Merge pull request #7 from RobRoyce/develop

fix: github workflow.

.github/workflows/publish.yml → .github/workflows/workflow.yml

@@ -1,3 +1,4 @@
+# Rename from publish.yml to workflow.yml to match PyPI's expectation
 name: Publish to PyPI
 
 on:
@@ -23,13 +24,22 @@ jobs:
         run: |
           python -m pip install --upgrade pip
           pip install .[dev]
+          # Add any ROS mock dependencies needed for tests
+          pip install empy catkin_pkg rospkg
       
       - name: Run tests
         run: pytest
 
   deploy:
     needs: test
     runs-on: ubuntu-latest
+    # Add this environment block to match PyPI's trusted publishing
+    environment:
+      name: pypi
+      url: https://pypi.org/p/ros-to-markdown
+    permissions:
+      id-token: write  # Required for PyPI trusted publishing
+
     steps:
       - uses: actions/checkout@v4
 
@@ -41,13 +51,10 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install build twine
+          pip install build
       
       - name: Build package
         run: python -m build
 
       - name: Publish to PyPI
-        env:
-          TWINE_USERNAME: __token__
-          TWINE_PASSWORD: ${{ secrets.PYPI_API_TOKEN }}
-        run: twine upload dist/* 
+        uses: pypa/gh-action-pypi-publish@release/v1 

docker/data/ros1_ws/src/action_server/scripts/move_to_goal.py

@@ -8,26 +8,26 @@
 
 class MoveToGoalServer:
     def __init__(self):
-        rospy.init_node('move_to_goal_server', anonymous=True)
+        rospy.init_node("move_to_goal_server", anonymous=True)
         self.server = actionlib.SimpleActionServer(
-            '/move_to_goal',
-            MoveToGoalAction,
-            execute_cb=self.execute_cb,
-            auto_start=False
+            "/move_to_goal", MoveToGoalAction, execute_cb=self.execute_cb, auto_start=False
         )
         self.server.start()
 
-        rospy.Subscriber('/environment/data', EnvironmentData, self.env_callback)
+        rospy.Subscriber("/environment/data", EnvironmentData, self.env_callback)
         self.environment_data = None
 
-        self.cmd_vel_pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
+        self.cmd_vel_pub = rospy.Publisher("/cmd_vel", Twist, queue_size=10)
 
     def env_callback(self, msg):
         self.environment_data = msg
 
     def execute_cb(self, goal):
-        rospy.loginfo("MoveToGoal: Received goal => target_pose=(%.2f, %.2f)",
-                      goal.target_pose.pose.position.x, goal.target_pose.pose.position.y)
+        rospy.loginfo(
+            "MoveToGoal: Received goal => target_pose=(%.2f, %.2f)",
+            goal.target_pose.pose.position.x,
+            goal.target_pose.pose.position.y,
+        )
 
         feedback = MoveToGoalFeedback()
         result = MoveToGoalResult()
@@ -53,9 +53,13 @@ def execute_cb(self, goal):
         result.success = True
         self.server.set_succeeded(result, "Goal Reached")
 
+
 def main():
+    # Keep reference to prevent garbage collection
+    global node
     node = MoveToGoalServer()
     rospy.spin()
 
-if __name__ == '__main__':
+
+if __name__ == "__main__":
     main()

docker/data/ros1_ws/src/data_processing/scripts/data_filter.py

@@ -6,11 +6,11 @@
 
 class DataFilterNode:
     def __init__(self):
-        rospy.init_node('data_filter', anonymous=True)
-        self.pub_filtered = rospy.Publisher('/data/filtered', FilteredData, queue_size=10)
+        rospy.init_node("data_filter", anonymous=True)
+        self.pub_filtered = rospy.Publisher("/data/filtered", FilteredData, queue_size=10)
 
-        rospy.Subscriber('/sensor/temperature', Float64, self.temp_callback)
-        rospy.Subscriber('/sensor/humidity', Float64, self.hum_callback)
+        rospy.Subscriber("/sensor/temperature", Float64, self.temp_callback)
+        rospy.Subscriber("/sensor/humidity", Float64, self.hum_callback)
 
         self.temperature = None
         self.humidity = None
@@ -33,9 +33,12 @@ def publish_filtered(self):
             self.pub_filtered.publish(filtered)
             rospy.loginfo("DataFilter: Published FilteredData")
 
