Add rolling (#17)

* Add rolling to CI

* Add Rolling to sources

* Add fix includes for rolling

* Add roling to readme

* Modify builder with comments

* Remove typo

* Remove rsync depend

* Fix directory cp

.github/workflows/ci.yml

@@ -14,7 +14,7 @@ jobs:
         strategy:
           fail-fast: false
           matrix:
-            platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi]
+            platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi, portenta_h7_m7_rolling]
 
         steps:
         - uses: actions/checkout@v3

README.md

@@ -89,6 +89,7 @@ A explanation for adding custom targets is also present
 ### ROS 2 distribution
 The target ROS 2 distribution can be configured with the `board_microros_distro = <distribution>`, supported values are:
   - `galactic` *(default value)*
+  - `rolling`
 
 ### Transport configuration
 The transport can be configured with the `board_microros_transport = <transport>`, supported values and configurations are:

ci/platformio.ini

@@ -1,3 +1,13 @@
+; Rolling test
+[env:portenta_h7_m7_rolling]
+platform = ststm32
+board = portenta_h7_m7
+framework = arduino
+board_microros_transport = serial
+board_microros_distro = rolling
+lib_deps =
+    ../
+
 ; Serial platforms
 
 [env:portenta_h7_m7]

extra_script.py

@@ -91,7 +91,7 @@ def build_microros(*args, **kwargs):
         "{} {} -fno-rtti -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='".format(' '.join(env['CXXFLAGS']), ' '.join(env['CCFLAGS']))
     )
 
-    builder = library_builder.Build(library_folder=main_path, packages_folder=extra_packages_path)
+    builder = library_builder.Build(library_folder=main_path, packages_folder=extra_packages_path, distro=microros_distro)
     builder.run('{}/metas/{}'.format(main_path, selected_board_meta), cmake_toolchain.path, microros_user_meta)
 
     #######################################################

microros_utils/library_builder.py

@@ -1,76 +1,9 @@
-import subprocess
 import os, sys
-import json
 import yaml
 import shutil
-import xml.etree.ElementTree as xml_parser
-
-def run_cmd(command):
-    return subprocess.run(command,
-        capture_output = True,
-        shell = True,
-    )
-
-class Package:
-    def __init__(self, name, path):
-        self.name = name
-        self.path = path
-        self.ignored = False
-
-    def ignore(self):
-        self.ignored = True
-        ignore_path = self.path + '/COLCON_IGNORE'
-        with open(ignore_path, 'a'):
-            os.utime(ignore_path, None)
-
-class Repository:
-    def __init__(self, name, url, distribution, branch=None):
-        self.name = name
-        self.url = url
-        self.distribution = distribution
-        self.branch = distribution if branch is None else branch
-        self.path = None
-
-    def clone(self, folder):
-        self.path = folder + "/" + self.name
-        # TODO(pablogs) ensure that git is installed
-        command = "git clone -b {} {} {}".format(self.branch, self.url, self.path)
-        result = run_cmd(command)
-
-        if 0 != result.returncode:
-            print("{} clone failed: \n{}".format(self.name, result.stderr.decode("utf-8")))
-            sys.exit(1)
 
-    def get_packages(self):
-        packages = []
-        if os.path.exists(self.path + '/package.xml'):
-            packages.append(Package(self.name, self.path))
-        else:
-            for root, dirs, files in os.walk(self.path):
-                path = root.split(os.sep)
-                if 'package.xml' in files:
-                    package_name = Repository.get_package_name_from_package_xml(os.path.join(root, 'package.xml'))
-                    package_path = os.path.join(os.getcwd(), root)
-                    packages.append(Package(package_name, package_path))
-                elif 'colcon.pkg' in files:
-                    package_name = Repository.get_package_name_from_colcon_pkg(os.path.join(root, 'colcon.pkg'))
-                    package_path = os.path.join(os.getcwd(), root)
-                    packages.append(Package(package_name, package_path))
-        return packages
-
-    def get_package_name_from_package_xml(xml_file):
-        root_node = xml_parser.parse(xml_file).getroot()
-        name_node = root_node.find('name')
-        if name_node is not None:
-            return name_node.text
-        return None
-
-    def get_package_name_from_colcon_pkg(colcon_pkg):
-        with open(colcon_pkg, 'r') as f:
-            content = json.load(f)
-            if content['name']:
-                return content['name']
-            return None
+from .utils import run_cmd
+from .repositories import Repository, Sources
 
 class CMakeToolchain:
     def __init__(self, path, cc, cxx, ar, cflags, cxxflags):
@@ -100,47 +33,7 @@ def __init__(self, path, cc, cxx, ar, cflags, cxxflags):
         self.path = os.path.realpath(file.name)
 
