Latest changes from rolling

.github/workflows/jazzy.yml

@@ -31,11 +31,3 @@ jobs:
             }
           colcon-mixin-name: coverage-gcc
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - name: Codecov
-        uses: codecov/codecov-action@v5.4.0
-        with:
-          files: ros_ws/lcov/total_coverage.info
-          flags: unittests
-          name: codecov-umbrella
-          # yml: ./codecov.yml
-          fail_ci_if_error: false

.github/workflows/rolling.yml

@@ -9,17 +9,15 @@ on:
       - rolling
 jobs:
   build-and-test:
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-26.04
     container:
-      image: ubuntu:noble
+      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-resolute-ros-rolling-ros-base:master
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           ref: rolling
-      - name: Setup ROS 2
-        uses: ros-tooling/setup-ros@0.7.15
       - name: build and test
-        uses: ros-tooling/action-ros-ci@0.4.5
+        uses: ros-tooling/action-ros-ci@0.4.8
         with:
           package-name: roboligo roboligo_cli roboligo_common roboligo_connector roboligo_interfaces roboligo_states roboligo_system roboligo_connector_mavros roboligo_robot_drone
           target-ros2-distro: rolling
@@ -30,12 +28,4 @@ jobs:
               }
             }
           colcon-mixin-name: coverage-gcc
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - name: Codecov
-        uses: codecov/codecov-action@v5.4.0
-        with:
-          files: ros_ws/lcov/total_coverage.info
-          flags: unittests
-          name: codecov-umbrella
-          # yml: ./codecov.yml
-          fail_ci_if_error: false
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml

roboligo/launch/roboligo.launch.py

@@ -18,6 +18,7 @@
 
 from launch import LaunchDescription
 from launch_ros.actions import Node
+from launch.actions import ExecuteProcess
 
 def generate_launch_description():
 
@@ -28,10 +29,12 @@ def generate_launch_description():
             package="roboligo_system",
             executable="roboligo_main",
             output="screen",
-            parameters=[
-                params_file,
+            arguments=[
+                '--ros-args',
+                '--params-file', params_file,
             ],
         )
+
 
     ld = LaunchDescription()
     ld.add_action(roboligo)

roboligo/package.xml

@@ -13,8 +13,13 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+
   <depend>roboligo_common</depend>
   <depend>roboligo_system</depend>
+  <depend>roboligo_cli</depend>
+  <depend>roboligo_connector</depend>
+  <depend>roboligo_interfaces</depend>
+  <depend>roboligo_states</depend>
 
   <export>
     <build_type>ament_cmake</build_type>

roboligo/params/drone.params.yaml

@@ -11,6 +11,7 @@ connector_node:
     connector_types: [mavros]
     mavros:
       plugin: roboligo_connector_mavros/RoboligoConnectorMavros
+      init_alt: 0.75
 
 roboligo_node:
   ros__parameters:

roboligo_cli/package.xml

@@ -18,6 +18,8 @@
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>ament_xmllint</test_depend>
+  <test_depend>ament_pytest</test_depend>
+  <test_depend>python3-pytest</test_depend>
 
   <export>
     <build_type>ament_python</build_type>

roboligo_cli/setup.py

@@ -12,15 +12,19 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from setuptools import find_packages
 from setuptools import setup
 
 package_name = 'roboligo_cli'
 
 setup(
     name=package_name,
     version='0.0.0',
-    packages=find_packages(exclude=['test']),
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
     install_requires=['ros2cli'],
     zip_safe=True,
     author='Juan S. Cely G.',
@@ -37,7 +41,6 @@
     long_description="""\
 roboligo cli: roboligo cli tools to manage robots.""",
     license='Apache License 2.0',
-    tests_require=['pytest'],
     entry_points={
         'ros2cli.command': [
             'roboligo = roboligo_cli.command.roboligo:RoboligoCommand',

roboligo_cli/test/test_cli.py

@@ -0,0 +1,24 @@
+# Copyright 2026 Juan S. Cely G.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import importlib
+import unittest
+
+
+class TestRoboligoCli(unittest.TestCase):
+
+    def test_import(self):
+        """Test that the package can be imported."""
+        module = importlib.import_module("roboligo_cli")
+        self.assertIsNotNone(module)

roboligo_common/include/roboligo_common/classification/ClassificationBase.hpp

@@ -24,66 +24,66 @@
 #include "roboligo_common/classification/Trigger.hpp"
 #include "roboligo_common/types/RobotState.hpp"
 