+
 def main():
+    global node
     node = DataFilterNode()
     rospy.spin()
 
-if __name__ == '__main__':
+
+if __name__ == "__main__":
     main()

docker/data/ros1_ws/src/data_processing/scripts/data_processor.py

@@ -6,18 +6,25 @@
 
 class DataProcessorNode:
     def __init__(self):
-        rospy.init_node('data_processor', anonymous=True)
-        self.pub_processed = rospy.Publisher('/data/processed', String, queue_size=10)
-        rospy.Subscriber('/data/filtered', FilteredData, self.filtered_callback)
+        rospy.init_node("data_processor", anonymous=True)
+        self.pub_processed = rospy.Publisher("/data/processed", String, queue_size=10)
+        rospy.Subscriber("/data/filtered", FilteredData, self.filtered_callback)
 
     def filtered_callback(self, msg):
-        text_out = f"Processed => temp: {msg.temperature:.2f}, hum: {msg.humidity:.2f}, valid: {msg.valid}"
+        text_out = (
+            f"Processed => temp: {msg.temperature:.2f}, "
+            f"hum: {msg.humidity:.2f}, "
+            f"valid: {msg.valid}"
+        )
         rospy.loginfo("DataProcessor: %s", text_out)
         self.pub_processed.publish(text_out)
 
+
 def main():
+    global node
     node = DataProcessorNode()
     rospy.spin()
 
-if __name__ == '__main__':
+
+if __name__ == "__main__":
     main()

docker/data/ros1_ws/src/environment_integration/scripts/environment_builder.py

@@ -6,9 +6,9 @@
 
 class EnvironmentBuilderNode:
     def __init__(self):
-        rospy.init_node('environment_builder', anonymous=True)
-        self.pub_env = rospy.Publisher('/environment/data', EnvironmentData, queue_size=10)
-        rospy.Subscriber('/data/processed', String, self.processed_callback)
+        rospy.init_node("environment_builder", anonymous=True)
+        self.pub_env = rospy.Publisher("/environment/data", EnvironmentData, queue_size=10)
+        rospy.Subscriber("/data/processed", String, self.processed_callback)
 
     def processed_callback(self, msg):
         env_msg = EnvironmentData()
@@ -18,9 +18,12 @@ def processed_callback(self, msg):
         self.pub_env.publish(env_msg)
         rospy.loginfo("EnvironmentBuilder: Published EnvironmentData")
 
+
 def main():
+    global node
     node = EnvironmentBuilderNode()
     rospy.spin()
 
-if __name__ == '__main__':
+
+if __name__ == "__main__":
     main()

docker/data/ros1_ws/src/robot_control/scripts/move_robot.py

@@ -6,19 +6,23 @@
 
 class MoveRobotNode:
     def __init__(self):
-        rospy.init_node('move_robot', anonymous=True)
-        rospy.Subscriber('/cmd_vel', Twist, self.cmd_vel_callback)
-        self.pub_status = rospy.Publisher('/robot/status', String, queue_size=10)
+        rospy.init_node("move_robot", anonymous=True)
+        rospy.Subscriber("/cmd_vel", Twist, self.cmd_vel_callback)
+        self.pub_status = rospy.Publisher("/robot/status", String, queue_size=10)
 
     def cmd_vel_callback(self, cmd):
-        rospy.loginfo("move_robot: Received cmd_vel linear=%.2f, angular=%.2f",
-                      cmd.linear.x, cmd.angular.z)
-        status_msg = "MOVING with linear=%.2f, angular=%.2f" % (cmd.linear.x, cmd.angular.z)
+        rospy.loginfo(
+            "move_robot: Received cmd_vel linear=%.2f, angular=%.2f", cmd.linear.x, cmd.angular.z
+        )
+        status_msg = f"MOVING with linear={cmd.linear.x:.2f}, angular={cmd.angular.z:.2f}"
         self.pub_status.publish(status_msg)
 
+
 def main():
+    global node
     node = MoveRobotNode()
     rospy.spin()
 
