Addressed the comment.

Author: MrBearing

.github/workflows/humble_docker_test.yaml

@@ -1,44 +1,41 @@
-name: Humble_test_with_docker_NativeROS_string
+name: Humble_buid_and_test_with_docker_NativeROS_string
 
 on:
   push:
     branches:
       - "main"
   pull_request:
-    types: [opened, synchronize, labeled]
+    types: [opened, synchronize]
 jobs:
   ci:
-    runs-on: ${{ matrix.os }}
-    if: |
-      ((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'main' )) ||
-      ((github.event.action == 'synchronize') && (github.base_ref == 'main') && contains(github.event.pull_request.labels.*.name, 'TESTING')) ||
-      (github.ref_name == 'main')
+    runs-on: ubuntu-latest
     container:
-      image: osrf/ros:${{ matrix.ros_distribution }}-desktop
+      image: osrf/ros:humble-desktop
     timeout-minutes: 5
     strategy:
       fail-fast: false
-      matrix:
-        os: [ubuntu-22.04]
-        ros_distribution: [humble]
+      # matrix:
     steps:
       - name: Checkout code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           submodules: recursive
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v1
 
       - name: Install Docker Compose
         run: sudo apt-get update && sudo apt-get install -y docker-compose
-      # docker-compose.yml を使ってコンテナを起動
+      # runs containers using docker-compose.yml
       - name: Build and run containers
-        run: docker-compose up -d
+        run: |
+          cd workspace/test/mros2
+          docker-compose up -d
+          cd -
       - name: Wait for containers to start
-        run: sleep 20  # コンテナが確実に起動するのを待つ時間を長くする
+        run: sleep 20  # wait time for container startup.
       - name: List running containers
-        run: docker ps -a  # 全コンテナが起動しているか確認
-      - name: Show container logs  # コンテナのログを確認する
+        run: docker ps -a  # Check if all containers are running.
+      - name: Show container logs
         run: |
           docker logs app1
           docker logs app2
@@ -52,28 +49,28 @@ jobs:
           docker exec app2 ping -c 4 172.19.0.2  # app2 から app1 へのPing
       - name: Test TCP connection between containers (netcat)
         run: |
-          # app2でポート8080をリスン
+          # Listen port 8080 on app2
           docker exec -d app2 bash -c "nc -l -p 8080"
-          # app1からapp2へのTCP接続を確認
+          # Check connection to app2 from app1
           docker exec app1 bash -c "echo 'Test' | nc -w 3 172.19.0.3 8080"
-      # app1: ビルドの準備 (chmod +x update_ip.sh と ./update_ip.sh の実行)
+      # app1: prepare build (run chmod +x update_ip.sh and ./update_ip.sh)
       - name: Prepare build in mros
         run: |
-          docker cp $GITHUB_WORKSPACE app1:/root/ws_mros  # ソースコードをapp1コンテナにコピー
+          docker cp $GITHUB_WORKSPACE app1:/root/ws_mros  # Copy source code to app1
           docker exec app1 bash -c "
           cd /root/ws_mros &&
-          chmod +x update_ip.sh &&  # 権限変更
-          ./update_ip.sh"  # IPアドレス更新スクリプトの実行
-      # app1: クリーンビルド
+          chmod +x update_ip.sh &&  # Change grant
+          ./update_ip.sh"  # Run script to overwrite IP address.
+      # app1: clean and build
       - name: Clean and build in mros
         run: |
           docker exec app1 bash -c "
           cd /root/ws_mros &&
           pwd &&
           ls -la &&
-          bash build.bash clean &&  # クリーンアップ
-          bash build.bash all test_echoback_string"
-      # app2: のコードをコンテナにコピーしてビルド
+          bash build.bash clean &&
+          bash build.bash all test/mros2/test_echoback_string"
+      # app2:
       - name: Clone Native test stub source code to app2 and build and run
         run: |
           docker exec app2 bash -c "
@@ -89,21 +86,22 @@ jobs:
       - name: Run mROS and Native ROS
         shell: bash
         run : |
-          # テスト対象をバックグラウンドで実行
+          # Run native ROS respondeer in  background
           docker exec app2 bash -c "source /opt/ros/humble/setup.bash &&
           cd mros2-host-examples &&
           source install/setup.bash &&
           ros2 run mros2_echoreply_string echoreply_node" &
 
