Add ROS 2 Jazzy content-sharing support

snapcraft/extensions/_ros2_jazzy_meta.py

@@ -0,0 +1,119 @@
+# -*- Mode:Python; indent-tabs-mode:nil; tab-width:4 -*-
+#
+# Copyright 2024 Canonical Ltd.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License version 3 as
+# published by the Free Software Foundation.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+# Import types and tell flake8 to ignore the "unused" List.
+
+"""Base for ROS 2 Jazzy extensions to the Colcon plugin using content-sharing."""
+
+import dataclasses
+from abc import abstractmethod
+from typing import Any, Dict, Optional
+
+from overrides import overrides
+
+from .ros2_jazzy import ROS2JazzyExtension
+
+
+@dataclasses.dataclass
+class ROS2JazzySnaps:
+    """A structure of ROS 2 Jazzy related snaps."""
+
+    sdk: str
+    content: str
+    variant: str
+
+
+class ROS2JazzyMetaBase(ROS2JazzyExtension):
+    """Drives ROS 2 build and runtime environment for snap using content-sharing."""
+
+    @property
+    @abstractmethod
+    def ros2_jazzy_snaps(self) -> ROS2JazzySnaps:
+        """Return the ROS 2 Jazzy related snaps to use to construct the environment."""
+        raise NotImplementedError
+
+    @staticmethod
+    @overrides
+    def is_experimental(base: Optional[str]) -> bool:
+        return True
+
+    @overrides
+    def get_root_snippet(self) -> Dict[str, Any]:
+        root_snippet = super().get_root_snippet()
+        root_snippet["plugs"] = {
+            self.ros2_jazzy_snaps.content: {
+                "interface": "content",
+                "content": self.ros2_jazzy_snaps.content,
+                "target": "$SNAP/opt/ros/underlay_ws",
+                "default-provider": self.ros2_jazzy_snaps.content,
+            }
+        }
+        return root_snippet
+
+    @overrides
+    def get_app_snippet(self) -> Dict[str, Any]:
+        app_snippet = super().get_app_snippet()
+        python_paths = app_snippet["environment"]["PYTHONPATH"]
+        new_python_paths = [
+            f"$SNAP/opt/ros/underlay_ws/opt/ros/{self.ROS_DISTRO}/lib/python3.12/site-packages",
+            "$SNAP/opt/ros/underlay_ws/usr/lib/python3/dist-packages",
+        ]
+
+        app_snippet["environment"][
+            "PYTHONPATH"
+        ] = f'{python_paths}:{":".join(new_python_paths)}'
+
+        return app_snippet
+
+    @overrides
+    def get_part_snippet(self, *, plugin_name: str) -> Dict[str, Any]:
+        part_snippet = super().get_part_snippet(plugin_name=plugin_name)
+
+        # These are colcon-plugin specific entries
+        if plugin_name == "colcon":
+            part_snippet["colcon-ros-build-snaps"] = [self.ros2_jazzy_snaps.sdk]
+            part_snippet["colcon-cmake-args"] = [
+                f'-DCMAKE_SYSTEM_PREFIX_PATH="/snap/{self.ros2_jazzy_snaps.sdk}/current/usr"'
+            ]
+
+        return part_snippet
+
+    @overrides
+    def get_parts_snippet(self) -> Dict[str, Any]:
+        parts_snippet = super().get_parts_snippet()
+        # Very unlikely but it may happen that the snapped application doesn't
+        # even pull those deps. In that case, there is no valid ROS 2 ws to source.
+        # We make sure here that they are staged no matter what.
+        parts_snippet[f"ros2-{self.ROS_DISTRO}/ros2-launch"]["stage-packages"] = [
+            f"ros-{self.ROS_DISTRO}-ros-environment",
+            f"ros-{self.ROS_DISTRO}-ros-workspace",
+            f"ros-{self.ROS_DISTRO}-ament-index-cpp",
+            f"ros-{self.ROS_DISTRO}-ament-index-python",
+        ]
+
+        # Something in the ROS 2 build chain requires to find this lib during cmake call,
+        # however its cmake files ship with the '-dev' package.
+        parts_snippet[f"ros2-{self.ROS_DISTRO}/ros2-launch"]["build-packages"].append(
+            "libpython3.12-dev"
+        )
+
+        # The part name must follow the format <extension-name>/<part-name>
+        parts_snippet[
+            f"ros2-{self.ROS_DISTRO}-{self.ros2_jazzy_snaps.variant}/ros2-launch"
+        ] = parts_snippet[f"ros2-{self.ROS_DISTRO}/ros2-launch"]
+        parts_snippet.pop(f"ros2-{self.ROS_DISTRO}/ros2-launch")
+
+        return parts_snippet