-if __name__ == '__main__':
+
+if __name__ == "__main__":
     main()

docker/data/ros1_ws/src/sensor_data/scripts/humidity_publisher.py

@@ -6,8 +6,8 @@
 
 
 def main():
-    rospy.init_node('humidity_publisher', anonymous=True)
-    pub = rospy.Publisher('/sensor/humidity', Float64, queue_size=10)
+    rospy.init_node("humidity_publisher", anonymous=True)
+    pub = rospy.Publisher("/sensor/humidity", Float64, queue_size=10)
     rate = rospy.Rate(2)  # 2Hz
 
     while not rospy.is_shutdown():
@@ -16,5 +16,6 @@ def main():
         pub.publish(humidity_value)
         rate.sleep()
 
-if __name__ == '__main__':
+
+if __name__ == "__main__":
     main()

docker/data/ros1_ws/src/sensor_data/scripts/temperature_publisher.py

@@ -6,8 +6,8 @@
 
 
 def main():
-    rospy.init_node('temperature_publisher', anonymous=True)
-    pub = rospy.Publisher('/sensor/temperature', Float64, queue_size=10)
+    rospy.init_node("temperature_publisher", anonymous=True)
+    pub = rospy.Publisher("/sensor/temperature", Float64, queue_size=10)
     rate = rospy.Rate(1)  # 1Hz
 
     while not rospy.is_shutdown():
@@ -16,5 +16,6 @@ def main():
         pub.publish(temp_value)
         rate.sleep()
 
-if __name__ == '__main__':
+
+if __name__ == "__main__":
     main()

docker/data/ros1_ws/src/tricky_scenarios/scripts/conflicting_publishers.py

@@ -6,8 +6,8 @@
 
 
 def main():
-    rospy.init_node('conflicting_temperature_publisher', anonymous=True)
-    pub = rospy.Publisher('/sensor/temperature', Float64, queue_size=10)
+    rospy.init_node("conflicting_temperature_publisher", anonymous=True)
+    pub = rospy.Publisher("/sensor/temperature", Float64, queue_size=10)
     rate = rospy.Rate(1)
 
     while not rospy.is_shutdown():
@@ -16,5 +16,6 @@ def main():
         pub.publish(temp_value)
         rate.sleep()
 
-if __name__ == '__main__':
+
+if __name__ == "__main__":
     main()

docker/data/ros1_ws/src/tricky_scenarios/scripts/delayed_response.py

@@ -8,16 +8,16 @@
 def handle_delayed_request(req):
     rospy.loginfo("DelayedResponse: Received request. Sleeping 5 seconds...")
     time.sleep(5)
-    return TriggerResponse(
-        success=True,
-        message="DelayedResponse done after 5s"
-    )
+    return TriggerResponse(success=True, message="DelayedResponse done after 5s")
+
 
 def main():
-    rospy.init_node('delayed_response_server', anonymous=True)
-    s = rospy.Service('/delayed_response', Trigger, handle_delayed_request)
+    rospy.init_node("delayed_response_server", anonymous=True)
+    global service
+    service = rospy.Service("/delayed_response", Trigger, handle_delayed_request)
     rospy.loginfo("DelayedResponse: service /delayed_response is ready.")
     rospy.spin()
 
-if __name__ == '__main__':
+
+if __name__ == "__main__":
     main()

docker/data/ros1_ws/src/user_interface/scripts/command_listener.py

@@ -4,8 +4,8 @@
 
 
 def main():
-    rospy.init_node('command_listener', anonymous=True)
-    pub_cmd_vel = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
+    rospy.init_node("command_listener", anonymous=True)
+    pub_cmd_vel = rospy.Publisher("/cmd_vel", Twist, queue_size=10)
     rate = rospy.Rate(1)
     forward = True
 
@@ -24,5 +24,6 @@ def main():
         forward = not forward
         rate.sleep()
 
-if __name__ == '__main__':
+
+if __name__ == "__main__":
     main()

docker/data/ros1_ws/src/visualization/scripts/visualize_data.py

@@ -6,10 +6,12 @@
 def data_callback(msg):
     rospy.loginfo("VISUALIZE: Received processed data => %s", msg.data)
 
+
 def main():
-    rospy.init_node('visualize_data', anonymous=True)
-    rospy.Subscriber('/data/processed', String, data_callback)
+    rospy.init_node("visualize_data", anonymous=True)
+    rospy.Subscriber("/data/processed", String, data_callback)
     rospy.spin()
 
-if __name__ == '__main__':
+
+if __name__ == "__main__":
     main()

docker/data/ros2_ws/src/action_server/action_server/__init__.py

@@ -1 +1 @@
-# Empty init file 
+# Empty init file