ROS2 support

.github/workflows/ci.yml

@@ -43,7 +43,8 @@ jobs:
 
   python_tests:
     name: Python tests (${{ matrix.name }})
-    needs: rust_tests
+    needs:
+      - rust_tests
     runs-on: ${{ matrix.os }}
     timeout-minutes: 45
     strategy:
@@ -102,6 +103,55 @@ jobs:
         if: runner.os == 'macOS'
         run: bash ./ci/script.sh python-tests
 
+  ros2_tests:
+    name: ROS2 tests
+    needs: python_tests
+    runs-on: ubuntu-latest
+    timeout-minutes: 45
+    container:
+      image: ubuntu:noble
+      options: --user 0
+    env:
+      DO_DOCKER: 0
+    steps:
+      - uses: actions/checkout@v5
+
+      - name: Install container bootstrap dependencies
+        run: |
+          apt-get update
+          DEBIAN_FRONTEND=noninteractive apt-get install -y \
+            build-essential \
+            cmake \
+            curl \
+            ca-certificates \
+            git \
+            gnupg2 \
+            locales \
+            lsb-release
+
+      - uses: actions-rust-lang/setup-rust-toolchain@v1
+        with:
+          toolchain: stable
+          rustflags: ""
+
+      - uses: actions/setup-python@v6
+        with:
+          python-version: "3.12"
+
+      - name: Setup ROS 2
+        # `ros-tooling/setup-ros@v0.7` still runs as a Node.js 20 action.
+        # Force it onto Node 24 now so CI keeps working as GitHub deprecates
+        # Node 20, and upgrade `setup-ros` to a Node 24-compatible release
+        # when one becomes available.
+        env:
+          FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: true
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: jazzy
+
+      - name: Run ROS2 Python tests
+        run: bash ./ci/script.sh ros2-tests
+
   ocp_tests:
     name: OCP tests (${{ matrix.name }})
     needs: python_tests

ci/script.sh

@@ -60,6 +60,35 @@ run_python_core_tests() {
     generated_clippy_tests
 }
 
+run_python_ros2_tests() {
+    export PYTHONPATH=.
+    set +u
+    if [ -n "${ROS_DISTRO:-}" ] && [ -f "/opt/ros/${ROS_DISTRO}/setup.bash" ]; then
+        # setup-ros installs the ROS underlay but does not source it for our shell
+        source "/opt/ros/${ROS_DISTRO}/setup.bash"
+    elif [ -f "/opt/ros/jazzy/setup.bash" ]; then
+        source "/opt/ros/jazzy/setup.bash"
+    else
+        set -u
+        echo "ROS2 environment setup script not found"
+        exit 1
+    fi
+    set -u
+
+    if ! python -c "import em, lark, catkin_pkg" >/dev/null 2>&1; then
+        # ROS2 build helpers run under the active Python interpreter. The test venv
+        # already has NumPy from `pip install .`, but we also need the ROS-side
+        # Python packages used during interface and package metadata generation.
+        # Empy 4 has broken older ROS message generators in the past, so keep it
+        # on the 3.x API here.
+        python -m pip install "empy<4" lark catkin_pkg
+    fi
+
+    command -v ros2 >/dev/null
+    command -v colcon >/dev/null
+    python -W ignore test/test_ros2.py -v
+}
+
 run_python_ocp_tests() {
     export PYTHONPATH=.
     python -W ignore test/test_ocp.py -v
@@ -84,6 +113,11 @@ main() {
                 setup_python_test_env
                 run_python_core_tests
                 ;;
+            ros2-tests)
+                echo "Running ROS2 Python tests"
+                setup_python_test_env
+                run_python_ros2_tests
+                ;;
             ocp-tests)
                 echo "Running OCP Python tests"
                 setup_python_test_env

docs/contributing.md → docs/contributing.mdx

@@ -5,6 +5,9 @@ title: Contributing to OpEn
 description: How do I contribute to OpEn
 ---
 
+import Tabs from '@theme/Tabs';
+import TabItem from '@theme/TabItem';
+
 ## How can I contribute to OpEn?
 Thank you for considering contributing to Optimization Engine (OpEn)!
 
