Setup that works for ROS 2 Humble and ROS 2 Jazzy (#2)

Setup that works for ROS 2 Humble and ROS 2 Jazzy

local-ros/configure_hook_ros.sh

@@ -8,135 +8,154 @@
 # Define a function to log and echo messages
 source $SNAP/usr/bin/utils.sh
 
-# Function to check the type of the provided XML file
-check_xml_profile_type() {
-    local xml_file="$1"
+source_ros
 
-    if [[ ! -f "$xml_file" ]]; then
-        log_and_echo "File '$xml_file' does not exist."
-        return 1
-    fi
+# Create the ${SNAP_COMMON}/ros.env file and export variables (for bash session running ROS2)
+ROS_ENV_FILE="${SNAP_COMMON}/ros.env"
 
-    local root_element
-    local namespace
+# Create the ${SNAP_COMMON}/ros.env file and export variables (for bash session running ROS2)
+ROS_SNAP_ARGS="${SNAP_COMMON}/ros_snap_args"
 
-    # Extract the root element
-    root_element=$(yq '. | keys | .[1]' "$xml_file")
+rm -rf "${ROS_ENV_FILE}.tmp"
+rm -rf "${ROS_SNAP_ARGS}.tmp"
 
-    # Extract the namespace based on the root element
-    if [[ "$root_element" == "CycloneDDS" ]]; then
-        namespace=$(yq .CycloneDDS."+@xmlns" "$xml_file")
-    elif [[ "$root_element" == "profiles" ]]; then
-        namespace=$(yq .profiles."+@xmlns" "$xml_file")
-    else
-        namespace="unknown"
-    fi
+if [[ $ROS_DISTRO == "humble" ]]; then
+  VALID_ROS_KEYS=("localhost-only" "domain-id" "transport" "namespace")
 
-    # Remove quotes from the extracted values
-    root_element=${root_element//\"/}
-    namespace=${namespace//\"/}
+  # Call the validation function
+  validate_keys "ros" VALID_ROS_KEYS[@]
+elif [[ $ROS_DISTRO == "jazzy" ]]; then
+  VALID_ROS_KEYS=("localhost-only" "domain-id" "transport" "namespace" "automatic-discovery-range" "static-peers")
 
-    if [[ "$root_element" == "profiles" ]] && [[ "$namespace" == "http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" ]]; then
-        echo "rmw_fastrtps_cpp"
-    elif [[ "$root_element" == "CycloneDDS" ]] && [[ "$namespace" == "https://cdds.io/config" ]]; then
-        echo "rmw_cyclonedds_cpp"
-    else
-        exit 1
-    fi
-}
+  # Call the validation function
+  validate_keys "ros" VALID_ROS_KEYS[@]
 
-VALID_ROS_KEYS=("localhost-only" "domain-id" "transport" "namespace")
+  # validate the ROS_AUTOMATIC_DISCOVERY_RANGE
+  ROS_AUTOMATIC_DISCOVERY_RANGE="$(snapctl get ros.automatic-discovery-range)"
 
-# Call the validation function
-validate_keys "ros" VALID_ROS_KEYS[@]
+  VALID_ROS_AUTOMATIC_DISCOVERY_RANGE_OPTIONS=("subnet" "localhost" "off" "system_default")
+  validate_option --allow-unset "ros.automatic-discovery-range" VALID_ROS_AUTOMATIC_DISCOVERY_RANGE_OPTIONS[@]
 
-ROS_LOCALHOST_ONLY="$(snapctl get ros.localhost-only)"
-ROS_DOMAIN_ID="$(snapctl get ros.domain-id)"
+  ROS_AUTOMATIC_DISCOVERY_RANGE="$(snapctl get ros.automatic-discovery-range)"
+
+  if [ -n "$ROS_AUTOMATIC_DISCOVERY_RANGE" ]; then
+    echo "export ROS_AUTOMATIC_DISCOVERY_RANGE=$(echo "$ROS_AUTOMATIC_DISCOVERY_RANGE" | tr '[:lower:]' '[:upper:]')" >> "${ROS_ENV_FILE}.tmp"
+    echo "ros.automatic-discovery-range=${ROS_AUTOMATIC_DISCOVERY_RANGE}" >> ${ROS_SNAP_ARGS}.tmp
+  else
+    echo "unset ROS_AUTOMATIC_DISCOVERY_RANGE" >> "${ROS_ENV_FILE}.tmp"
+    echo "ros.automatic-discovery-range=''" >> ${ROS_SNAP_ARGS}.tmp
+    snapctl set ros.automatic-discovery-range=''
+  fi
+
+  # validate the ROS_STATIC_PEERS
+  validate_peers_list --allow-unset "ros.static-peers"
+
+  ROS_STATIC_PEERS="$(snapctl get ros.static-peers)"
+
+  if [ -n "$ROS_STATIC_PEERS" ]; then
+    echo "export ROS_STATIC_PEERS='${ROS_STATIC_PEERS}'" >> "${ROS_ENV_FILE}.tmp"
+    echo "ros.static-peers='${ROS_STATIC_PEERS}'" >> ${ROS_SNAP_ARGS}.tmp
+  else
+    echo "unset ROS_STATIC_PEERS" >> "${ROS_ENV_FILE}.tmp"
+    echo "ros.static-peers=''" >> ${ROS_SNAP_ARGS}.tmp
+    snapctl set ros.static-peers=''
+  fi
+
+else
+  log_and_echo "ROS 2 \"$ROS_DISTRO\" is not supported by this snap."
+fi
 