snapcraft/extensions/registry.py

@@ -28,6 +28,9 @@
 from .ros2_humble_ros_base import ROS2HumbleRosBaseExtension
 from .ros2_humble_ros_core import ROS2HumbleRosCoreExtension
 from .ros2_jazzy import ROS2JazzyExtension
+from .ros2_jazzy_desktop import ROS2JazzyDesktopExtension
+from .ros2_jazzy_ros_base import ROS2JazzyRosBaseExtension
+from .ros2_jazzy_ros_core import ROS2JazzyRosCoreExtension
 
 if TYPE_CHECKING:
     from .extension import Extension
@@ -41,6 +44,9 @@
     "ros2-humble-ros-base": ROS2HumbleRosBaseExtension,
     "ros2-humble-desktop": ROS2HumbleDesktopExtension,
     "ros2-jazzy": ROS2JazzyExtension,
+    "ros2-jazzy-ros-core": ROS2JazzyRosCoreExtension,
+    "ros2-jazzy-ros-base": ROS2JazzyRosBaseExtension,
+    "ros2-jazzy-desktop": ROS2JazzyDesktopExtension,
     "kde-neon": KDENeon,
     "kde-neon-6": KDENeon6,
 }

snapcraft/extensions/ros2_jazzy.py

@@ -14,8 +14,6 @@
 # You should have received a copy of the GNU General Public License
 # along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
-# Import types and tell flake8 to ignore the "unused" List.
-
 """Extension to the Colcon plugin for ROS 2 Jazzy."""
 
 from typing import Any, Dict, Optional, Tuple

snapcraft/extensions/ros2_jazzy_desktop.py

@@ -0,0 +1,38 @@
+# -*- Mode:Python; indent-tabs-mode:nil; tab-width:4 -*-
+#
+# Copyright 2024 Canonical Ltd.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License version 3 as
+# published by the Free Software Foundation.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+"""Extension to the Colcon plugin for ROS 2 Jazzy using content sharing."""
+
+import functools
+
+from overrides import overrides
+
+from ._ros2_jazzy_meta import ROS2JazzyMetaBase, ROS2JazzySnaps
+
+
+class ROS2JazzyDesktopExtension(ROS2JazzyMetaBase):
+    """Drives ROS 2 build and runtime environment for snap using content-sharing."""
+
+    @functools.cached_property
+    @overrides
+    def ros2_jazzy_snaps(  # type: ignore[reportIncompatibleMethodOverride]
+        self,
+    ) -> ROS2JazzySnaps:
+        return ROS2JazzySnaps(
+            sdk="ros-jazzy-desktop-dev",
+            content="ros-jazzy-desktop",
+            variant="desktop",
+        )

snapcraft/extensions/ros2_jazzy_ros_base.py

@@ -0,0 +1,38 @@
+# -*- Mode:Python; indent-tabs-mode:nil; tab-width:4 -*-
+#
+# Copyright 2024 Canonical Ltd.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License version 3 as
+# published by the Free Software Foundation.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+"""Extension to the Colcon plugin for ROS 2 Jazzy using content sharing."""
+
+import functools
+
+from overrides import overrides
+
+from ._ros2_jazzy_meta import ROS2JazzyMetaBase, ROS2JazzySnaps
+
+
+class ROS2JazzyRosBaseExtension(ROS2JazzyMetaBase):
+    """Drives ROS 2 build and runtime environment for snap using content-sharing."""
+
+    @functools.cached_property
+    @overrides
+    def ros2_jazzy_snaps(  # type: ignore[reportIncompatibleMethodOverride]
+        self,
+    ) -> ROS2JazzySnaps:
+        return ROS2JazzySnaps(
+            sdk="ros-jazzy-ros-base-dev",
+            content="ros-jazzy-ros-base",
+            variant="ros-base",
+        )

