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AP_DDS: Add developer recommended steps for pre-commit

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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
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Ryan Friedman 2023-04-17 18:47:22 -06:00 committed by Andrew Tridgell
parent 96d7265823
commit edde5d2e48
1 changed files with 23 additions and 1 deletions
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libraries/AP_DDS/README.md
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@ -170,7 +170,9 @@ After your setups are complete, do the following:
``` ```
In order to consume the transforms, it's highly recommended to [create and run a transform broadcaster in ROS 2](https://docs.ros.org/en/humble/Concepts/About-Tf2.html#tutorials). In order to consume the transforms, it's highly recommended to [create and run a transform broadcaster in ROS 2](https://docs.ros.org/en/humble/Concepts/About-Tf2.html#tutorials).
## Adding DDS messages to Ardupilot
## Contributing to AP_DDS library
### Adding DDS messages to Ardupilot
Unlike the use of ROS 2 `.msg` files, since Ardupilot supports native DDS, the message files follow [OMG IDL DDS v4.2](https://www.omg.org/spec/IDL/4.2/PDF). Unlike the use of ROS 2 `.msg` files, since Ardupilot supports native DDS, the message files follow [OMG IDL DDS v4.2](https://www.omg.org/spec/IDL/4.2/PDF).
This package is intended to work with any `.idl` file complying with those extensions. This package is intended to work with any `.idl` file complying with those extensions.
@ -189,3 +191,23 @@ mkdir -p libraries/AP_DDS/Idl/builtin_interfaces/msg/
cp /opt/ros/humble/share/builtin_interfaces/msg/Time.idl libraries/AP_DDS/Idl/builtin_interfaces/msg/ cp /opt/ros/humble/share/builtin_interfaces/msg/Time.idl libraries/AP_DDS/Idl/builtin_interfaces/msg/
# Build the code again with the `--enable-dds` flag as described above # Build the code again with the `--enable-dds` flag as described above
``` ```
### Development Requirements
Astyle is used to format the C++ code in AP_DDS. This is required for CI to pass the build.
See [Tools/CodeStyle/ardupilot-astyle.sh](../../Tools/CodeStyle/ardupilot-astyle.sh).
```console
./Tools/CodeStyle/ardupilot-astyle.sh libraries/AP_DDS/*.h libraries/AP_DDS/*.cpp
```
Pre-commit is used for other things like formatting python and XML code.
This will run the tools automatically when you commit. If there are changes, just add them back your staging index and commit again.
1. Install [pre-commit](https://pre-commit.com/#installation) python package.
1. Install ArduPilot's hooks in the root of the repo, then commit like normal
```console
cd ardupilot
pre-commit install
git commit
```