 # Make sure ROS_LOCALHOST_ONLY is valid
 VALID_ROS_LOCALHOST_ONLY_OPTIONS=(1 0)
-validate_option "ros.localhost-only" VALID_ROS_LOCALHOST_ONLY_OPTIONS[@]
+validate_option --allow-unset "ros.localhost-only" VALID_ROS_LOCALHOST_ONLY_OPTIONS[@]
+
+ROS_LOCALHOST_ONLY="$(snapctl get ros.localhost-only)"
+
+if [ -n "$ROS_LOCALHOST_ONLY" ]; then
+  echo "export ROS_LOCALHOST_ONLY=${ROS_LOCALHOST_ONLY}" >> "${ROS_ENV_FILE}.tmp"
+  echo "ros.localhost-only=${ROS_LOCALHOST_ONLY}" >> ${ROS_SNAP_ARGS}.tmp
+else
+  echo "unset ROS_LOCALHOST_ONLY" >> "${ROS_ENV_FILE}.tmp"
+  echo "ros.localhost-only=''" >> ${ROS_SNAP_ARGS}.tmp
+  snapctl set ros.localhost-only=''
+fi
 
 # Make sure ROS_DOMAIN_ID is valid
-# Make sure WEBUI_PORT is valid
 SUPPORTED_RANGE=(0 232)
-# Validate a specific port, for example, webui.port
 validate_number "ros.domain-id" SUPPORTED_RANGE[@]
 
-# Get the ros.transport setting using snapctl
-OPT="ros.transport"
-TRANSPORT_SETTING="$(snapctl get ${OPT})"
+ROS_DOMAIN_ID="$(snapctl get ros.domain-id)"
 
-# Check if TRANSPORT_SETTING is "builtin"
-if [ "$TRANSPORT_SETTING" == "builtin" ]; then
-  # Change the value to "rmw_fastrtps_cpp"
-  TRANSPORT_SETTING="rmw_fastrtps_cpp"
-fi
+echo "export ROS_DOMAIN_ID=${ROS_DOMAIN_ID}" >> "${ROS_ENV_FILE}.tmp"
+echo "ros.domain-id=${ROS_DOMAIN_ID}" >> ${ROS_SNAP_ARGS}.tmp
 
-# Only exit with status 1 if conditions are not met
-if [ "$TRANSPORT_SETTING" != "rmw_fastrtps_cpp" ] && [ "$TRANSPORT_SETTING" != "rmw_cyclonedds_cpp" ] && [ ! -f "${SNAP_COMMON}/${TRANSPORT_SETTING}.xml" ]; then
-  log_and_echo "'${SNAP_COMMON}/${TRANSPORT_SETTING}.xml' does not exist."
-  exit 1
-fi
+# Validate the ROS_NAMESPACE
 
-if [ "$TRANSPORT_SETTING" = "rmw_fastrtps_cpp" ] || [ "$TRANSPORT_SETTING" = "shm" ]; then
-  if ! snapctl is-connected shm-plug; then
-    log_and_echo "to use 'rmw_fastrtps_cpp' and 'shm' tranport shm-plug need to be connected, please run:"
-    log_and_echo "sudo snap connect ${SNAP_NAME}:shm-plug ${SNAP_NAME}:shm-slot"
-    exit 1
-  fi
-fi
+validate_regex --allow-unset "ros.namespace" "^[0-9a-z_-]{1,20}$"
 
-# Make sure ros-humble-ros-base is connected
-ROS_PLUG="ros-humble-ros-base"
+ROS_NAMESPACE=$(snapctl get ros.namespace)
 