@@ -134,23 +137,111 @@ Each time the major or minor number of the Rust library is updated, a new crate
 In order to release a new version make sure that 
 you have done the following:
 
-- Updated [CHANGELOG]
-- Updated the version in (SemVer):
-    - [CHANGELOG]
-    - [Cargo.toml]
-    - [setup.py]
-- Resolved all associated issues on github (and you have created tests for these)
-- Updated the documentation (Rust/Python API docs + website)
-- Merged into master (your pull request has been approved)
-- All tests pass on Travis CI and Appveyor
-- Set `publish=true` in `Cargo.toml` (set it back to `false` for safety)
-- Publish `opengen` on PyPI (if necessary)
-    - before doing so, make sure that the cargo.toml template 
-      points to the correct version of OpEn
-- Changed "Unreleased" into the right version in [CHANGELOG] and created
-  a release on github (example [release v0.4.0]) 
+---
+
+<Tabs>
+  <TabItem value="open" label="open (Rust)">
+
+Checklist: 
+
+<ul>
+  <li>Updated [CHANGELOG]: bump version, write summary of changes</li>
+  <li>Updated [Cargo.toml]: bump version</li>
+  <li>Resolve all associated issues on GitHub</li>
+  <li>Write new unit tests if necessary</li>
+  <li>Update the API documentation</li>
+  <li>Update the information on the website</li>
+  <li>Merge into master once your pull request has been approved</li>
+</ul>
+
+Then, create a tag and push it...
+
+  ```bash
+  git tag -a v0.10.0 -m "v0.10.0"
+  git push --tags
+  ```
+
+Lastly, update the [docker image](https://github.com/alphaville/optimization-engine/tree/master/docker).
+This will have to be a new PR.
+
+  </TabItem>
+
+
+  <TabItem value="opengen" label="opengen">
+
+Checklist: 
+
+<ul>
+  <li>Updated [CHANGELOG](https://github.com/alphaville/optimization-engine/blob/master/open-codegen/CHANGELOG.md): bump version, write summary of changes</li>
+  <li>Updated [VERSION]: bump version</li>
+  <li>Review [`pyproject.toml`](https://github.com/alphaville/optimization-engine/blob/master/open-codegen/pyproject.toml)</li>
+  <li>Resolve all associated issues on GitHub</li>
+  <li>Write new unit tests if necessary</li>
+  <li>Update the API documentation</li>
+  <li>Update the information on the website</li>
+  <li>Merge into master once your pull request has been approved</li>
+  <li>Update the API docs</li>
+</ul>
+
+Then, create a tag and push it...
+
+  ```bash
+  git tag -a opengen-0.10.0 -m "opengen-0.10.0"
+  git push --tags
+  ```
+
+
+
+Lastly, update the [docker image](https://github.com/alphaville/optimization-engine/tree/master/docker).
+This will have to be a new PR.
+
+  </TabItem>
+
+
+  <TabItem value="docker" label="docker">
+
+  Update the [Dockerfile](https://github.com/alphaville/optimization-engine/blob/master/docker/Dockerfile).
+  You may need to bump the versions of open and opengen:
+
+  ```Dockerfile
+  ARG OPENGEN_VERSION=0.10.0
+  ARG OPTIMIZATION_ENGINE_CRATE_VERSION=0.11.0
+  ```
+
+  Update the [CHANGELOG](https://github.com/alphaville/optimization-engine/blob/master/docker/CHANGELOG.md).
+  Update the [README](https://github.com/alphaville/optimization-engine/blob/master/docker/README.md) file.
+  Build, test, and push with 
+
+  ```bash
+  docker push alphaville/open:0.7.0
+  ```
+
+  Update the [website docs](./docker) and the promo on the [main page](..)
+
+  </TabItem>
+</Tabs>
+
+---
+
+To update the website, run 
+```bash
+GIT_USER=alphaville \
+  CURRENT_BRANCH=master \
+  USE_SSH=true \
+  yarn deploy
+```
+from within `website/`. Then, update the opengen API docs too; 
+just push a commit with message starting with `[docit]`.
+You can also issue a commit without git-add. Run
+
+```bash
+git commit -m '[docit] update api docs' --allow-empty
+```
+
+
 