 class Build:
-    dev_environments = {
-        'galactic': [
-            Repository("ament_cmake", "https://github.com/ament/ament_cmake", "galactic"),
-            Repository("ament_lint", "https://github.com/ament/ament_lint", "galactic"),
-            Repository("ament_package", "https://github.com/ament/ament_package", "galactic"),
-            Repository("googletest", "https://github.com/ament/googletest", "galactic"),
-            Repository("ament_cmake_ros", "https://github.com/ros2/ament_cmake_ros", "galactic"),
-            Repository("ament_index", "https://github.com/ament/ament_index", "galactic")
-        ]
-    }
-
-    mcu_environments = {
-        'galactic': [
-            Repository("micro-CDR", "https://github.com/eProsima/micro-CDR", "galactic", "ros2"),
-            Repository("Micro-XRCE-DDS-Client", "https://github.com/eProsima/Micro-XRCE-DDS-Client", "galactic", "ros2"),
-            Repository("rcl", "https://github.com/micro-ROS/rcl", "galactic"),
-            Repository("rclc", "https://github.com/ros2/rclc", "galactic"),
-            Repository("micro_ros_utilities", "https://github.com/micro-ROS/micro_ros_utilities", "galactic"),
-            Repository("rcutils", "https://github.com/micro-ROS/rcutils", "galactic"),
-            Repository("micro_ros_msgs", "https://github.com/micro-ROS/micro_ros_msgs", "galactic"),
-            Repository("rmw-microxrcedds", "https://github.com/micro-ROS/rmw-microxrcedds", "galactic"),
-            Repository("rosidl_typesupport", "https://github.com/micro-ROS/rosidl_typesupport", "galactic"),
-            Repository("rosidl_typesupport_microxrcedds", "https://github.com/micro-ROS/rosidl_typesupport_microxrcedds", "galactic"),
-            Repository("rosidl", "https://github.com/ros2/rosidl", "galactic"),
-            Repository("rmw", "https://github.com/ros2/rmw", "galactic"),
-            Repository("rcl_interfaces", "https://github.com/ros2/rcl_interfaces", "galactic"),
-            Repository("rosidl_defaults", "https://github.com/ros2/rosidl_defaults", "galactic"),
-            Repository("unique_identifier_msgs", "https://github.com/ros2/unique_identifier_msgs", "galactic"),
-            Repository("common_interfaces", "https://github.com/ros2/common_interfaces", "galactic"),
-            Repository("test_interface_files", "https://github.com/ros2/test_interface_files", "galactic"),
-            Repository("rmw_implementation", "https://github.com/ros2/rmw_implementation", "galactic"),
-            Repository("rcl_logging", "https://github.com/ros2/rcl_logging", "galactic"),
-            Repository("ros2_tracing", "https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing", "galactic"),
-        ]
-    }
-
-    ignore_packages = {
-        'galactic': ['rcl_logging_log4cxx', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples']
-    }
-
-    def __init__(self, library_folder, packages_folder, distro = 'galactic'):
+    def __init__(self, library_folder, packages_folder, distro):
         self.library_folder = library_folder
         self.packages_folder = packages_folder
         self.build_folder = library_folder + "/build"
@@ -182,7 +75,7 @@ def download_dev_environment(self):
         shutil.rmtree(self.dev_src_folder, ignore_errors=True)
         os.makedirs(self.dev_src_folder)
         print("Downloading micro-ROS dev dependencies")
-        for repo in Build.dev_environments[self.distro]:
+        for repo in Sources.dev_environments[self.distro]:
             repo.clone(self.dev_src_folder)
             print("\t - Downloaded {}".format(repo.name))
             self.dev_packages.extend(repo.get_packages())
@@ -200,11 +93,11 @@ def download_mcu_environment(self):
         shutil.rmtree(self.mcu_src_folder, ignore_errors=True)
         os.makedirs(self.mcu_src_folder)
         print("Downloading micro-ROS library")
-        for repo in Build.mcu_environments[self.distro]:
+        for repo in Sources.mcu_environments[self.distro]:
             repo.clone(self.mcu_src_folder)
             self.mcu_packages.extend(repo.get_packages())
             for package in repo.get_packages():
-                if package.name in Build.ignore_packages[self.distro] or package.name.endswith("_cpp"):
+                if package.name in Sources.ignore_packages[self.distro] or package.name.endswith("_cpp"):
                     package.ignore()
 
                 print('\t - Downloaded {}{}'.format(package.name, " (ignored)" if package.ignored else ""))
@@ -299,3 +192,15 @@ def package_mcu_library(self):
 