-if ! snapctl is-connected ${ROS_PLUG}; then
-    log_and_echo "Plug '${ROS_PLUG}' isn't connected. Please run:"
-    log_and_echo "snap connect ${SNAP_NAME}:${ROS_PLUG} ${ROS_PLUG}:${ROS_PLUG}"
-    exit 1
+if [ -n "$ROS_NAMESPACE" ]; then
+  echo "export ROS_NAMESPACE=${ROS_NAMESPACE}" >> "${ROS_ENV_FILE}.tmp"
+  echo "ros.namespace=${ROS_NAMESPACE}" >> ${ROS_SNAP_ARGS}.tmp
+else
+  echo "unset ROS_NAMESPACE" >> "${ROS_ENV_FILE}.tmp"
+  echo "ros.namespace=''" >> ${ROS_SNAP_ARGS}.tmp
+  snapctl set ros.namespace=''
 fi
 
-# Create the ${SNAP_COMMON}/ros.env file and export variables (for bash session running ROS2)
-ROS_ENV_FILE="${SNAP_COMMON}/ros.env"
-
-# Create the ${SNAP_COMMON}/ros.env file and export variables (for bash session running ROS2)
-ROS_SNAP_ARGS="${SNAP_COMMON}/ros_snap_args"
+# Validate the TRANSPORT_SETTING
+ADDITIONAL_DDS_OPTIONS=("rmw_fastrtps_cpp" "rmw_cyclonedds_cpp")
 
-echo "export ROS_DOMAIN_ID=${ROS_DOMAIN_ID}" > "${ROS_ENV_FILE}"
-echo "export ROS_LOCALHOST_ONLY=${ROS_LOCALHOST_ONLY}" >> "${ROS_ENV_FILE}"
+validate_config_param "ros.transport" "dds-config-VALUE.xml" ADDITIONAL_DDS_OPTIONS[@]
 
-NAMESPACE=$(snapctl get ros.namespace)
+TRANSPORT_SETTING="$(snapctl get ros.transport)"
 
-# Check if the namespace is set and not empty
-if [ -n "$NAMESPACE" ]; then
-  echo "ros.domain-id=${ROS_DOMAIN_ID} ros.localhost-only=${ROS_LOCALHOST_ONLY} ros.transport=${TRANSPORT_SETTING} ros.namespace=${NAMESPACE}" > "${ROS_SNAP_ARGS}"
-  echo "export ROS_NAMESPACE=${NAMESPACE}" >> "${ROS_ENV_FILE}"
-else
-  echo "ros.domain-id=${ROS_DOMAIN_ID} ros.localhost-only=${ROS_LOCALHOST_ONLY} ros.transport=${TRANSPORT_SETTING} ros.namespace!" > "${ROS_SNAP_ARGS}"
-  echo "unset ROS_NAMESPACE" >> "${ROS_ENV_FILE}"
+if [ "$TRANSPORT_SETTING" = "rmw_fastrtps_cpp" ] || [ "$TRANSPORT_SETTING" = "shm" ]; then
+  if ! snapctl is-connected shm-plug; then
+    log_and_echo "to use 'rmw_fastrtps_cpp' and 'shm' tranport shm-plug need to be connected, please run:"
+    log_and_echo "sudo snap connect ${SNAP_NAME}:shm-plug ${SNAP_NAME}:shm-slot"
+    exit 1
+  fi
 fi
 
