Merge branch 'main' into dependabot/github_actions/ros-tooling/setup-…

…ros-0.7

.github/workflows/ament_lint.yml

@@ -17,8 +17,8 @@ jobs:
     container:
       image: ubuntu:22.04
     steps:
-    - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@v0.7
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/setup-ros@v0.6
       with:
         required-ros-distributions: humble  # We will have to keep it up-to-date with <https://docs.ros.org/en/foxy/Releases.html>
     - uses: ros-tooling/action-ros-lint@master

.github/workflows/colcon_build.yml

@@ -21,8 +21,8 @@ jobs:
           os: ubuntu-22.04
     runs-on: ${{ matrix.os }}
     steps:
-    - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@v0.7
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/setup-ros@v0.6
       with:
         required-ros-distributions: ${{ matrix.ros2-version }}
     - uses: ros-tooling/action-ros-ci@v0.3

.pre-commit-config.yaml

@@ -11,14 +11,14 @@ repos:
   - id: end-of-file-fixer
   - id: trailing-whitespace
 - repo: https://github.com/codespell-project/codespell
-  rev: v2.2.4
+  rev: v2.2.5
   hooks:
   - id: codespell
     name: Fixing common spelling mistakes
     args:
     - --write-changes
 - repo: https://github.com/igorshubovych/markdownlint-cli
-  rev: v0.34.0
+  rev: v0.36.0
   hooks:
   - id: markdownlint
     name: Fixing markdown linting errors
@@ -29,12 +29,12 @@ repos:
   - id: absolufy-imports
     name: Make python imports absolute
 - repo: https://github.com/psf/black
-  rev: 23.3.0
+  rev: 23.7.0
   hooks:
   - id: black
     name: Python formatting (black)
 - repo: https://github.com/PyCQA/docformatter
-  rev: v1.7.2
+  rev: v1.7.5
   hooks:
   - id: docformatter
     name: Python docstring formatting (docformatter)
@@ -45,13 +45,13 @@ repos:
     name: Sorting python imports
     args: [--profile, black]
 - repo: https://github.com/asottile/pyupgrade
-  rev: v3.6.0
+  rev: v3.10.1
   hooks:
   - id: pyupgrade
     name: Upgrade common mistakes
     args: [--py38-plus]
 - repo: https://github.com/PyCQA/flake8
-  rev: 6.0.0
+  rev: 6.1.0
   hooks:
   - id: flake8
     name: Linting Python code (flake8)
@@ -61,21 +61,21 @@ repos:
     - flake8-comprehensions
     - flake8-simplify
     - pep8-naming
-- repo: https://github.com/charliermarsh/ruff-pre-commit
-  rev: v0.0.272
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.0.287
   hooks:
   - id: ruff
     name: Linting Python code (ruff)
     args: [--fix, --exit-non-zero-on-fix]
 - repo: https://github.com/macisamuele/language-formatters-pre-commit-hooks
-  rev: v2.9.0
+  rev: v2.10.0
   hooks:
   - id: pretty-format-yaml
     args: [--autofix, --indent, '2']
   - id: pretty-format-toml
     args: [--autofix]
 - repo: https://github.com/pre-commit/mirrors-mypy
-  rev: v1.3.0
+  rev: v1.5.1
   hooks:
   - id: mypy
     name: Static typechecking (mypy)

example/README.md

@@ -24,78 +24,78 @@ TODO: description
 
 - **`background_b`** (integer)
 
-TODO: description
+    Blue channel of the background color
 
 - **`background_g`** (integer)
 
-TODO: description
+    Green channel of the background color
 
 - **`background_r`** (integer)
 
-TODO: description
+    Red channel of the background color
 
 ### Subscribers
 
 - **`/turtle1/cmd_vel`** (geometry_msgs/msg/Twist)
 
-TODO: description
+    TODO: description
 
 ### Publishers
 
 - **`/turtle1/color_sensor`** (turtlesim/msg/Color)
 