           docker exec app1 bash -c "cd /root/ws_mros && ./cmake_build/mros2-posix" &
-          mros_pid=$!  # テストプログラムのプロセスIDを取得
+          mros_pid=$!  # get mROS process id
 
           docker ps
 
-          # mROSが終了するまで待つ
+          # Wait until mROS finishes
           wait $mros_pid
           mros_status=$?
-          # 結果に基づいてCIの成否を判断
+
+          # Judge CI success based on results
           if [ $mros_status -eq 0 ] ;then
             echo "Succeed pub/sub test process between mros2 and Native ROS"
             exit 0

.github/workflows/humble_test.yaml

@@ -1,31 +1,25 @@
-name: ci_humble
+name: Humble_build_and_test
 
 on:
   push:
     branches:
       - "main"
-      - "feat/add_ci_config"
   pull_request:
-    types: [opened, synchronize, labeled]
+    types: [opened, synchronize ]
 jobs:
-  ci:
-    runs-on: ${{ matrix.os }}
-    if: |
-      ((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'main' )) ||
-      ((github.event.action == 'synchronize') && (github.base_ref == 'main') && contains(github.event.pull_request.labels.*.name, 'TESTING')) ||
-      (github.ref_name == 'main')
+  build_and_test:
+    runs-on: ubuntu-latest
     container:
-      image: osrf/ros:${{ matrix.ros_distribution }}-desktop
+      image: osrf/ros:humble-desktop
     timeout-minutes: 3
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-22.04]
         ros_distribution: [humble]
         comm-target: [native , mros]
         comm-data-type: [string, twist]
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: recursive
       - name: update
@@ -35,7 +29,7 @@ jobs:
           sudo apt-get install -y iproute2 git wget build-essential gcc g++ libssl-dev libreadline-dev 
           zlib1g-dev make autoconf automake cmake pkg-config curl net-tools netcat python3-jinja2
       - name: Clone Test Stub
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           repository: mROS-base/mros2-host-examples
           path: ws_host/src/mros2-host-examples
@@ -54,7 +48,7 @@ jobs:
         shell: bash
         run: |
           bash build.bash clean
-          bash build.bash all test_echoback_${{ matrix.comm-data-type }}
+          bash build.bash all test/mros2/test_echoback_${{ matrix.comm-data-type }}
           mv cmake_build/ test_echoback_${{ matrix.comm-data-type }}/
       - name: Build Native ROS responder
         if: matrix.comm-target == 'native'
@@ -68,25 +62,25 @@ jobs:
         shell: bash
         run: |
           bash build.bash clean
-          bash build.bash all test_echoback_${{ matrix.comm-data-type }}_responder
+          bash build.bash all test/mros2/test_echoback_${{ matrix.comm-data-type }}_responder
       - name: Run Testing mROS and Native ROS
         if: matrix.comm-target == 'native'
         shell: bash
         run : |
             ./test_echoback_${{ matrix.comm-data-type }}/mros2-posix &
-            mros_pid=$!  # mROSのプロセスIDを取得
+            mros_pid=$!  # get mROS process id
 
-            # Native ROSをバックグラウンドで実行
+            # Run Native ROS in background
             cd ws_host/
             source /opt/ros/humble/setup.bash
             source install/setup.bash
             ros2 run mros2_echoreply_${{ matrix.comm-data-type }} echoreply_node &
 
-            # mROSが終了するまで待つ
+            # Wait until mROS finishes
             wait $mros_pid
             mros_status=$?
 