snapcraft/extensions/ros2_jazzy_ros_core.py

@@ -0,0 +1,38 @@
+# -*- Mode:Python; indent-tabs-mode:nil; tab-width:4 -*-
+#
+# Copyright 2024 Canonical Ltd.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License version 3 as
+# published by the Free Software Foundation.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+"""Extension to the Colcon plugin for ROS 2 Jazzy using content sharing."""
+
+import functools
+
+from overrides import overrides
+
+from ._ros2_jazzy_meta import ROS2JazzyMetaBase, ROS2JazzySnaps
+
+
+class ROS2JazzyRosCoreExtension(ROS2JazzyMetaBase):
+    """Drives ROS 2 build and runtime environment for snap using content-sharing."""
+
+    @functools.cached_property
+    @overrides
+    def ros2_jazzy_snaps(  # type: ignore[reportIncompatibleMethodOverride]
+        self,
+    ) -> ROS2JazzySnaps:
+        return ROS2JazzySnaps(
+            sdk="ros-jazzy-ros-core-dev",
+            content="ros-jazzy-ros-core",
+            variant="ros-core",
+        )

snapcraft/parts/plugins/_ros.py

@@ -162,23 +162,30 @@ def _get_list_packages_commands(self) -> List[str]:
 
             for ros_build_snap in self._options.colcon_ros_build_snaps:  # type: ignore
                 snap_name = _get_parsed_snap(ros_build_snap)[0]
-                path = f"/snap/{snap_name}/current/opt/ros"
+                base_path = f"/snap/{snap_name}/current/opt/ros"
+                path_ros_sys = f"{base_path}/${{ROS_DISTRO}}/"
+                path_ros_app = f"{base_path}/snap/"
+                # ros2 pkg does not crawl sub-folders
+                if base == "core22":
+                    search_path = base_path
+                else:
+                    search_path = f"{path_ros_sys}:{path_ros_app}"
                 # pylint: disable=line-too-long
                 cmd.extend(
                     [
                         # Retrieve the list of all ROS packages available in the build snap
-                        f"if [ -d {path} ]; then",
-                        f"{rospkg_search_env}={path} "
+                        f"if [ -d {base_path} ]; then",
+                        f"{rospkg_search_env}={search_path} "
                         f'{rospkg_cmd} | (xargs rosdep resolve --rosdistro "${{ROS_DISTRO}}" || echo "") | '
                         'awk "/#apt/{getline;print;}" >> "${CRAFT_PART_INSTALL}/.installed_packages.txt"',
                         "fi",
                         # Retrieve the list of all non-ROS packages available in the build snap
-                        f'if [ -d "{path}/${{ROS_DISTRO}}/" ]; then',
-                        f'rosdep keys --rosdistro "${{ROS_DISTRO}}" --from-paths "{path}/${{ROS_DISTRO}}" --ignore-packages-from-source '
+                        f'if [ -d "{path_ros_sys}" ]; then',
+                        f'rosdep keys --rosdistro "${{ROS_DISTRO}}" --from-paths "{path_ros_sys}" --ignore-packages-from-source '
                         '| (xargs rosdep resolve --rosdistro "${ROS_DISTRO}" || echo "") | grep -v "#" >> "${CRAFT_PART_INSTALL}"/.installed_packages.txt',
                         "fi",
-                        f'if [ -d "{path}/snap/" ]; then',
-                        f'rosdep keys --rosdistro "${{ROS_DISTRO}}" --from-paths "{path}/snap" --ignore-packages-from-source '
+                        f'if [ -d "{path_ros_app}" ]; then',
+                        f'rosdep keys --rosdistro "${{ROS_DISTRO}}" --from-paths "{path_ros_app}" --ignore-packages-from-source '
                         '| (xargs rosdep resolve --rosdistro "${ROS_DISTRO}" || echo "") | grep -v "#" >> "${CRAFT_PART_INSTALL}"/.installed_packages.txt',
                         "fi",
                     ]

