Alexander Gutenkunst agutenkunst

Prepare

sudo apt-get update sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential

PythonQt needs to be installed (not sure why not via depend)

sudo apt-get install qt5-default pyqt5-dev pyqt5-dev-tools

Initialize rosdep

sudo rosdep init rosdep update

Run

sudo apt install ccache -y
echo 'export PATH="/usr/lib/ccache:$PATH"' | tee -a ~/.bashrc
source ~/.bashrc

If there is a error containing something like

ccache: error: Failed to create temporary file for /home/alex/.ccache/tmp/tmp.cpp_stderr: Permission denied

Moved to https://github.com/agutenkunst/ros_vscode_tips

Code Coverage für pytest mit ROS

Goal

Create coverage for pytest using ROS

How is this working with unittests?

A python unittest is added to the CMakeLists.txt using

catkin_add_nosetests(unittest.py)

Install requirements

sudo apt-get install python3-pymodbus (maybe python2 also works, but I didn't check)

Run

Server Code

(see modbus_server.py)

Client code

(see modbus_client.py)

Use Sourcetrail with ROS

1. Build your workspace with the required cmake flag

Building your workspace with -DCMAKE_EXPORT_COMPILE_COMMANDS=ON which will create a file compile_commands.json in your build/<pkg> directory containing all compiler calls.

colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON

2. Add the project to sourcetrail

See images below

	```
	cmake src/<package_name>/ --graphviz=foo.dot
	xdot foo.dot
	```
	Set options for better exclude by adding a file src/<package_name>/CMakeGraphVizOptions.cmake with
	```
	set(GRAPHVIZ_EXTERNAL_LIBS FALSE)
	set(GRAPHVIZ_IGNORE_TARGETS "gtest;gmock;unittest;integrationtest")
	```

	#include <iostream>
	#include <boost/asio.hpp>

	using boost::asio::ip::udp;

	// Build using g++ main.cpp -L /usr/include/boost -pthread

	int main(int argc, char* argv[])
	{
	try

	* * * * * eval "export $(egrep -z DBUS_SESSION_BUS_ADDRESS /proc/$(pgrep -u $LOGNAME gnome-session)/environ)"; /usr/bin/notify-send "Foo"

	source: https://askubuntu.com/a/346580