From 576dd6d70fbeaade8a64c4cb4efbd6f89caad668 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 30 Sep 2024 15:13:10 +0200
Subject: [PATCH] Add CI workflow and ament_lint tests (#148)

* Add CI workflow

* Add ament_lint tests

* Disable uncrustify for now

* Use package format 3 and add xml schema

* Fix cmake lint error
---
 .github/workflows/ci.yml | 27 +++++++++++++++++++++++++++
 CMakeLists.txt           | 13 +++++++++++--
 package.xml              | 11 +++++++++--
 3 files changed, 47 insertions(+), 4 deletions(-)
 create mode 100644 .github/workflows/ci.yml

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..749a442
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,27 @@
+name: CI
+
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - ros2
+  pull_request:
+    branches:
+      - ros2
+
+jobs:
+  industrial_ci:
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble, iron, jazzy, rolling]
+        ROS_REPO: [testing, main]
+    env:
+      ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+      ROS_REPO: ${{ matrix.ROS_REPO }}
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@v4
+      - name: Source tests
+        uses: "ros-industrial/industrial_ci@master"
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ac9c890..eeade93 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -77,8 +77,17 @@ install(TARGETS ${PROJECT_NAME}
 )
 
 install(DIRECTORY include/${PROJECT_NAME}/
-   DESTINATION include/${PROJECT_NAME}
-   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
+  DESTINATION include/${PROJECT_NAME}
+  FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
 )
 
+###########
+## Tests ##
+###########
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_package()
diff --git a/package.xml b/package.xml
index 6097cac..59ad8c5 100644
--- a/package.xml
+++ b/package.xml
@@ -1,11 +1,11 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>web_video_server</name>
   <version>1.0.0</version>
   <description>HTTP Streaming of ROS Image Topics in Multiple Formats</description>
 
   <maintainer email="blazej@fictionlab.pl">Błażej Sowa</maintainer>
-  <author email="mwills@wpi.edu">Mitchell Wills</author>
 
   <license>BSD</license>
 
@@ -13,6 +13,8 @@
   <url type="bugtracker">https://github.com/RobotWebTools/web_video_server/issues</url>
   <url type="repository">https://github.com/RobotWebTools/web_video_server</url>
 
+  <author email="mwills@wpi.edu">Mitchell Wills</author>
+
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
   <build_depend>rclcpp</build_depend>
@@ -29,6 +31,11 @@
   <exec_depend>ffmpeg</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
+  <!-- <test_depend>ament_cmake_uncrustify</test_depend> -->
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>