 [CHANGELOG]: https://github.com/alphaville/optimization-engine/blob/master/CHANGELOG.md
+[VERSION]: https://github.com/alphaville/optimization-engine/blob/master/open-codegen/VERSION
 [Cargo.toml]: https://github.com/alphaville/optimization-engine/blob/master/Cargo.toml    
 [setup.py]: https://github.com/alphaville/optimization-engine/blob/master/open-codegen/setup.py
 [release v0.4.0]: https://github.com/alphaville/optimization-engine/releases/tag/v0.4.0

docs/python-c.mdx

@@ -270,4 +270,4 @@ iterations = 69
 outer iterations = 5
 solve time = 0.140401 ms
 ```
-```
+

docs/python-ros.md

@@ -2,9 +2,13 @@
 id: python-ros
 title: Generation of ROS packages
 sidebar_label: ROS packages
-description: Code generation for ROS packages using OpEn in Python
+description: Code generation for ROS packages using opengen
 ---
 
+:::note Info
+Opengen now supports [ROS2](./python-ros2).
+:::
+
 ## What is ROS
 The [Robot Operating System](https://www.ros.org/) (ROS) is a collection of tools and libraries, as well as a framework that facilitates the data exchange among them. ROS is popular in the robotics community and is used to design and operate modern robotic systems.
 
@@ -21,7 +25,7 @@ OpEn (with opengen version `0.5.0` or newer) can generate ready-to-use ROS packa
 
 The input parameters message follows the following specification:
 
-```
+```msg
 float64[]      parameter         # parameter p (mandatory)
 float64[]      initial_guess     # u0 (optional/recommended)
 float64[]      initial_y         # y0 (optional)
@@ -40,9 +44,28 @@ initial_y: []
 
 #### Result
 
-A result message (`OptimizationResult`) contains the solution of the parametric optimization problem and details about the solution procedure such as the number of inner/outer iterations and the solution time. The result of an auto-generated OpEn node is a message with the following specification:
+A result message (`OptimizationResult`) contains the solution of the parametric optimization problem and details about the solution procedure such as the number of inner/outer iterations and the solution time. 
+An example of such a message is given below:
 
+```yaml
+solution: [0.5317, 0.7975, 0.6761, 0.7760, 0.5214]
+inner_iterations: 159
+outer_iterations: 5
+status: 0
+norm_fpr: 2.142283848e-06
+penalty: 111250.0
+lagrange_multipliers: []
+infeasibility_f1: 0.0
+infeasibility_f2: 2.44131958366e-05
+solve_time_ms: 2.665959
 ```
+
+<details>
+<summary>Specification of <code>OptimizationResult</code></summary>
+
+The message `OptimizationResult` is described by the following message file 
+
+```msg
 # Constants match the enumeration of status codes
 uint8 STATUS_CONVERGED=0
 uint8 STATUS_NOT_CONVERGED_ITERATIONS=1
@@ -63,20 +86,7 @@ float64      infeasibility_f2      # infeasibility wrt F2
 float64      solve_time_ms         # solution time in ms
 ```
 
-An example of such a message is given below:
-
-```yaml
-solution: [0.5317, 0.7975, 0.6761, 0.7760, 0.5214]
-inner_iterations: 159
-outer_iterations: 5
-status: 0
-norm_fpr: 2.142283848e-06
-penalty: 111250.0
-lagrange_multipliers: []
-infeasibility_f1: 0.0
-infeasibility_f2: 2.44131958366e-05
-solve_time_ms: 2.665959
-```
+</details>
 
 ### Configuration Parameters