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tonybaltovskitonybaltovski
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Added Github codeowners, issue template, CI. Also, fixed linting.
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‎.github/CODEOWNERS‎

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# Default all changes will request review from:
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* @clearpathrobotics/clearpath-platform-team

‎.github/ISSUE_TEMPLATE/bug.md‎

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---
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name: Bug Report
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about: Provide a report for that the issue is
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title: ''
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labels: bug
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assignees: clearpathrobotics/clearpath-platform-team
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---
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**Please provide the following information:**
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- OS: (e.g. Ubuntu 24.04)
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- ROS 2 Distro: (e.g. Jazzy)
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- Built from source or installed:
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- Package version: (if from repository, give version from `sudo dpkg -s ros-$ROS_VERSION-wireless-watcher`, if from source, give commit hash)
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**Expected behaviour**
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A clear and concise description of what you expected to happen.
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**Actual behaviour**
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A clear and concise description of what you encountered.
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**To Reproduce**
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Provide the steps to reproduce:
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1. run something
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2. launch something else
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3. see the error
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**Other notes**
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Add anything else you thing is important.

‎.github/ISSUE_TEMPLATE/feature.md‎

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---
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name: Feature request
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about: Provide context for the feature you are requesting
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title: ''
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labels: enhancement
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assignees: clearpathrobotics/clearpath-platform-team
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---
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**Describe the the feature you would like**
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A clear and concise description of what you want to happen.
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**Other notes**
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Add anything else you thing is important.

‎.github/workflows/ci.yml‎

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name: wireless_watcher_ci
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on:
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push:
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pull_request:
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schedule:
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- cron: "0 0 * * *" # every day at midnight
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jobs:
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wireless_watcher_osrf_industrial_ci_humble:
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name: Humble OSRF Industrial
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strategy:
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matrix:
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env:
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- {ROS_REPO: testing, ROS_DISTRO: humble}
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- {ROS_REPO: main, ROS_DISTRO: humble}
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fail-fast: false
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runs-on: ubuntu-22.04
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steps:
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- uses: actions/checkout@v3
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{matrix.env}}
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wireless_watcher_cpr_ci_humble:
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name: Humble Clearpath Release
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runs-on: ubuntu-22.04
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steps:
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- uses: actions/checkout@v3
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- uses: ros-tooling/[email protected]
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with:
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required-ros-distributions: humble
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- name: clearpath-package-server
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run: |
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sudo apt install wget
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wget https://packages.clearpathrobotics.com/public.key -O - | sudo apt-key add -
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sudo sh -c 'echo "deb https://packages.clearpathrobotics.com/stable/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/clearpath-latest.list'
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sudo apt-get update
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- uses: ros-tooling/[email protected]
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id: action_ros_ci_step
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with:
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target-ros2-distro: humble
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package-name: |
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wireless_watcher
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wireless_watcher_src_ci_humble:
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name: Humble Clearpath Source
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runs-on: ubuntu-22.04
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steps:
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- uses: actions/checkout@v3
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- uses: ros-tooling/[email protected]
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with:
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required-ros-distributions: humble
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- uses: ros-tooling/[email protected]
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id: action_ros_ci_step
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with:
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target-ros2-distro: humble
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package-name: |
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wireless_watcher
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wireless_watcher_osrf_industrial_ci_jazzy:
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name: Jazzy OSRF Industrial
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strategy:
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matrix:
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env:
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- {ROS_REPO: testing, ROS_DISTRO: jazzy}
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- {ROS_REPO: main, ROS_DISTRO: jazzy}
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fail-fast: false
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runs-on: ubuntu-24.04
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steps:
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- uses: actions/checkout@v3
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{matrix.env}}
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wireless_watcher_cpr_ci_jazzy:
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name: Jazzy Clearpath Release
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runs-on: ubuntu-24.04
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steps:
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- uses: actions/checkout@v3
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- uses: ros-tooling/[email protected]
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with:
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required-ros-distributions: jazzy
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- name: clearpath-package-server
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run: |
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sudo apt install wget
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wget https://packages.clearpathrobotics.com/public.key -O - | sudo apt-key add -
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sudo sh -c 'echo "deb https://packages.clearpathrobotics.com/stable/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/clearpath-latest.list'
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sudo apt-get update
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- uses: ros-tooling/[email protected]
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id: action_ros_ci_step
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with:
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target-ros2-distro: jazzy
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package-name: |
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wireless_watcher
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wireless_watcher_src_ci_jazzy:
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name: Jazzy Clearpath Source
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runs-on: ubuntu-24.04
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steps:
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- uses: actions/checkout@v3
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- uses: ros-tooling/[email protected]
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with:
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required-ros-distributions: jazzy
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- uses: ros-tooling/[email protected]
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id: action_ros_ci_step
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with:
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target-ros2-distro: jazzy
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package-name: |
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wireless_watcher

‎wireless_msgs/package.xml‎

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<maintainer email="[email protected]">Roni Kreinin</maintainer>
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<maintainer email="[email protected]">Tony Baltovski</maintainer>
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<license>BSD</license>
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<buildtool_depend>ament_cmake</buildtool_depend>

