Merge branch 'ros2-devel' into jazzy

Author: David Conner

.flake8

@@ -1,5 +1,4 @@
 [flake8]
 exclude = .git
 max-line-length = 130
-ignore = W503, D100, D105, D107  # Ignore docstring requirements for public modules, magic methods, and __init__ functions.
-# For W503 - https://www.flake8rules.com/rules/W503.html and https://peps.python.org/pep-0008/#should-a-line-break-before-or-after-a-binary-operator
+ignore = W503, D100, D105, D107

README.md

@@ -13,9 +13,13 @@ Please refer to the FlexBE Homepage ([flexbe.github.io](http://flexbe.github.io)
 
 You may also want to check out the quick start tutorial demonstrations at [FlexBE Turtlesim Demo](https://github.com/FlexBE/flexbe_turtlesim_demo).
 
-![FlexBE CI](https://github.com/FlexBE/flexbe_behavior_engine/workflows/FlexBE%20CI/badge.svg?branch=jazzy)
+[![FlexBE CI](https://github.com/FlexBE/flexbe_behavior_engine/actions/workflows/flexbe_ci.yml/badge.svg)](https://github.com/FlexBE/flexbe_behavior_engine/actions/workflows/flexbe_ci.yml)
 
-Jazzy ![ROS Build Farm](https://build.ros2.org/job/Jdev__flexbe_behavior_engine__ubuntu_noble_amd64/badge/icon)
+Jazzy [![Jazzy ROS Build Status](https://build.ros2.org/buildStatus/icon?job=Jdev__flexbe_behavior_engine__ubuntu_noble_amd64)](https://build.ros2.org/job/Jdev__flexbe_behavior_engine__ubuntu_noble_amd64/)
+
+Kilted [![Kilted ROS Build Status](https://build.ros2.org/buildStatus/icon?job=Kdev__flexbe_behavior_engine__ubuntu_noble_amd64)](https://build.ros2.org/job/Kdev__flexbe_behavior_engine__ubuntu_noble_amd64/)
+
+Rolling [![Rolling ROS Build Status](https://build.ros2.org/buildStatus/icon?job=Rdev__flexbe_behavior_engine__ubuntu_noble_amd64)](https://build.ros2.org/job/Rdev__flexbe_behavior_engine__ubuntu_noble_amd64/)
 
 > Note: This version 4+ breaks compatibility with the FlexBE App.  You must use the FlexBE WebUI [flexbe_webui](https://github.com/FlexBE/flexbe_webui.git) now.
 

flexbe_behavior_engine/.flake8

@@ -0,0 +1,4 @@
+[flake8]
+exclude = .git
+max-line-length = 130
+ignore = W503, D100, D105, D107

flexbe_behavior_engine/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package flexbe_behavior_engine
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.2 (2025-11-08)
+------------------
+* update test set up for colcon testing and build farm
+
 4.0.1 (2024-09-26)
 ------------------
 

flexbe_behavior_engine/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>flexbe_behavior_engine</name>
-  <version>4.0.1</version>
+  <version>4.0.2</version>
   <description>
     A meta-package to aggregate all the FlexBE packages
   </description>

flexbe_core/.flake8

@@ -1,3 +1,4 @@
 [flake8]
-exclude = .git
+exclude = .git, build, install, dist
 max-line-length = 130
+ignore = B902, W503, D100, D105, D107

flexbe_core/CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package flexbe_core
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.2 (2025-11-08)
+------------------
+* flake8 cleanup and CI badge update
+* fixed state_logger and be_action_server for ros2
+* clean warn --> warning
+* clean of latest flake8 tests
+* update test set up for colcon testing and build farm
+* specify python3
+* protect against package parsing errors
+* add verify_action_status with timeout; clear status and other terms in remove_result
+
 4.0.1 (2024-09-26)
 ------------------
 * codespell clean up

flexbe_core/flexbe_core/behavior.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # Copyright 2024 Philipp Schillinger, Team ViGIR, Christopher Newport University
 #

flexbe_core/flexbe_core/behavior_library.py

@@ -63,14 +63,18 @@ def parse_packages(self):
         """Parse all ROS2 packages to update the internal behavior library."""
         self._behavior_lib = {}
         for pkg_name, pkg_path in get_packages_with_prefixes().items():
-            pkg = parse_package(os.path.join(pkg_path, 'share', pkg_name))
-            for export in pkg.exports:
-                if export.tagname == 'flexbe_behaviors':
-                    try:
-                        self._add_behavior_manifests(os.path.join(pkg_path, 'lib', pkg_name, 'manifest'), pkg_name)
-                    except KeyError as exc:
-                        print(f"Error : duplicate behavior name found in '{pkg_name}' \n  {exc}", flush=True)
-                        raise exc
+            pkg_share_path = os.path.join(pkg_path, 'share', pkg_name)
+            try:
+                pkg = parse_package(pkg_share_path)
+                for export in pkg.exports:
+                    if export.tagname == 'flexbe_behaviors':
+                        try:
+                            self._add_behavior_manifests(os.path.join(pkg_path, 'lib', pkg_name, 'manifest'), pkg_name)
+                        except KeyError as exc:
+                            print(f"Error : duplicate behavior name found in '{pkg_name}' \n  {exc}", flush=True)
+                            raise exc
+            except OSError:
+                print(f"BehaviorLibrary - '{pkg_share_path}' cannot be parsed to find FlexBE relevant behaviors.")
 
     def _add_behavior_manifests(self, path, pkg=None):
         """
@@ -151,7 +155,7 @@ def find_behavior(self, be_identifier):
             be_package, be_name = be_split[0], '/'.join(be_split[1:])
 
             def __find_behavior():
-                return next((id, be) for (id, be)
+                return next((beh_id, be) for (beh_id, be)
                             in self._behavior_lib.items()
                             if be['name'] == be_name and be['package'] == be_package)
         else:

flexbe_core/flexbe_core/core/concurrency_container.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # Copyright 2024 Philipp Schillinger, Team ViGIR, Christopher Newport University
 #
@@ -289,7 +289,7 @@ def on_exit(self, userdata, states=None):
             if state.name in self._returned_outcomes and self._returned_outcomes[state.name] is not None:
                 if not state._exited:
                     Logger.localinfo(f"\x1b[93mCC '{self.name}'  - '{state.name}' is in returned outcomes "
-                                     f"w/ '{self._returned_outcomes[state.name] }' but has not exited!\x1b[0m")
+                                     f"w/ '{self._returned_outcomes[state.name]}' but has not exited!\x1b[0m")
                 continue  # skip states that already exited themselves
             self._execute_single_state(state, force_exit=True)