         # Copy includes
         shutil.copytree(self.build_folder + "/mcu/install/include", self.includes)
+
+        # Fix include paths
+        if self.distro is not "galactic":
+            include_folders = os.listdir(self.includes)
+
+            for folder in include_folders:
+                folder_path = self.includes + "/{}".format(folder)
+                repeated_path = folder_path + "/{}".format(folder)
+
+                if os.path.exists(repeated_path):
+                    shutil.copytree(repeated_path, folder_path, copy_function=shutil.move, dirs_exist_ok=True)
+                    shutil.rmtree(repeated_path)

microros_utils/repositories.py

@@ -0,0 +1,138 @@
+import os, sys
+import json
+import xml.etree.ElementTree as xml_parser
+
+from .utils import run_cmd
+
+class Package:
+    def __init__(self, name, path):
+        self.name = name
+        self.path = path
+        self.ignored = False
+
+    def ignore(self):
+        self.ignored = True
+        ignore_path = self.path + '/COLCON_IGNORE'
+        with open(ignore_path, 'a'):
+            os.utime(ignore_path, None)
+
+class Repository:
+    def __init__(self, name, url, distribution, branch=None):
+        self.name = name
+        self.url = url
+        self.distribution = distribution
+        self.branch = distribution if branch is None else branch
+        self.path = None
+
+    def clone(self, folder):
+        self.path = folder + "/" + self.name
+        # TODO(pablogs) ensure that git is installed
+        command = "git clone -b {} {} {}".format(self.branch, self.url, self.path)
+        result = run_cmd(command)
+
+        if 0 != result.returncode:
+            print("{} clone failed: \n{}".format(self.name, result.stderr.decode("utf-8")))
+            sys.exit(1)
+
+    def get_packages(self):
+        packages = []
+        if os.path.exists(self.path + '/package.xml'):
+            packages.append(Package(self.name, self.path))
+        else:
+            for root, dirs, files in os.walk(self.path):
+                path = root.split(os.sep)
+                if 'package.xml' in files:
+                    package_name = Repository.get_package_name_from_package_xml(os.path.join(root, 'package.xml'))
+                    package_path = os.path.join(os.getcwd(), root)
+                    packages.append(Package(package_name, package_path))
+                elif 'colcon.pkg' in files:
+                    package_name = Repository.get_package_name_from_colcon_pkg(os.path.join(root, 'colcon.pkg'))
+                    package_path = os.path.join(os.getcwd(), root)
+                    packages.append(Package(package_name, package_path))
+        return packages
+
+    def get_package_name_from_package_xml(xml_file):
+        root_node = xml_parser.parse(xml_file).getroot()
+        name_node = root_node.find('name')
+        if name_node is not None:
+            return name_node.text
+        return None
+
+    def get_package_name_from_colcon_pkg(colcon_pkg):
+        with open(colcon_pkg, 'r') as f:
+            content = json.load(f)
+            if content['name']:
+                return content['name']
+            return None
+
+class Sources:
+    dev_environments = {
+        'galactic': [
+            Repository("ament_cmake", "https://github.com/ament/ament_cmake", "galactic"),
+            Repository("ament_lint", "https://github.com/ament/ament_lint", "galactic"),
+            Repository("ament_package", "https://github.com/ament/ament_package", "galactic"),
+            Repository("googletest", "https://github.com/ament/googletest", "galactic"),
+            Repository("ament_cmake_ros", "https://github.com/ros2/ament_cmake_ros", "galactic"),
+            Repository("ament_index", "https://github.com/ament/ament_index", "galactic")
+        ],
+        'rolling': [
+            Repository("ament_cmake", "https://github.com/ament/ament_cmake", "rolling", "master"),
+            Repository("ament_lint", "https://github.com/ament/ament_lint", "rolling", "master"),
+            Repository("ament_package", "https://github.com/ament/ament_package", "rolling", "master"),
+            Repository("googletest", "https://github.com/ament/googletest", "rolling", "ros2"),
+            Repository("ament_cmake_ros", "https://github.com/ros2/ament_cmake_ros", "rolling", "master"),
+            Repository("ament_index", "https://github.com/ament/ament_index", "rolling", "master")
+        ]
+    }
+
+    mcu_environments = {
+        'galactic': [
+            Repository("micro-CDR", "https://github.com/eProsima/micro-CDR", "galactic", "ros2"),
