From 1aa6c57559e16afb6fe9ec7b9f1a4424b83c08d6 Mon Sep 17 00:00:00 2001 From: jimmy-mcelwain Date: Fri, 21 Jun 2024 16:11:34 -0400 Subject: [PATCH] Update packages to be iron-compatible --- host_ws_pkgs.repos | 16 ++++---- target_ws_pkgs.ignore | 3 ++ target_ws_pkgs.repos | 90 ++++++++++++++++++++++++++----------------- 3 files changed, 66 insertions(+), 43 deletions(-) diff --git a/host_ws_pkgs.repos b/host_ws_pkgs.repos index 8a9a36f..96e56fb 100644 --- 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 index cf2ef7c..d0cc87a 100644 --- 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 index 71d48c0..2ca1834 100644 --- 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