-TODO: description
+    TODO: description
 
 - **`/turtle1/pose`** (turtlesim/msg/Pose)
 
-TODO: description
+    TODO: description
 
 ### Services
 
 - **`/clear`** (std_srvs/srv/Empty)
 
-TODO: description
+    TODO: description
 
 - **`/kill`** (turtlesim/srv/Kill)
 
-TODO: description
+    TODO: description
 
 - **`/reset`** (std_srvs/srv/Empty)
 
-TODO: description
+    TODO: description
 
 - **`/spawn`** (turtlesim/srv/Spawn)
 
-TODO: description
+    TODO: description
 
 - **`/turtle1/set_pen`** (turtlesim/srv/SetPen)
 
-TODO: description
+    TODO: description
 
 - **`/turtle1/teleport_absolute`** (turtlesim/srv/TeleportAbsolute)
 
-TODO: description
+    TODO: description
 
 - **`/turtle1/teleport_relative`** (turtlesim/srv/TeleportRelative)
 
-TODO: description
+    TODO: description
 
 ### Actions
 
 - **`/turtle1/rotate_absolute`** (turtlesim/action/RotateAbsolute)
 
-TODO: description
+    TODO: description
 
 ### draw_square
 
 ### Subscribers
 
 - **`/turtle1/pose`** (turtlesim/msg/Pose)
 
-TODO: description
+    TODO: description
 
 ### Publishers
 
 - **`/turtle1/cmd_vel`** (geometry_msgs/msg/Twist)
 
-TODO: description
+    TODO: description

ros2autodoc/api/__init__.py

@@ -92,9 +92,9 @@ def get_nodes(package_name):
 def document_node(node, package_name, node_name, path):
     """Document the given node."""
     writer = DocWriter(package_name, node_name, path)
-    param_names, params = _get_parameters(node, node_name)
+    param_names, params, description = _get_parameters(node, node_name)
     if len(params) > 0:
-        writer.get_parameters(param_names, params)
+        writer.get_parameters(param_names, params, description)
     subscribers = get_subscriber_info(
         node=node, remote_node_name=node_name, include_hidden=False
     )
@@ -120,11 +120,13 @@ def document_node(node, package_name, node_name, path):
 
 def _get_parameters(node, node_name):
     name_to_type_map = {}
+    name_to_description_map = {}
     parameter_names = call_list_parameters(node=node, node_name=node_name)
     sorted_names = sorted(parameter_names)
     resp = call_describe_parameters(
         node=node, node_name=node_name, parameter_names=sorted_names
     )
     for descriptor in resp.descriptors:
         name_to_type_map[descriptor.name] = get_parameter_type_string(descriptor.type)
-    return sorted_names, name_to_type_map
+        name_to_description_map[descriptor.name] = descriptor.description
+    return sorted_names, name_to_type_map, name_to_description_map

ros2autodoc/api/doc_writer.py

@@ -61,11 +61,18 @@ def __init__(self, package_name, node_name, directory):
         self.services = []
         self.actions = []
 
-    def get_parameters(self, param_names, params_map):
+    def get_parameters(self, param_names, params_map, desciption_map):
         for param in param_names:
             if param not in PARAMS_TO_IGNORE:
                 param_type = params_map[param]
-                self.parameters.append({"name": param, "type": param_type})
+                param_description = desciption_map[param]
+                self.parameters.append(
+                    {
+                        "name": param,
+                        "type": param_type,
+                        "description": param_description,
+                    }
+                )
 
     def get_subscribers(self, subscribers):
         for sub in subscribers:
@@ -138,4 +145,8 @@ def _write_item(self, file, item):
         _name = item["name"]
         _type = item["type"]
         file.write(f"- **`{_name}`** ({_type})\n\n")
-        file.write(f"{TODO}")
+        if "description" in item:
+            _description = item["description"]
+            file.write(f"    {_description}\n\n")
+        else:
+            file.write(f"    {TODO}")