-namespace roboligo 
+namespace roboligo
 {
     /**
     * @class ClassificationBase
     * @brief Base class for classification plugins in the Roboligo system.
-    * 
+    *
     * ClassificationBase provides an abstract interface for implementing classification
     * functionality within the robot control framework. It inherits from PluginBase and
     * follows a plugin architecture pattern, allowing extensibility through derived classes.
     */
-    class ClassificationBase : public PluginBase
-    {
-    public:
+class ClassificationBase : public PluginBase
+{
+public:
         /**
         * @brief constructor
         */
-        ClassificationBase() = default;
+  ClassificationBase() = default;
 
         /**
         * @brief Destructor
         */
-        virtual ~ClassificationBase() = default;
+  virtual ~ClassificationBase() = default;
 
         /**
         * @brief Initializes the classification plugin.
         * @param parent_node Shared pointer to the lifecycle node managing this plugin.
         * @param plugin_name Name identifier for this plugin instance.
         */
-        virtual void initialize(
-            const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> parent_node,
-            const std::string & plugin_name);
+  virtual void initialize(
+    const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> parent_node,
+    const std::string & plugin_name);
 
         /**
         * @brief Sets the robot state classification.
         * @param robot_state Reference to the robot state to classify.
         * @return True if the operation succeeded, false otherwise.
         */
-        virtual bool set(RobotState & robot_state);
+  virtual bool set(RobotState & robot_state);
 
         /**
         * @brief Updates the robot state classification.
         * @param robot_state Reference to the robot state to update.
         * @return True if the operation succeeded, false otherwise.
         */
-        virtual bool update(RobotState & robot_state);
+  virtual bool update(RobotState & robot_state);
 
-    protected:
+protected:
         /**
         * @brief Called when setting robot state (override in derived classes).
         * @param robot_state Reference to the robot state being set.
         */
-        virtual void on_set([[maybe_unused]]RobotState & robot_state){}
+  virtual void on_set([[maybe_unused]] RobotState & robot_state) {}
 
         /**
         * @brief Called when updating robot state (override in derived classes).
         * @param robot_state Reference to the robot state being updated.
         */
-        virtual void on_update([[maybe_unused]]RobotState & robot_state){}
+  virtual void on_update([[maybe_unused]] RobotState & robot_state) {}
 
-    };
+};
 
 } // namespace roboligo
-#endif // ROBOLIGO_COMMON_CLASSIFICATION__CLASSIFICATIONBASE_HPP_
+#endif // ROBOLIGO_COMMON_CLASSIFICATION__CLASSIFICATIONBASE_HPP_

roboligo_common/include/roboligo_common/classification/Mode.hpp

@@ -22,68 +22,68 @@ namespace roboligo
     /**
     * @class Mode
     * @brief Represents a configurable mode with name, value, and active status.
-    * 
+    *
     * This class encapsulates mode information including a name identifier,
     * a value representation, and an active status flag. It provides methods
     * to get and set these properties.
     */
-    class Mode
-    {
-    public:
+class Mode
+{
+public:
         /**
         * @brief Constructs a Mode object with the specified name and value.
         * @param name The mode name identifier
         * @param value The mode value representation
         */
-        Mode(std::string name, std::string value)
-            :name_(name), value_(value) {}
+  Mode(std::string name, std::string value)
+  :name_(name), value_(value) {}
 
         /**
         * @brief Virtual destructor for proper cleanup of derived classes.
         */
-        virtual ~Mode() = default;
+  virtual ~Mode() = default;
 
         /**
         * @brief Gets the mode name.
         * @return The name of the mode
         */
-        std::string get_name(void);
+  std::string get_name(void);
 
         /**
         * @brief Gets the mode value.
         * @return The value associated with the mode
         */
-        std::string get_value(void);
+  std::string get_value(void);
 
         /**
         * @brief Sets the mode name.
         * @param new_name The new mode name
         */
-        void set_name(std::string new_name);
+  void set_name(std::string new_name);
 
         /**
         * @brief Sets the mode value.
         * @param new_value The new mode value
         */
-        void set_value(std::string new_value);
+  void set_value(std::string new_value);
 
         /**
         * @brief Checks if the mode is active.
         * @return True if the mode is active, false otherwise
         */
-        bool is_ative(void);
+  bool is_ative(void);
 
         /**
         * @brief Sets the active status of the mode.
         * @param status The new active status
         */
-        void set_active(bool status);
+  void set_active(bool status);
 
-    protected:
-        std::string name_{"base_mode"};      ///< Mode name identifier
-        std::string value_{"MODE"};          ///< Mode value representation
-        bool active_{false};                 ///< Active status flag
-    };
+protected:
+  std::string name_{"base_mode"};            ///< Mode name identifier
+  std::string value_{"MODE"};                ///< Mode value representation
+  bool active_{false};                       ///< Active status flag
+};
 
 } // namespace roboligo
-#endif // ROBOLIGO_COMMON_CLASSIFICATION__MODE_HPP_
+#endif // ROBOLIGO_COMMON_CLASSIFICATION__MODE_HPP_