+            Repository("Micro-XRCE-DDS-Client", "https://github.com/eProsima/Micro-XRCE-DDS-Client", "galactic", "ros2"),
+            Repository("rcl", "https://github.com/micro-ROS/rcl", "galactic"),
+            Repository("rclc", "https://github.com/ros2/rclc", "galactic"),
+            Repository("micro_ros_utilities", "https://github.com/micro-ROS/micro_ros_utilities", "galactic"),
+            Repository("rcutils", "https://github.com/micro-ROS/rcutils", "galactic"),
+            Repository("micro_ros_msgs", "https://github.com/micro-ROS/micro_ros_msgs", "galactic"),
+            Repository("rmw-microxrcedds", "https://github.com/micro-ROS/rmw-microxrcedds", "galactic"),
+            Repository("rosidl_typesupport", "https://github.com/micro-ROS/rosidl_typesupport", "galactic"),
+            Repository("rosidl_typesupport_microxrcedds", "https://github.com/micro-ROS/rosidl_typesupport_microxrcedds", "galactic"),
+            Repository("rosidl", "https://github.com/ros2/rosidl", "galactic"),
+            Repository("rmw", "https://github.com/ros2/rmw", "galactic"),
+            Repository("rcl_interfaces", "https://github.com/ros2/rcl_interfaces", "galactic"),
+            Repository("rosidl_defaults", "https://github.com/ros2/rosidl_defaults", "galactic"),
+            Repository("unique_identifier_msgs", "https://github.com/ros2/unique_identifier_msgs", "galactic"),
+            Repository("common_interfaces", "https://github.com/ros2/common_interfaces", "galactic"),
+            Repository("test_interface_files", "https://github.com/ros2/test_interface_files", "galactic"),
+            Repository("rmw_implementation", "https://github.com/ros2/rmw_implementation", "galactic"),
+            Repository("rcl_logging", "https://github.com/ros2/rcl_logging", "galactic"),
+            Repository("ros2_tracing", "https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing", "galactic"),
+        ],
+        'rolling': [
+            Repository("micro-CDR", "https://github.com/eProsima/micro-CDR", "rolling", "ros2"),
+            Repository("Micro-XRCE-DDS-Client", "https://github.com/eProsima/Micro-XRCE-DDS-Client", "rolling", "ros2"),
+            Repository("rcl", "https://github.com/micro-ROS/rcl", "rolling", "master"),
+            Repository("rclc", "https://github.com/ros2/rclc", "rolling", "master"),
+            Repository("micro_ros_utilities", "https://github.com/micro-ROS/micro_ros_utilities", "rolling", "main"),
+            Repository("rcutils", "https://github.com/micro-ROS/rcutils", "rolling", "master"),
+            Repository("micro_ros_msgs", "https://github.com/micro-ROS/micro_ros_msgs", "rolling", "main"),
+            Repository("rmw-microxrcedds", "https://github.com/micro-ROS/rmw-microxrcedds", "rolling", "main"),
+            Repository("rosidl_typesupport", "https://github.com/micro-ROS/rosidl_typesupport", "rolling", "master"),
+            Repository("rosidl_typesupport_microxrcedds", "https://github.com/micro-ROS/rosidl_typesupport_microxrcedds", "rolling", "main"),
+            Repository("rosidl", "https://github.com/ros2/rosidl", "rolling", "master"),
+            Repository("rmw", "https://github.com/ros2/rmw", "rolling", "master"),
+            Repository("rcl_interfaces", "https://github.com/ros2/rcl_interfaces", "rolling", "master"),
+            Repository("rosidl_defaults", "https://github.com/ros2/rosidl_defaults", "rolling", "master"),
+            Repository("unique_identifier_msgs", "https://github.com/ros2/unique_identifier_msgs", "rolling", "master"),
+            Repository("common_interfaces", "https://github.com/ros2/common_interfaces", "rolling", "master"),
+            Repository("test_interface_files", "https://github.com/ros2/test_interface_files", "rolling", "master"),
+            Repository("rmw_implementation", "https://github.com/ros2/rmw_implementation", "rolling", "master"),
+            Repository("rcl_logging", "https://github.com/ros2/rcl_logging", "rolling", "master"),
+            Repository("ros2_tracing", "https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing", "rolling", "master"),
+        ]
+    }
+
+    ignore_packages = {
+        'galactic': ['rcl_logging_log4cxx', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples'],
+        'rolling': ['rcl_logging_log4cxx', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples']
+    }

microros_utils/utils.py

@@ -0,0 +1,7 @@
+import subprocess
+
+def run_cmd(command):
+    return subprocess.run(command,
+        capture_output = True,
+        shell = True,
+    )