‎wireless_watcher/CHANGELOG.rst‎

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0.0.1 (2013-10-17)
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------------------
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* Catkinize wireless_watcher
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* Catkinize wireless_watcher

‎wireless_watcher/CMakeLists.txt‎

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DESTINATION share/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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list(APPEND AMENT_LINT_AUTO_EXCLUDE
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ament_cmake_copyright
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ament_cmake_cpplint
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ament_cmake_uncrustify
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)
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ament_lint_auto_find_test_dependencies()
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endif()
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# Specify install targets
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ament_package()

‎wireless_watcher/include/wireless_watcher/wireless_watcher.hpp‎

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#define SIGNAL_STRENGTH_WEAK -67
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#define SIGNAL_STRENGTH_VERY_WEAK -75
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class WirelessWatcher : public rclcpp::Node {
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class WirelessWatcher : public rclcpp::Node
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{
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public:
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WirelessWatcher();
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WirelessWatcher();
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private:
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// Parameters
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double hz;
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std::string dev;
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std::string connected_topic;
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std::string connection_topic;
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// Parameters
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double hz;
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std::string dev;
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std::string connected_topic;
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std::string connection_topic;
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// Other Variables
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rclcpp::TimerBase::SharedPtr timer_;
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rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr connected_pub_;
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rclcpp::Publisher<wireless_msgs::msg::Connection>::SharedPtr connection_pub_;
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std_msgs::msg::Bool connected_msg_;
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wireless_msgs::msg::Connection connection_msg_;
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diagnostic_updater::Updater updater_;
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// Other Variables
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rclcpp::TimerBase::SharedPtr timer_;
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rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr connected_pub_;
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rclcpp::Publisher<wireless_msgs::msg::Connection>::SharedPtr connection_pub_;
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std_msgs::msg::Bool connected_msg_;
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wireless_msgs::msg::Connection connection_msg_;
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diagnostic_updater::Updater updater_;
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// Methods
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void timer_callback();
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std::string exec_cmd(const std::string& cmd);
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std::vector<std::string> split(const std::string& s, const std::string& delimiter);
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void diagnostic(diagnostic_updater::DiagnosticStatusWrapper & stat);
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void ip_address_diag(std::string dev, diagnostic_updater::DiagnosticStatusWrapper & stat);
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// Methods
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void timer_callback();
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std::string exec_cmd(const std::string& cmd);
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std::vector<std::string> split(const std::string& s, const std::string& delimiter);
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void diagnostic(diagnostic_updater::DiagnosticStatusWrapper & stat);
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void ip_address_diag(std::string dev, diagnostic_updater::DiagnosticStatusWrapper & stat);
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};
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#endif // WIRELESS_WATCHER_HPP
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#endif // WIRELESS_WATCHER_HPP

‎wireless_watcher/launch/watcher.launch.py‎

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# * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or
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# promote products derived from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 'AS IS' AND ANY EXPRESS OR IMPLIED
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# WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
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# PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
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# ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
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from launch_ros.actions import Node
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ARGUMENTS = [
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DeclareLaunchArgument('hz', default_value='1.0',
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description='Update frequency'),
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DeclareLaunchArgument('dev', default_value="''",
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description='Wireless device'),
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DeclareLaunchArgument('connected_topic', default_value='connected',
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description='Connected status topic'),
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DeclareLaunchArgument('connection_topic', default_value='connection',
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description='Connection information topic'),
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DeclareLaunchArgument('namespace', default_value='',
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description='Namespace'),
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DeclareLaunchArgument('hz', default_value='1.0', description='Update frequency'),
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DeclareLaunchArgument('dev', default_value='''', description='Wireless device'),
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DeclareLaunchArgument(
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'connected_topic', default_value='connected', description='Connected status topic'
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),
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DeclareLaunchArgument(
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'connection_topic', default_value='connection', description='Connection information topic'
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),
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DeclareLaunchArgument('namespace', default_value='', description='Namespace'),
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]
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def generate_launch_description():
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watcher = Node(
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package='wireless_watcher',
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executable='wireless_watcher',
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name='wireless_watcher',
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namespace=LaunchConfiguration('namespace'),
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output='screen',
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parameters=[{
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'hz': LaunchConfiguration('hz'),
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'dev': LaunchConfiguration('dev'),
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'connected_topic': LaunchConfiguration('connected_topic'),
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'connection_topic': LaunchConfiguration('connection_topic')
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}],
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)
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package='wireless_watcher',
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executable='wireless_watcher',
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name='wireless_watcher',
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namespace=LaunchConfiguration('namespace'),
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output='screen',
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parameters=[
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{
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'hz': LaunchConfiguration('hz'),
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'dev': LaunchConfiguration('dev'),
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'connected_topic': LaunchConfiguration('connected_topic'),
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'connection_topic': LaunchConfiguration('connection_topic'),
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}
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],
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)
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ld = LaunchDescription(ARGUMENTS)
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ld.add_action(watcher)

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