRobotDescriptionParam = this->declare_parameter<std::string>("robot_description", "");
@@ -276,5 +278,7 @@ namespace webots_ros2_driver {
     mClient->async_send_request(request);
   }
 
-  void WebotsNode::handleSignals() { signal(SIGINT, handleSigint); }
+  void WebotsNode::handleSignals() {
+    signal(SIGINT, handleSigint);
+  }
 }  // end namespace webots_ros2_driver

webots_ros2_driver/src/plugins/static/Ros2LED.cpp

@@ -31,7 +31,10 @@ namespace webots_ros2_driver {
       topicName, rclcpp::SensorDataQoS().reliable(), std::bind(&Ros2LED::onMessageReceived, this, std::placeholders::_1));
   }
 
-  void Ros2LED::step() {}
+  void Ros2LED::step() {
+  }
 
-  void Ros2LED::onMessageReceived(const std_msgs::msg::Int32::SharedPtr message) { wb_led_set(mLED, message->data); }
+  void Ros2LED::onMessageReceived(const std_msgs::msg::Int32::SharedPtr message) {
+    wb_led_set(mLED, message->data);
+  }
 }  // namespace webots_ros2_driver

webots_ros2_driver/src/utils/Math.cpp

@@ -115,7 +115,7 @@ namespace webots_ros2_driver {
     return slope * (value - startX) + startY;
   }
 
-  double interpolateLookupTable(double value, std::vector<double> &table) {
+  double interpolateLookupTable(double value, const std::vector<double> &table) {
     if (!table.size())
       return value;
     const int size = table.size();