Merge pull request #40 from gergondet/topic/ROS2Support

Add ROS2 support and remove obsolete tools

.github/workflows/build.yml

@@ -19,87 +19,31 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04]
-        compiler: [gcc]
+        os: [ubuntu-22.04, ubuntu-20.04]
     runs-on: ${{ matrix.os }}
     steps:
-    - uses: actions/checkout@v1
-      with:
-        submodules: recursive
-    - name: Temporary APT mirrors cleanup
-      if: startsWith(runner.os, 'Linux')
-      run: |
-        set -e
-        sudo rm -f /etc/apt/sources.list.d/dotnetdev.list /etc/apt/sources.list.d/microsoft-prod.list
-    - name: Setup extra APT mirror
-      if: startsWith(runner.os, 'Linux')
-      run: |
-        set -x
-        set -e
-        curl -1sLf 'https://dl.cloudsmith.io/public/mc-rtc/head/setup.deb.sh' | sudo -E bash
-    - name: Install ROS
-      if: startsWith(runner.os, 'Linux')
-      run: |
-        set -e
-        set -x
-        pushd .
-        if [ "${{ matrix.os }}" = "ubuntu-16.04" ]
-        then
-          export ROS_DISTRO="kinetic"
-        elif [ "${{ matrix.os }}" = "ubuntu-18.04" ]
-        then
-          export ROS_DISTRO="melodic"
-        else
-          export ROS_DISTRO="noetic"
-        fi
-        sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-        wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-        sudo apt-get update -qq
-        sudo apt-get install -qq ros-${ROS_DISTRO}-ros-base ros-${ROS_DISTRO}-tf2-ros ros-${ROS_DISTRO}-tf ros-${ROS_DISTRO}-rviz ros-${ROS_DISTRO}-mc-rtc-plugin
-        . /opt/ros/${ROS_DISTRO}/setup.bash
-        mkdir -p /tmp/_ci/catkin_ws/src/
-        cd /tmp/_ci/catkin_ws/src
-        catkin_init_workspace
-        cd ../
-        catkin_make || exit 1
-        popd
-    - name: Setup env
-      if: matrix.os == 'macos-latest'
-      run: |
-        export PATH=/usr/local/opt/qt/bin:$PATH
-        echo "PATH=${PATH}" >> $GITHUB_ENV
-        export CMAKE_PREFIX_PATH=/usr/local/opt/qt@5:${CMAKE_PREFIX_PATH}
-        echo "CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}" >> $GITHUB_ENV
     - name: Install dependencies
       uses: jrl-umi3218/github-actions/install-dependencies@master
       with:
-        compiler: gcc
-        build-type: RelWithDebInfo
         ubuntu: |
-          apt: libltdl-dev qt5-default libqwt-qt5-dev libmc-rtc-dev
-        macos: |
-          brew-taps: mc-rtc/mc-rtc
-          brew: qt5 qwt mc_rtc
-          github: # Get the head version of mc_rtc
-            - path: jrl-umi3218/mc_rtc
-              options: -DPYTHON_BINDING:BOOL=OFF
-    - name: Build and test
-      if: matrix.os == 'macos-latest'
-      uses: jrl-umi3218/github-actions/build-cmake-project@master
+          apt-mirrors:
+            mc-rtc:
+              cloudsmith: mc-rtc/head
+          apt: libmc-rtc-dev libqwt-qt5-dev
+        ros: |
+          apt: mc-rtc-plugin
+    - name: Install Qt5
+      if: ${{ matrix.os == 'ubuntu-20.04' }}
+      uses: jrl-umi3218/github-actions/install-dependencies@master
       with:
-        compiler: gcc
-        build-type: RelWithDebInfo
-        macos-options: '-DCMAKE_CXX_STANDARD=17'
+        ubuntu: |
+          apt: qt5-default
     - name: Build with catkin
-      if: startsWith(runner.os, 'Linux')
-      run: |
-        set -e
-        set -x
-        PROJECT_DIR=`pwd`
-        cd /tmp/_ci/catkin_ws
-        cp -r $PROJECT_DIR src/
-        . devel/setup.bash
-        catkin_make || exit 1
+      if: ${{ matrix.os == 'ubuntu-20.04' }}
+      uses: jrl-umi3218/github-actions/build-catkin-project@master
+    - name: Build with colcon
+      if: ${{ matrix.os != 'ubuntu-20.04' }}
+      uses: jrl-umi3218/github-actions/build-colcon-project@master
     - name: Slack Notification
       if: failure()
       uses: archive/github-actions-slack@master

