Clean up

.github/workflows/tests.yaml

@@ -8,27 +8,23 @@ on:
 jobs:
   black:
     name: Black
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-      - name: Black
-        uses: psf/[email protected]
+      - uses: actions/checkout@v3
+      - uses: psf/black@stable
         with:
           options: --line-length=99
 
   spellcheck:
     name: Spellcheck
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-      - name: Spellcheck
-        uses: rojopolis/[email protected]
+      - uses: actions/checkout@v3
+      - uses: rojopolis/[email protected]
 
   industrial_ci:
     name: Industrial CI
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     timeout-minutes: 30
     strategy:
       fail-fast: false
@@ -38,10 +34,6 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v3
 
-      - name: Act + Docker fix
-        run: |
-          sudo chown runner:docker /var/run/docker.sock
-
       - name: Setup ROS2 Workspace and Clone Repositories
         run: |
           mkdir -p src
@@ -53,15 +45,16 @@ jobs:
           cp -r src/ros2_controllers/imu_sensor_broadcaster src/
           rm -rf src/ros2_controllers
 
-        # Package micro_ros_msgs does not have industrial ci and tests does not pass.
-        # For more information see https://github.com/micro-ROS/micro_ros_msgs/issues/7
-      - name: Remove tests from micro_ros_msgs
+      - name: Leave only ROSbot tests
         shell: bash
-        run: sed '/if(BUILD_TESTING)/,/endif()/d' src/micro_ros_msgs/CMakeLists.txt -i
+        run: |
+          sed '/if(BUILD_TESTING)/,/endif()/d' src/diff_drive_controller/CMakeLists.txt -i
+          sed '/if(BUILD_TESTING)/,/endif()/d' src/imu_sensor_broadcaster/CMakeLists.txt -i
+          # Package micro_ros_msgs does not have industrial ci and tests does not pass.
+          # For more information see https://github.com/micro-ROS/micro_ros_msgs/issues/7
+          sed '/if(BUILD_TESTING)/,/endif()/d' src/micro_ros_msgs/CMakeLists.txt -i
 
-      - name: Running ROS Industrial CI
-        uses: ros-industrial/industrial_ci@master
+      - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: ${{matrix.ROS_DISTRO}}
-          DOCKER_IMAGE: ros:${{matrix.ROS_DISTRO}}-ros-base
           IMMEDIATE_TEST_OUTPUT: true

rosbot_bringup/launch/bringup.launch.py

@@ -96,20 +96,12 @@ def generate_launch_description():
         namespace=namespace,
     )
 
-    laser_filter_config = PathJoinSubstitution(
-        [
-            rosbot_bringup,
-            "config",
-            "laser_filter.yaml",
-        ]
-    )
+    laser_filter_config = PathJoinSubstitution([rosbot_bringup, "config", "laser_filter.yaml"])
 
     laser_filter_node = Node(
         package="laser_filters",
         executable="scan_to_scan_filter_chain",
-        parameters=[
-            laser_filter_config,
-        ],
+        parameters=[laser_filter_config],
         remappings=[
             ("/tf", "tf"),
             ("/tf_static", "tf_static"),