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Migration guide

This guide covers the migration from the legacy version.

What's new?

The new version comes with a number of improvements:

  • Added support for catkin_make, catkin_make_isolated and colcon
  • Use vcstool(vcs) instead of wstool to support *.rosinstall and *.repos files
  • Added support for ROS2, and vcstool (rosinstall or repos files)
  • Available as GitHub Action
  • Separate upstream and downstream workspaces, even for prerelease tests
  • Fine-grained hook system for customization
  • Writable target folder

What's the catch?

Some features are not supported anymore:

  • Support of ROS hydro
  • Devel space builds
  • Testing installed *.test files
  • Building Docker images
  • Injecting QEMU (see INJECT_QEMU)

If you depend on these, you can still use the legacy version.

How can I migrate?

First of all, you have to switch to the master branch in your CI config:

git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci -b master

There is a big chance that the new version works out of the box. However, the workspace layout and the locations are changed.

Special care must be taken, if you use any of these variables:

Changes summary

Workspace layout

The workspace layout has changed (new workspace management). The target workspace is now located in $BASEDIR/${PREFIX}target_ws. The upstream workspace packages are now located in $BASEDIR/${PREFIX}upstream_ws.

Job control

industrial_ci does not set defaults for the number of build jobs anymore. PARALLEL_BUILDS=N can be used to enforce a limit. The number of parallel test is now limited to 1 per default to allow for reproducible tests. Specify PARALLEL_TESTS=true or PARALLEL_TESTS=N to opt out.

Hook system

The customization support via BEFORE_SCRIPT and AFTER_SCRIPT has been refactored into a flexible hook system, which offers script support for every step in the workflow.

The new system can read exposed variables and use the industrial_ci functions. The workspace layout has changed, so your scripts might need to get adapted accordingly. To simplify the migration the script hooks can read the workspace location from the base_ws (ABI check only), downstream_ws,target_ws and upstream_ws variables. In addition steps that deal with workspaces expose the current_ws variable. Please note that the variables can be used in the script option itself, but not in invoked scripts. You have to pass them into your script, e.g.

AFTER_SETUP_UPSTREAM_WORKSPACE='./my_script.sh "$current_ws"'

(For Gitlab CI you have to use $$variable to prevent the premature substitution)

Furthermore, the hook will get run without a ROS environment (setup.bash). If you need this environment, you can use the rosenv helper. Optionally, it takes a command to be executed.

Examples:

  • AFTER_SETUP_UPSTREAM_WORKSPACE='rosenv && echo "$ROS_DISTRO'"
  • AFTER_SETUP_UPSTREAM_WORKSPACE='rosenv ./my_script.sh'

Affected variables

ABICHECK_URL

Everything should work as before, but git-protocol will get used by default. In addition, the extended definition syntax is supported.

ADDITIONAL_DEBS

This variable is still supported and is now implemented for all tests.

AFTER_SCRIPT

This variable is still supported, but the script environment has changed.

APTKEY_STORE_HTTPS

It is not a fallback for APTKEY_STORE_SKS anymore, but will disable it and download the key from the provided URL directly. Please migrate to ROS_REPOSITORY_KEY, which combines APTKEY_STORE_HTTPS and HASHKEY_SKS

APTKEY_STORE_SKS

Will only be used if APTKEY_STORE_HTTPS is not set, without a fall-back.

BEFORE_SCRIPT

Due to the new workspace management, the BEFORE_SCRIPT variable became ambiguous and was therefore removed. However, the new hook system offers a lot of alternatives.

If you did not use UPSTREAM_WORKSPACE(other than debian) or USE_DEB=false, you can just substitute BEFORE_SCRIPT with AFTER_SETUP_TARGET_WORKSPACE. This will execute your script in the same sequence as before. If you did use the upstream settings, you might need to substitute with AFTER_SETUP_UPSTREAM_WORKSPACE (or both).

In general you can as well use any other hook that is suitable for your script. Please note that the script environment has changed.

BUILD_PKGS_WHITELIST

This variable is not supported anymore. Instead, you could remove the unrelated folders (see workspace management).

BUILDER

This variable was not used before, but it was listed as an option. If you specified it anyway, please set it to catkin_tools or remove it to allow for automatic selection.

CATKIN_CONFIG

This variable is not supported anymore. As an alternative you could set:

  • CC and CFLAGS for C compiler settings
  • CXX and CPPFLAGS/CXXLAGS for C++ compiler settings
  • CMAKE_ARGS for CMake settings

If you need catkin_tools-specific settings, especially --no-install, you should use the legacy version. Or even better: Add support for the install space.