.github/workflows/package.yml

@@ -24,9 +24,10 @@ jobs:
     uses: jrl-umi3218/github-actions/.github/workflows/package-project.yml@master
     with:
       with-ros: true
+      latest-cmake: true
       matrix: |
           {
-            "dist": ["bionic", "focal"],
+            "dist": ["bionic", "focal", "jammy"],
             "arch": ["amd64"]
           }
     secrets:

README.md

@@ -25,7 +25,7 @@ This stack requires:
 Installing
 ------
 
-## Ubuntu LTS (16.04, 18.04, 20.04)
+## Ubuntu LTS (18.04, 20.04. 22.04)
 
 You must first setup our package mirror:
 

CMakeLists.txt → debian/CMakeLists.txt

@@ -7,10 +7,7 @@ enable_testing()
 find_package(catkin)
 
 if(${catkin_FOUND})
-  add_subdirectory(mc_log_visualization)
-  add_subdirectory(mc_convex_visualization)
   add_subdirectory(mc_rtc_ticker)
-  add_subdirectory(mc_surfaces_visualization)
 endif()
 
 add_subdirectory(mc_rtc_rviz_panel)

debian/control

@@ -8,9 +8,12 @@ Vcs-git: https://github.com/jrl-umi3218/mc_rtc_msgs
 Vcs-Browser: https://github.com/jrl-umi3218/mc_rtc_msgs
 Build-Depends: debhelper (>= 9),
                cmake,
-               qt5-default,
+               qtbase5-dev | qt5-default,
                libqwt-qt5-dev,
 # ros-@ROS_DISTRO@-mc-rtc-plugin,
-# ros-@ROS_DISTRO@-rviz,
-# ros-@ROS_DISTRO@-tf,
+#ROS1  ros-@ROS_DISTRO@-rviz,
+#ROS1  ros-@ROS_DISTRO@-tf,
+#ROS2  ros-@ROS_DISTRO@-rviz2,
+#ROS2  ros-@ROS_DISTRO@-tf2,
+#ROS2  ros-@ROS_DISTRO@-visualization-msgs,
                libmc-rtc-dev

debian/control.ros

@@ -1,28 +1,11 @@
 
-Package: ros-@ROS_DISTRO@-mc-convex-visualization
-Architecture: any
-Section: science
-Depends: ${misc:Depends},
-         ${shlibs:Depends},
-         ros-@ROS_DISTRO@-rviz
-Description: mc-rtc - Convex visualization
- RViZ based tools to visualize convexes
-
-Package: ros-@ROS_DISTRO@-mc-log-visualization
-Architecture: any
-Section: science
-Depends: ${misc:Depends},
-         ${shlibs:Depends},
-         ros-@ROS_DISTRO@-rviz
-Description: mc-rtc - Log visualization
- RViZ based tools to visualize logs
-
 Package: ros-@ROS_DISTRO@-mc-rtc-rviz-panel
 Architecture: any
 Section: science
 Depends: ${mic:Depends},
          ${shlibs:Depends},
-         ros-@ROS_DISTRO@-rviz
+#ROS1         ros-@ROS_DISTRO@-rviz
+#ROS2         ros-@ROS_DISTRO@-rviz2
 Description: mc-rtc - RViZ panel
  RViZ plugin implementing mc_rtc GUI
 
@@ -34,22 +17,10 @@ Depends: ${misc:Depends},
 Description: mc-rtc - ROS ticker
  mc_rtc interface implementation using ROS for kinematic simulations
 