-            # 結果に基づいてCIの成否を判断
+            # Judge CI success based on results
             if [ $mros_status -eq 0 ] ;then
               echo "Succeed pub/sub test process between mros2 and Native ROS"
               exit 0
@@ -99,20 +93,20 @@ jobs:
         shell: bash
         run : |
             ./test_echoback_${{ matrix.comm-data-type }}/mros2-posix &
-            mros_pid=$!  # テストプログラムのプロセスIDを取得
+            mros_pid=$!  # get mROS process id
 
-            # テスト対象をバックグラウンドで実行
+            # Run mROS responder in background
             ./cmake_build/mros2-posix &
 
-            # mROSが終了するまで待つ
+            # Wait until mROS finishes
             wait $mros_pid
             mros_status=$?
 
-            # 結果に基づいてCIの成否を判断
+            # Judge CI success based on results
             if [ $mros_status -eq 0 ] ;then
-              echo "Succeed pub/sub test process between mros2 and Native ROS"
+              echo "Succeed pub/sub test process between mros2 and mros2"
               exit 0
             else
-              echo "Fail pub/sub test process between mros2 and Native ROS"
+              echo "Fail pub/sub test process between mros2 and mros2"
               exit 1
             fi

README.md

@@ -37,7 +37,7 @@ sudo apt-get update && sudo apt-get install -y \
   libssl-dev libreadline-dev zlib1g-dev \
   make autoconf automake cmake \
   pkg-config curl \
-  net-tools netcat jinja2
+  net-tools netcat python3-jinja2
 ```
 
 Please check the IP address and netmask of the execution environment. 
@@ -64,6 +64,22 @@ You need to edit the below files to set IP address and netmask.
 * IP address and netmask to `include/netif.h`
 * IP address to `include/rtps/config.h`
 
+Alternatively, you can use the provided `update_ip.sh` script to automatically update these files according to your building environment. 
+The `update_ip.sh` script is designed to overwrite the IP address and netmask in `include/rtps/config.h` and `include/netif.h` files based on the current network configuration.
+
+Below is an example of using this script.
+
+```bash
+bash update_ip.sh
+```
+
+This script retrieves the current IP address and netmask of the system's active network interface and updates the specified files accordingly.
+Make sure to check the output to ensure the updates are correct before proceeding with the build.
+If multiple network interfaces are available, ensure the correct one is being used.
+
+For troubleshooting, verify that the script runs without errors.
+If you encounter issues, check that the necessary network tools are installed and that your system has an active network connection.
+
 ## Getting Started
 
 This section explains how to build and execute mros2-posix application as a Linux/POSIX process, using `echoback_string` as an example (please see workspace/README.md for another examples).

update_ip.sh

@@ -1,21 +1,21 @@
 #!/bin/bash
 
-# IPアドレスを取得
+# Retrieve IP address
 IP_ADDRESS=$(hostname -I | awk '{print $1}')
 if [ -z "$IP_ADDRESS" ]; then
     echo "Error: Failed to retrieve IP address."
     exit 1
 fi
 
-# ネットマスクを取得（IPアドレスに対応するネットマスクを抽出）
+# Retrieve netmask (extract the netmask corresponding to the IP address)
 INTERFACE=$(ip -o addr show | grep "$IP_ADDRESS" | awk '{print $2}')
 NETMASK=$(ip -o -f inet addr show $INTERFACE | awk '/inet/ {print $4}' | cut -d'/' -f2)
 if [ -z "$NETMASK" ]; then
     echo "Error: Failed to retrieve netmask."
     exit 1
 fi
 
-# CIDRからネットマスクを計算