CATKIN_PARALLEL_JOBS

This is not supported anymore, use PARALLEL_BUILDS instead (see job control as well).

CATKIN_PARALLEL_TEST_JOBS

This is not supported anymore. The number of parallel test jobs is limited to 1 per default. Specify PARALLEL_TESTS=true to remove this limit (see job control as well).

CMAKE_ARGS

This variable was introduced recently and is still supported, but its content will be passed to all workspaces. DOWNSTREAM_CMAKE_ARGS, TARGET_CMAKE_ARGS and UPSTREAM_CMAKE_ARGS can be used for more fine-grained control.

DOCKER_BASE_IMAGE

This variable is not needed anymore. Please specify DOCKER_IMAGE instead.

DOCKER_BUILD_OPTS

This variable is not used anymore, because support for building Docker images was removed.

DOCKER_FILE

This variable is not used anymore, because support for building Docker images was removed.

DOCKER_IMAGE

This variable is still supported, but the workspace layout has changed.

HASHKEY_SKS

Will only be used if APTKEY_STORE_HTTPS is not set. Please migrate to ROS_REPOSITORY_KEY, which combines APTKEY_STORE_HTTPS and HASHKEY_SKS

INJECT_QEMU

This option was removed. It is not needed for newer versions of qemu-user-static (host OS: Ubuntu cosmic or newer, Debian buster or newer). For older versions, please try

docker run --rm --privileged multiarch/qemu-user-static --reset --credential yes --persistent yes

NOT_TEST_INSTALL

This feature was removed, please use the legacy version.

PKGS_DOWNSTREAM

This variable is not supported anymore. Instead, you could specify DOWNSTREAM_WORKSPACE (see workspace management).

ROSINSTALL_FILENAME

This variable is deprecated, and should get migrated.

If you do not set UPSTREAM_WORKSPACE=file as well, ROSINSTALL_FILENAME can just be removed. Otherwise, set UPSTREAM_WORKSPACE to the value of $ROSINSTALL_FILENAME or $ROSINSTALL_FILENAME.$ROS_DISTRO explicitly (no auto-branching anymore). If your rosinstall file contains your target repository as well, you might want to filter it out: UPSTREAM_WORKSPACE=my_file_name -path_to_target_repo.

ROS_PARALLEL_JOBS

This variable does not get processed by industrial_ci anymore, instead it just gets passed to the build tool. As an alternative, PARALLEL_BUILDS can be used (see job control as well).

ROS_PARALLEL_TEST_JOBS

This is not supported anymore. The number of parallel test jobs is limited to 1 per default. Specify PARALLEL_TESTS=true to remove this limit (see job control as well).

ROS_REPOSITORY_PATH

This variable is supported as-is. If it is set to http://packages.ros.org/ros-shadow-fixed/ubuntu or http://packages.ros.org/ros-testing/ubuntu, it can be removed completely or replaced by ROS_REPO=testing (default). If it is set to http://packages.ros.org/ros/ubuntu, it could get shortened to ROS_REPO=ros to make industrial_ci use the official ROS Docker images, if possible.

TARGET_PKGS

This variable is not supported anymore. Instead, you could remove the unrelated folders (see workspace management).

UBUNTU_OS_CODE_NAME

Still works, but is deprecated. Just substitute it with OS_CODE_NAME

UPSTREAM_WORKSPACE

UPSTREAM_WORKSPACE=debian is superfluous and can simply get removed. In case of UPSTREAM_WORKSPACE=file it can get set to the value of $ROSINSTALL_FILENAME (default: .travis.rosinstall) or $ROSINSTALL_FILENAME.$ROS_DISTRO explicitly (no auto-branching anymore).

If your rosinstall file contains your target repository as well, you might want to filter it out: UPSTREAM_WORKSPACE=my_file_name_or_URL -path_to_target_repo.

USE_DEB

USE_DEB=true is superfluous and can simply get removed. USE_DEB=false is the same as UPSTREAM_WORKSPACE=file and should get migrated.

USE_MOCKUP

Is not used anymore, just substitute it with TARGET_WORKSPACE

VERBOSE_OUTPUT

Is only implemented for BUILDER=catkin_tools

VERBOSE_TESTS

Is only implemented for BUILDER=catkin_tools