 # Check the ros.transport setting and export the appropriate environment variable
 if [ "$TRANSPORT_SETTING" != "rmw_fastrtps_cpp" ] && [ "$TRANSPORT_SETTING" != "rmw_cyclonedds_cpp" ]; then
-    profile_type=$(check_xml_profile_type "${SNAP_COMMON}/${TRANSPORT_SETTING}.xml")
+    profile_type=$(check_xml_profile_type "${SNAP_COMMON}/dds-config-${TRANSPORT_SETTING}.xml")
     if [[ "$profile_type" == "rmw_fastrtps_cpp" ]]; then
-        echo "unset CYCLONEDDS_URI" >> "${ROS_ENV_FILE}"
-        echo "export RMW_IMPLEMENTATION=${profile_type}" >> "${ROS_ENV_FILE}"
-        echo "export FASTRTPS_DEFAULT_PROFILES_FILE=${SNAP_COMMON}/${TRANSPORT_SETTING}.xml" >> "${ROS_ENV_FILE}"
+        echo "unset CYCLONEDDS_URI" >> "${ROS_ENV_FILE}.tmp"
+        echo "export RMW_IMPLEMENTATION=${profile_type}" >> "${ROS_ENV_FILE}.tmp"
+        echo "export FASTRTPS_DEFAULT_PROFILES_FILE=${SNAP_COMMON}/dds-config-${TRANSPORT_SETTING}.xml" >> "${ROS_ENV_FILE}.tmp"
     elif [[ "$profile_type" == "rmw_cyclonedds_cpp" ]]; then
-        echo "unset FASTRTPS_DEFAULT_PROFILES_FILE" >> "${ROS_ENV_FILE}"
-        echo "export RMW_IMPLEMENTATION=${profile_type}" >> "${ROS_ENV_FILE}"
-        echo "export CYCLONEDDS_URI=file://${SNAP_COMMON}/${TRANSPORT_SETTING}.xml" >> "${ROS_ENV_FILE}"
+        echo "unset FASTRTPS_DEFAULT_PROFILES_FILE" >> "${ROS_ENV_FILE}.tmp"
+        echo "export RMW_IMPLEMENTATION=${profile_type}" >> "${ROS_ENV_FILE}.tmp"
+        echo "export CYCLONEDDS_URI=file://${SNAP_COMMON}/dds-config-${TRANSPORT_SETTING}.xml" >> "${ROS_ENV_FILE}.tmp"
     else
-        log_and_echo "'${TRANSPORT_SETTING}' is not a supported value for '${OPT}'. Possible values are: rmw_fastrtps_cpp, rmw_cyclonedds_cpp, or a valid profile XML file."
+        log_and_echo "'${TRANSPORT_SETTING}' error: The transport setting is not valid."
         exit 1
     fi
 elif [ "$TRANSPORT_SETTING" == "rmw_fastrtps_cpp" ] || [ "$TRANSPORT_SETTING" == "rmw_cyclonedds_cpp" ]; then
-  echo "unset CYCLONEDDS_URI" >> "${ROS_ENV_FILE}"
-  echo "unset FASTRTPS_DEFAULT_PROFILES_FILE" >> "${ROS_ENV_FILE}"
-  echo "export RMW_IMPLEMENTATION=${TRANSPORT_SETTING}" >> "${ROS_ENV_FILE}"
+  echo "unset CYCLONEDDS_URI" >> "${ROS_ENV_FILE}.tmp"
+  echo "unset FASTRTPS_DEFAULT_PROFILES_FILE" >> "${ROS_ENV_FILE}.tmp"
+  echo "export RMW_IMPLEMENTATION=${TRANSPORT_SETTING}" >> "${ROS_ENV_FILE}.tmp"
+fi
+
+echo "ros.transport=${TRANSPORT_SETTING}" >> ${ROS_SNAP_ARGS}.tmp
+
+
+# Make sure ros-humble-ros-base is connected
+ROS_PLUG="ros-${ROS_DISTRO}-ros-base"
+
+if ! snapctl is-connected ${ROS_PLUG}; then
+    log_and_echo "Plug '${ROS_PLUG}' isn't connected. Please run:"
+    log_and_echo "snap connect ${SNAP_NAME}:${ROS_PLUG} ${ROS_PLUG}:${ROS_PLUG}"
+    exit 1
 fi
 
+mv "${ROS_ENV_FILE}.tmp" "${ROS_ENV_FILE}"
+# Combine all lines into a single line and write to the final file
+tr '\n' ' ' < "${ROS_SNAP_ARGS}.tmp" | sed 's/ $/\n/' > "${ROS_SNAP_ARGS}"
+
 # Define the path for the manage_ros_env.sh script
 MANAGE_SCRIPT="${SNAP_COMMON}/manage_ros_env.sh"
 

local-ros/install_hook_ros.sh

@@ -3,20 +3,18 @@
 # Define a function to log messages
 source $SNAP/usr/bin/utils.sh
 
-snapctl set ros.transport="udp"
-snapctl set ros.localhost-only=0
-snapctl set ros.domain-id=0
-snapctl set ros.namespace! # unset
+source_ros
 
-if ! snapctl is-connected ros-humble-ros-base; then
-  log "Plug 'ros-humble-ros-base' isn't connected, please run:"
-  log "sudo snap connect ${SNAP_NAME}:ros-humble-ros-base ros-humble-ros-base:ros-humble-ros-base"
+if [[ $ROS_DISTRO == "humble" ]]; then
+  snapctl set ros.localhost-only=''
+elif [[ $ROS_DISTRO == "jazzy" ]]; then
+  snapctl set ros.automatic-discovery-range="" # unset
+  snapctl set ros.static-peers='' # unset
 fi
 
-if ! snapctl is-connected shm-plug; then
-  log "Plug 'shm-plug' isn't connected, please run:"
-  log "sudo snap connect ${SNAP_NAME}:shm-plug ${SNAP_NAME}:shm-slot"
-fi
+snapctl set ros.transport="udp"
+snapctl set ros.domain-id=0
+snapctl set ros.namespace="" # unset
 
 # copy DDS config files to shared folder
 cp -r $SNAP/usr/share/husarion-snap-common/config/*.xml ${SNAP_COMMON}/