+# Calculate netmask from CIDR
 function cidr_to_netmask() {
     local cidr=$1
     local mask=""
@@ -41,14 +41,14 @@ function cidr_to_netmask() {
 NETMASK=$(cidr_to_netmask $NETMASK)
 echo "Retrieved Netmask for IP $IP_ADDRESS: $NETMASK"
 
-# IPアドレスをドットで分割
+# Split the IP address by dots
 IFS='.' read -r -a IP_PARTS <<< "$IP_ADDRESS"
 
-# ネットマスクをドットで分割
+# Split the netmask by dots
 IFS='.' read -r -a NETMASK_PARTS <<< "$NETMASK"
 echo "Netmask parts: ${NETMASK_PARTS[0]}, ${NETMASK_PARTS[1]}, ${NETMASK_PARTS[2]}, ${NETMASK_PARTS[3]}"
 
-# include/rtps/config.h のIPアドレス置換
+# Replace the IP address in include/rtps/config.h
 
 echo "Running sed on include/rtps/config.h"
 sed -i "s/[[:space:]]*[0-9]\{1,3\},[[:space:]]*[0-9]\{1,3\},[[:space:]]*[0-9]\{1,3\},[[:space:]]*[0-9]\{1,3\}[[:space:]]*}; \
@@ -58,15 +58,15 @@ ${IP_PARTS[0]}, ${IP_PARTS[1]}, ${IP_PARTS[2]}, ${IP_PARTS[3]}};\
 include/rtps/config.h
 
 
-# include/netif.h のIPアドレスとネットマスク置換
+# Replace the IP address and netmask in include/netif.h
 sed -i 's/#define NETIF_IPADDR ".*"/#define NETIF_IPADDR "'$IP_ADDRESS'"/' include/netif.h
 sed -i 's/#define NETIF_NETMASK ".*"/#define NETIF_NETMASK "'$NETMASK'"/' include/netif.h
 
 
 
-# 結果を表示して確認
+# Display the result for confirmation
 echo "Updated IP Address: $IP_ADDRESS"
 echo "Updated include/rtps/config.h:"
 grep -E  'Needs to be set in lwipcfg.h too.' include/rtps/config.h
 echo "Updated include/netif.h:"
-grep -E 'NETIF_IPADDR' include/netif.h
+grep -E 'NETIF_IPADDR' include/netif.h

workspace/test/README.md

@@ -8,3 +8,23 @@ We plan to maintain them in the near future, as they remain useful (see #1).
 (embeddedRTPS and lwip-posix)
 * embeddedRTPS layer: [fastdds-comp](https://github.com/mROS-base/mros2-posix/tree/main/workspace/test/fastdds-comp)
 
+
+
+## mros2 Directory Overview
+
+The `mros2` directory contains several test programs and configuration files, which are actively used in the CI testing process. Below is the structure and overview of the this directory:
+
+```
+mros2/
+├── docker-compose.yml
+├── test_echoback_string
+├── test_echoback_string_responder
+├── test_echoback_twist
+└── test_echoback_twist_responder
+```
+
+- **docker-compose.yml**: This is an experimental file that was prepared for setting up the environment, but it is currently not used in the CI process. See `.github/workflows/humble_docker_test.yaml`
+- **test_echoback_string**: A test program that sends a string message and expects an echo response, validating communication for string messages in a ROS 2 environment. It is designed to communicate with the `mros2-host-example`'s `mros2_echoreply_string` (a test for Native ROS) and `test_echoback_string_responder` (a test for mROS). The responder listens for incoming messages and sends back the received message.
+- **test_echoback_string_responder**: This program subscribes to incoming string messages and echoes them back, facilitating the echo test for string messages.
+- **test_echoback_twist**: A test program that sends a `geometry_msgs::msg::Twist` message and expects an echo response, validating communication for Twist messages in a ROS 2 environment. It communicates with the `mros2-host-example`'s `mros2_echoreply_twist` (a test for Native ROS) and `test_echoback_twist_responder` (a test for mROS).
+- **test_echoback_twist_responder**: This program subscribes to incoming Twist messages and echoes them back, facilitating the echo test for Twist messages.