-Package: ros-@ROS_DISTRO@-mc-surfaces-visualization
-Architecture: any
-Section: science
-Depends: ${misc:Depends},
-         ${shlibs:Depends},
-         ros-@ROS_DISTRO@-rviz
-Description: mc-rtc - Surfaces visualization
- RViZ based tools to visualize surfaces
-
 Package: ros-@ROS_DISTRO@-mc-rtc-tools
 Architecture: any
 Section: science
-Depends: ros-@ROS_DISTRO@-mc-convex-visualization,
-         ros-@ROS_DISTRO@-mc-log-visualization,
-         ros-@ROS_DISTRO@-mc-rtc-rviz-panel,
-         ros-@ROS_DISTRO@-mc-rtc-ticker,
-         ros-@ROS_DISTRO@-mc-surfaces-visualization
+Depends: ros-@ROS_DISTRO@-mc-rtc-rviz-panel,
+         ros-@ROS_DISTRO@-mc-rtc-ticker
 Description: mc-rtc - ROS tools
  Collection of ROS-based tools for mc_rtc

debian/ros-ROS_DISTRO-mc-rtc-rviz-panel.install

@@ -1,4 +1,9 @@
 opt/ros/@ROS_DISTRO@/lib/libmc_rtc_rviz_panel.so
-opt/ros/@ROS_DISTRO@/lib/mc_rtc_rviz_panel/mc_rtc_gui
-opt/ros/@ROS_DISTRO@/lib/pkgconfig/mc_rtc_rviz_panel.pc
+#ROS1 opt/ros/@ROS_DISTRO@/lib/mc_rtc_rviz_panel/mc_rtc_gui
+#ROS1 opt/ros/@ROS_DISTRO@/lib/pkgconfig/mc_rtc_rviz_panel.pc
+#ROS2 opt/ros/@ROS_DISTRO@/bin/mc_rtc_gui
+#ROS2 opt/ros/@ROS_DISTRO@/share/ament_index/resource_index/package_run_dependencies/mc_rtc_rviz_panel
+#ROS2 opt/ros/@ROS_DISTRO@/share/ament_index/resource_index/packages/mc_rtc_rviz_panel
+#ROS2 opt/ros/@ROS_DISTRO@/share/ament_index/resource_index/parent_prefix_path/mc_rtc_rviz_panel
+#ROS2 opt/ros/@ROS_DISTRO@/share/ament_index/resource_index/rviz_common__pluginlib__plugin/mc_rtc_rviz_panel
 opt/ros/@ROS_DISTRO@/share/mc_rtc_rviz_panel/*

debian/ros-ROS_DISTRO-mc-rtc-ticker.install

@@ -1,3 +1,5 @@
-opt/ros/@ROS_DISTRO@/lib/mc_rtc_ticker/*
-opt/ros/@ROS_DISTRO@/lib/pkgconfig/mc_rtc_ticker.pc
+#ROS1 opt/ros/@ROS_DISTRO@/lib/pkgconfig/mc_rtc_ticker.pc
+#ROS2 opt/ros/@ROS_DISTRO@/share/ament_index/resource_index/package_run_dependencies/mc_rtc_ticker
+#ROS2 opt/ros/@ROS_DISTRO@/share/ament_index/resource_index/packages/mc_rtc_ticker
+#ROS2 opt/ros/@ROS_DISTRO@/share/ament_index/resource_index/parent_prefix_path/mc_rtc_ticker
 opt/ros/@ROS_DISTRO@/share/mc_rtc_ticker/*