tests/spread/extensions/ros2-jazzy-meta-hello/task.yaml

@@ -0,0 +1,83 @@
+summary: Build and run a basic ROS 2 snap using meta-ros extension
+
+kill-timeout: 180m
+
+environment:
+
+  SNAPCRAFT_ENABLE_EXPERIMENTAL_EXTENSIONS: "1"
+
+  SNAP: ros2-jazzy-hello
+  SNAP_DIR: "../snaps/${SNAP}"
+
+  META_SNAP/colcon_jazzy_ros_core: ros-jazzy-ros-core
+  EXTENSION/colcon_jazzy_ros_core: ros2-jazzy-ros-core
+  INTERFACE/colcon_jazzy_ros_core: ros-jazzy-ros-core
+
+  META_SNAP/colcon_jazzy_ros_base: ros-jazzy-ros-base
+  EXTENSION/colcon_jazzy_ros_base: ros2-jazzy-ros-base
+  INTERFACE/colcon_jazzy_ros_base: ros-jazzy-ros-base
+
+  META_SNAP/colcon_jazzy_desktop: ros-jazzy-desktop
+  EXTENSION/colcon_jazzy_desktop: ros2-jazzy-desktop
+  INTERFACE/colcon_jazzy_desktop: ros-jazzy-desktop
+
+# The content snap required for the test to succeed is only
+# available on a subset of all the architectures this testbed
+# can run on.
+systems:
+  - ubuntu-24.04
+  - ubuntu-24.04-64
+  - ubuntu-24.04-amd64
+  # - ubuntu-24.04-arm64
+
+prepare: |
+  #shellcheck source=tests/spread/tools/snapcraft-yaml.sh
+  . "$TOOLS_DIR/snapcraft-yaml.sh"
+  set_base "$SNAP_DIR/snap/snapcraft.yaml"
+
+  # Overwrite the extension to test them all out of a single snap
+  sed -i "s|\[ros2-jazzy\]|\[${EXTENSION}\]|" "$SNAP_DIR/snap/snapcraft.yaml"
+
+  # The snap stages ros2run which will be available through content-sharing
+  sed -i "\|stage-packages|d" "$SNAP_DIR/snap/snapcraft.yaml"
+
+  # The actual ros2 bin is provided by the content-sharing snap.
+  # Use the wrapper instead.
+  sed -i "s|opt/ros/jazzy/bin/ros2|ros2|" "$SNAP_DIR/snap/snapcraft.yaml"
+
+  #shellcheck source=tests/spread/tools/package-utils.sh
+  . "$TOOLS_DIR/package-utils.sh"
+  create_dpkg_restore_point
+
+restore: |
+  cd "$SNAP_DIR"
+  snapcraft clean
+  rm -f ./*.snap
+
+  #shellcheck source=tests/spread/tools/snapcraft-yaml.sh
+  . "$TOOLS_DIR/snapcraft-yaml.sh"
+  restore_yaml "snap/snapcraft.yaml"
+
+  #shellcheck source=tests/spread/tools/package-utils.sh
+  . "$TOOLS_DIR/package-utils.sh"
+  dpkg_restore_point
+
+  snap remove --purge "${META_SNAP}"
+
+execute: |
+  cd "$SNAP_DIR"
+
+  # Build what we have and verify the snap runs as expected.
+  snapcraft
+  snap install "${SNAP}"_1.0_*.snap --dangerous
+
+  # Check that the snap size is fairly small
+  # The non-content sharing snap is ~90M
+  SNAP_SIZE=$(find . -maxdepth 1 -mindepth 1 -name '*_1.0_*.snap' -exec ls -s {} + | cut -d " " -f1)
+  [ "200" -gt "$SNAP_SIZE" ]
+
+  # The default providing snap is installed automatically
+  # snap install "${META_SNAP}"
+
+  snap connect "${SNAP}:${INTERFACE}" "${META_SNAP}:${INTERFACE}"
+  [ "$($SNAP)" = "hello world" ]