Update packages to be iron-compatible

Yaskawa-Global · Jun 21, 2024 · 1aa6c57 · 1aa6c57
1 parent 332ca51
commit 1aa6c57
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Showing 3 changed files with 66 additions and 43 deletions.
diff --git a/host_ws_pkgs.repos b/host_ws_pkgs.repos
@@ -15,32 +15,32 @@ repositories:
   ros2/ament_cmake_ros:
     type: git
     url: https://github.com/ros2/ament_cmake_ros.git
-    version: 0.10.0
+    version: 0.11.2
   ament/ament_cmake:
     type: git
     # this is the only fork needed.
     # ament_cmake_core needs a single patch (for now),
     # otherwise this is vanilla upstream
     url: https://github.com/yaskawa-global/ament_cmake.git
-    # branch: 'humble-wip'
-    version: c31cecc540cd6e6f3bb4e437c77bdc928fe2dbc4
+    branch: 'iron-motoplus1-candidate-20240327'
+    version: a5960498ca28d56f9a535a4fb15830624daed5c3
   ament/ament_index:
     type: git
     url: https://github.com/ament/ament_index.git
-    version: 1.4.0
+    version: 1.5.2
   ament/ament_lint:
     type: git
     url: https://github.com/ament/ament_lint.git
-    version: 0.12.4
+    version: 0.14.3
   ament/ament_package:
     type: git
     url: https://github.com/ament/ament_package.git
-    version: 0.14.0
+    version: 0.15.3
   ament/googletest:
     type: git
     url: https://github.com/ament/googletest.git
-    version: 1.10.9004
+    version: 1.10.9005
   ament/uncrustify_vendor:
     type: git
     url: https://github.com/ament/uncrustify_vendor.git
-    version: 2.0.2
+    version: 2.1.2
diff --git a/target_ws_pkgs.ignore b/target_ws_pkgs.ignore
@@ -36,11 +36,14 @@ ros2/rcpputils
 ros2/rmw_implementation/test_rmw_implementation
 ros2/rosidl/rosidl_typesupport_introspection_cpp
 ros2/rosidl/rosidl_typesupport_introspection_tests
+ros2/rosidl/rosidl_generator_tests
 uros/rcl/rcl_lifecycle
 uros/rosidl_typesupport_microxrcedds/test
+uros/rosidl_typesupport/rosidl_typesupport_tests
 uros/tracetools/ros2trace
 uros/tracetools/test_tracetools
 uros/tracetools/test_tracetools_launch
+uros/tracetools/test_ros2trace
 uros/tracetools/tracetools_launch
 uros/tracetools/tracetools_read
 uros/tracetools/tracetools_test

diff --git a/target_ws_pkgs.repos b/target_ws_pkgs.repos
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: CC0-1.0
 
-# Revisions checked out mostly target ROS 2 Humble (or the micro-ROS equivalents).
+# Revisions checked out mostly target ROS 2 Iron (or the micro-ROS equivalents).
 #
 # NOTE: this list has not been pruned. It's possible some of these repositories
 # are not actually needed for the MotoPlus platform.
@@ -15,111 +15,130 @@ repositories:
   eProsima/Micro-CDR:
     type: git
     url: https://github.com/eProsima/Micro-CDR.git
-    version: 2510ae2575ea4ef9682047b14ce515af4cd7b9f1
+    version: 3d1b17703c7cf4f22def2910bc845bdb5152d7b5
   eProsima/Micro-XRCE-DDS-Client:
     type: git
     url: https://github.com/yaskawa-global/microxrcedds_client_motoplus.git
-    # this is 'v2.2.1' from upstream, but with our own patches
-    # branch name: motoplus_dev/upstream/v2.2.1_with_patches_galactic
-    version: 4876ecca89e2bc934fee66b814587d2fc06f8f33
+    # this is '2.4.3' from upstream, but with our own patches
+    # branch name: 'motoplus_dev/upstream/v2.4.3_with_patches_iron'
+    version: 3178c635e09b73b371808c3be2d33e5109b74e9f
 
   ros2/libyaml_vendor:
     type: git
     url: https://github.com/ros2/libyaml_vendor.git
-    version: 1.2.2
+    version: 1.5.0
 
   ros2/rcl_logging:
     type: git
     url: https://github.com/ros2/rcl_logging.git
-    version: 764508af43391d4583bb1aa310e809409ab166d5
+    version: 2.5.1
   ros2/rclc:
     type: git
     url: https://github.com/ros2/rclc.git
-    version: 786d95e3f2b20c156c8a88e7ff4b693e41171125
+    # NOTE: see the release notes: https://github.com/ros2/rclc/releases/tag/5.0.1
+    # especially the PRs touching rosout logging init
+    # NOTE 2: this is three commits past '5.0.1', fixing the clash with 'NONE'.
+    # See: https://github.com/ros2/rclc/issues/378
+    version: 63d5c43993cb2d0d03ecd1b68d771046fd4ad19f
   ros2/rcpputils:
     # NOTE: we don't actually use this package in MotoROS2
     # TODO: check whether we can drop this completely
     type: git
     url: https://github.com/ros2/rcpputils.git
-    version: 2.4.0
+    version: 2.6.3
 