debian/rules

@@ -1,35 +1,43 @@
 #!/usr/bin/make -f
 # -*- makefile -*-
 
+SRC:=$(CURDIR)
 TMP:=$(CURDIR)/debian/tmp
 
-export ROS_DISTRO=@ROS_DISTRO@
-ifeq (${ROS_DISTRO},)
-	export CMAKE_OPTIONS=
-	export EXTRA_STEPS=
+export ROS_DISTRO:=@ROS_DISTRO@
+export ROS_VERSION:=$(shell . /opt/ros/${ROS_DISTRO}/setup.sh && echo $$ROS_VERSION)
+export ROS_PYTHON_VERSION:=$(shell . /opt/ros/${ROS_DISTRO}/setup.sh && echo $$ROS_PYTHON_VERSION)
+ifeq (${ROS_PYTHON_VERSION}, 3)
+	export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/lib/python3/dist-packages:${PYTHONPATH}
+	export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/lib/python$(shell python3 -c "import sys; print(f'{sys.version_info.major}.{sys.version_info.minor}');")/site-packages:${PYTHONPATH}
+	export PYTHON_EXECUTABLE:=/usr/bin/python3
 else
-	export ROS_PYTHON_VERSION:=$(shell . /opt/ros/${ROS_DISTRO}/setup.sh && echo $$ROS_PYTHON_VERSION)
-	ifeq (${ROS_PYTHON_VERSION}, 3)
-		export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/lib/python3/dist-packages:${PYTHONPATH}
-		export PYTHON_EXECUTABLE=/usr/bin/python3
-	else
-		export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/lib/python2.7/dist-packages:${PYTHONPATH}
-		export PYTHON_EXECUTABLE=/usr/bin/python
-	endif
-	export PKG_CONFIG_PATH=/opt/ros/${ROS_DISTRO}/lib/pkgconfig:$PKG_CONFIG_PATH
-	export ROS_MASTER_URI=http://localhost:11311
-	export ROS_PACKAGE_PATH=/opt/ros/${ROS_DISTRO}/share
-	export CMAKE_PREFIX_PATH=/opt/ros/${ROS_DISTRO}:$CMAKE_PREFIX_PATH
-	export CMAKE_OPTIONS=-DCMAKE_INSTALL_PREFIX=/opt/ros/${ROS_DISTRO} -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/lib/python2.7/dist-packages:${PYTHONPATH}
+	export PYTHON_EXECUTABLE:=/usr/bin/python
 endif
+export PKG_CONFIG_PATH:=/opt/ros/${ROS_DISTRO}/lib/pkgconfig:$PKG_CONFIG_PATH
+export ROS_MASTER_URI:=http://localhost:11311
+export ROS_PACKAGE_PATH:=/opt/ros/${ROS_DISTRO}/share
+export LD_LIBRARY_PATH:=/opt/ros/${ROS_DISTRO}/lib:$LD_LIBRARY_PATH
+export CMAKE_PREFIX_PATH:=/opt/ros/${ROS_DISTRO}:$CMAKE_PREFIX_PATH
+# Default CMake options for Debian packaging
+export CMAKE_OPTIONS:=-DCMAKE_BUILD_TYPE=None -DCMAKE_EXPORT_NO_PACKAGE_REGISTRY=ON -DCMAKE_FIND_PACKAGE_NO_PACKAGE_REGISTRY=ON "-GUnix Makefiles" -DCMAKE_VERBOSE_MAKEFILE=ON -DCMAKE_AUTOGEN_VERBOSE=ON
+export CMAKE_OPTIONS:=${CMAKE_OPTIONS} -DCMAKE_INSTALL_PREFIX=/opt/ros/${ROS_DISTRO} -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 
 
 %:
 	dh $@
 
 override_dh_auto_configure:
-	dh_auto_configure -- ${CMAKE_OPTIONS}
+	cmake -S $(SRC)/mc_rtc_ticker -B $(SRC)/build/mc_rtc_ticker ${CMAKE_OPTIONS}
+	cmake -S $(SRC)/mc_rtc_rviz_panel -B $(SRC)/build/mc_rtc_rviz_panel ${CMAKE_OPTIONS}
+
+override_dh_auto_build:
+	cmake --build $(SRC)/build/mc_rtc_ticker
+	cmake --build $(SRC)/build/mc_rtc_rviz_panel
 
 override_dh_auto_install:
-	dh_auto_install --destdir=$(TMP)
-	${EXTRA_STEPS}
+	cd $(SRC)/build/mc_rtc_ticker && make -j1 install DESTDIR=$(TMP) AM_UPDATE_INFO_DIR=no
+	cd $(SRC)/build/mc_rtc_rviz_panel && make -j1 install DESTDIR=$(TMP) AM_UPDATE_INFO_DIR=no
+
+override_dh_auto_test: