Mdns body states

.github/workflows/auto_documentation.yml

@@ -29,8 +29,8 @@ jobs:
           submodules: recursive
       - name: Move directory
         run: |
-          mkdir -p $HOME/catkin_ws/src/soccerbot
-          mv $GITHUB_WORKSPACE/* $HOME/catkin_ws/src/soccerbot
+          mkdir -p $HOME/ros2_ws/src/soccerbot
+          mv $GITHUB_WORKSPACE/* $HOME/ros2_ws/src/soccerbot
       - name: Install apt fast
         run: |
           sudo apt-get update
@@ -43,30 +43,30 @@ jobs:
           sudo apt-get clean
       - name: Install ros dependencies
         run: |
-          cd $HOME/catkin_ws/src/soccerbot
+          cd $HOME/ros2_ws/src/soccerbot
           source /opt/ros/noetic/setup.bash
           rosdep update
-          rosdep install --from-paths . --ignore-src -r -s  | grep 'apt-get install' | awk '{print $5}' | sort  >  /tmp/catkin_install_list
-          sudo apt-fast install -y --no-install-recommends $(cat /tmp/catkin_install_list)
-          udo apt-fast install -y python3-catkin-tools python-is-python3
+          rosdep install --from-paths . --ignore-src -r -s  | grep 'apt-get install' | awk '{print $5}' | sort  >  /tmp/ros2_install_list
+          sudo apt-fast install -y --no-install-recommends $(cat /tmp/ros2_install_list)
+          udo apt-fast install -y python3-ros2-tools python-is-python3
       - name: Install python dependencies
         run: |
-          cd $HOME/catkin_ws/src/soccerbot
+          cd $HOME/ros2_ws/src/soccerbot
           source /opt/ros/noetic/setup.bash
           pip3 install pyOpenSSL==23.0.0
           pip3 install --upgrade pip
           pip3 install -r requirements.txt -f https://download.pytorch.org/whl/torch/ -f https://download.pytorch.org/whl/torchvision/
       - name: Build Soccerbot
         run: |
-          cd $HOME/catkin_ws
+          cd $HOME/ros2_ws
           source /opt/ros/noetic/setup.bash
-          catkin init
-          catkin build
+          ros2 init
+          ros2 build
       - name: Build Sphinx Documentation
         run: |
-          cd $HOME/catkin_ws/src/soccerbot/docs
+          cd $HOME/ros2_ws/src/soccerbot/docs
           source /opt/ros/noetic/setup.bash
-          source $HOME/catkin_ws/devel/setup.bash
+          source $HOME/ros2_ws/devel/setup.bash
           pip install -r requirements.txt
           roscore &
           make html
@@ -75,7 +75,7 @@ jobs:
       - name: Upload artifact
         uses: actions/upload-pages-artifact@v2
         with:
-          path: /home/runner/catkin_ws/src/soccerbot/docs/_build/html
+          path: /home/runner/ros2_ws/src/soccerbot/docs/_build/html
       - name: Setup tmate session
         if: ${{ failure() }}
         uses: mxschmitt/action-tmate@v3

.github/workflows/test_catkin_lint.yml

@@ -22,8 +22,8 @@ jobs:
         with:
           submodules: recursive
 
-      - name: Install catkin_lint
-        run: sudo apt update && sudo apt install catkin-lint
+      - name: Install ros2_lint
+        run: sudo apt update && sudo apt install ros2-lint
 
-      - name: Run catkin_lint
-        run: catkin_lint ${{github.workspace}}
+      - name: Run ros2_lint
+        run: ros2_lint ${{github.workspace}}

.github/workflows/test_pytest.yml

@@ -28,8 +28,8 @@ jobs:
           submodules: recursive
       - name: Move directory
         run: |
-          mkdir -p $HOME/catkin_ws/src/soccerbot
-          mv $GITHUB_WORKSPACE/* $HOME/catkin_ws/src/soccerbot
+          mkdir -p $HOME/ros2_ws/src/soccerbot
+          mv $GITHUB_WORKSPACE/* $HOME/ros2_ws/src/soccerbot
       - name: Install apt fast
         run: |
           sudo apt-get update
@@ -42,25 +42,25 @@ jobs:
           sudo apt-get clean
       - name: Install ros dependencies
         run: |
-          cd $HOME/catkin_ws/src/soccerbot
+          cd $HOME/ros2_ws/src/soccerbot
           source /opt/ros/noetic/setup.bash
           rosdep update
-          rosdep install --from-paths . --ignore-src -r -s  | grep 'apt-get install' | awk '{print $5}' | sort  >  /tmp/catkin_install_list
-          sudo apt-fast install -y --no-install-recommends $(cat /tmp/catkin_install_list)
-          sudo apt-fast install -y python3-catkin-tools python-is-python3
+          rosdep install --from-paths . --ignore-src -r -s  | grep 'apt-get install' | awk '{print $5}' | sort  >  /tmp/ros2_install_list
+          sudo apt-fast install -y --no-install-recommends $(cat /tmp/ros2_install_list)
+          sudo apt-fast install -y python3-ros2-tools python-is-python3
       - name: Install python dependencies
         run: |
-          cd $HOME/catkin_ws/src/soccerbot
+          cd $HOME/ros2_ws/src/soccerbot
           source /opt/ros/noetic/setup.bash
           pip install pyOpenSSL==23.0.0
           python3 -m pip install -U --user pip
           pip install -r tools/setup/requirements.txt
       - name: Build Soccerbot
         run: |
-          cd $HOME/catkin_ws
+          cd $HOME/ros2_ws
           source /opt/ros/noetic/setup.bash
-          catkin init
-          catkin build
+          ros2 init
+          ros2 build
       - name: Initialize fake display and roscore
         run: |
           source /opt/ros/noetic/setup.bash
@@ -71,9 +71,9 @@ jobs:
       - name: Pytest
         run: |
           mkdir -p /home/$USER/.ros/config && cd /home/$USER/.ros/config && ln -s /opt/ros/noetic/etc/ros/python_logging.conf
-          cd $HOME/catkin_ws/src/soccerbot
+          cd $HOME/ros2_ws/src/soccerbot
           source /opt/ros/noetic/setup.bash
-          source $HOME/catkin_ws/devel/setup.bash
+          source $HOME/ros2_ws/devel/setup.bash
           export PYTHONPATH=$PYTHONPATH:soccer_common/src:soccer_pycontrol/src
           pytest -s --cache-clear --ignore=soccer_strategy --ignore=external --ignore=soccer_hardware/ --ignore=test_integration.py --ignore=soccer_webots