   ros2/rmw:
     type: git
     url: https://github.com/yaskawa-global/rmw.git
-    # branch: 'humble-wip'
-    version: c705eb5260c47163399ee60f50da5253b1af992b
+    # one patch on top of iron (which removes the message string
+    # from GCC deprecation attributes used (which GCC in M+ doesn't support))
+    # branch: 'iron-motoplus1'
+    version: 1ae820c60cb101cce294cd4b5320344fd1d72862
   ros2/rmw_implementation:
     type: git
     url: https://github.com/ros2/rmw_implementation.git
-    version: 2.8.2
+    version: 2.12.0
   ros2/rosidl:
     type: git
     url: https://github.com/ros2/rosidl.git
-    # almost 2.2.1, but with PR#617
-    version: bdc43f017e537649ca4306a977e838d3f1d0e825
+    version: 4.0.1
   ros2/rosidl_dds:
     type: git
     url: https://github.com/ros2/rosidl_dds.git
-    version: 0.8.1
+    version: 0.10.1
   ros2/rosidl_defaults:
     type: git
     url: https://github.com/ros2/rosidl_defaults.git
-    version: 1.2.0
+    version: 1.5.0
+  ros2/rosidl_dynamic_typesupport:
+    type: git
+    url: https://github.com/ros2/rosidl_dynamic_typesupport.git
+    version: 0.0.5
+  ros2/rosidl_core:
+    type: git
+    url: https://github.com/ros2/rosidl_core.git
+    version: 0.1.1
 
   uros/rcl:
     type: git
     # this is a regular fork, but renamed due to potential clashes with ros2/rcl
     url: https://github.com/yaskawa-global/micro_ros_rcl.git
-    # NOTE: the fork adds additional patches, on top of 'upstream/humble'.
-    #       Branch name: 'humble-wip-candidate-20221102'
-    version: 9be1df062fd48f1e9eb92132383b4802bbc5ab6f
+    # NOTE 1: the fork adds additional patches, on top of 'upstream/iron'.
+    #       Branch name: 'iron-wip-candidate-20240327'
+    # NOTE 2: this tracks upstream/iron, NOT upstream/master, although master
+    #         contains some fixes for action servers
+    # NOTE 3: micro-ROS devs have made substantial changes to argument parsing infrastructure
+    #         and renamed compile time flags/CMake flags etc. Not sure this all still works
+    version: d662d253c329c06a20c406c6ef07c6f0a6999fb9
   uros/rcutils:
     type: git
+    # Basically 'upstream/iron', with 6 commits of our own
     url: https://github.com/yaskawa-global/rcutils.git
-    # Basically 'upstream/humble', with 5 commits of our own
-    version: 19816524b34d0d4aadd04d42947bdf1848251ce8
+    #       Branch name: 'iron-wip-candidate-20240327'
+    version: d1675fb79c76ba7d9ed426e23d2fcc7d7e211d58
   uros/micro_ros_utilities:
     type: git
     url: https://github.com/micro-ROS/micro_ros_utilities.git
-    version: 008b94ab857c72a4e79239cb1d5b80e80ed268bc
+    version: 4.0.2
   uros/rmw-microxrcedds:
     type: git
     url: https://github.com/micro-ROS/rmw-microxrcedds.git
-    version: a2a74846971697e4afc8a70b59c9a8352d74195b
+    version: 4.0.2
   uros/rosidl_typesupport:
     type: git
     url: https://github.com/yaskawa-global/rosidl_typesupport.git
-    # 'upstream/humble' with a single patch of our own
-    version: fea3ab8a497b87b04d489d7cfb733a8455b90fad
+    #       Branch name: 'iron-wip-candidate-20240327'
+    version: 7b4c3d2c3b559f5f02a5783ebd0c9fd1e2c36e28
   uros/rosidl_typesupport_microxrcedds:
     type: git
     url: https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git
-    version: 3.0.0
+    version: 4.0.1
 
   uros/tracetools:
     type: git
     url: https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing.git
-    version: 638fa0ab095ae1e941b05187418f0089c431e8d9
+    version: 6.3.1
 
   # messages/services/actions
   ros2/common_interfaces:
     type: git
     url: https://github.com/ros2/common_interfaces.git
-    version: 4.2.2
+    version: 5.0.1
   ros2/rcl_interfaces:
     type: git
     url: https://github.com/ros2/rcl_interfaces.git
-    version: 1b2e75388ded2c224e662df60ca957c14e2a8852
+    version: 1.6.0
   ros2/unique_identifier_msgs:
     type: git
     url: https://github.com/ros2/unique_identifier_msgs.git
-    version: 2.2.1
+    version: 2.3.2
 
-  # only used to determine the ROS 2 codename during packaging
+  # we only use this to determine the ROS 2 distro codename during packaging.
+  # It does not end up in 'libmicroros.a'
   ros2/ros_environment:
     type: git
     url: https://github.com/ros/ros_environment.git
-    version: humble
+    version: 4.1.1
 
   # extra dependencies needed for MotoROS2
   extra/industrial_msgs:
@@ -130,13 +149,14 @@ repositories:
   extra/ros-controls/control_msgs:
     type: git
     url: https://github.com/ros-controls/control_msgs.git
-    version: 4.1.0
+    # technically on 'rolling', but this is the version released into Iron ..
+    version: 5.2.0
   extra/ros2/geometry2_tf2_msgs:
     type: git
     url: https://github.com/ros2/geometry2.git
-    version: 0.25.1
+    version: 0.31.7
   extra/motoros2_interfaces:
     type: git
     url: https://github.com/yaskawa-global/motoros2_interfaces.git
     # branch: main
-    version: 134e2b4110f21f5e72aadf9f5af30644a46573b0
+    version: 76505a17bd327c82cd2ddad4c3d5c0e4b561931a