[binary filter] change boolean ros params

.circleci/config.yml

@@ -33,12 +33,12 @@ _commands:
         - restore_cache:
             name: Restore Cache << parameters.key >>
             keys:
-              - "<< parameters.key >>-v13\
+              - "<< parameters.key >>-v21\
                 -{{ arch }}\
                 -{{ .Branch }}\
                 -{{ .Environment.CIRCLE_PR_NUMBER }}\
                 -{{ checksum  \"<< parameters.workspace >>/lockfile.txt\" }}"
-              - "<< parameters.key >>-v13\
+              - "<< parameters.key >>-v21\
                 -{{ arch }}\
                 -main\
                 -<no value>\
@@ -58,7 +58,7 @@ _commands:
       steps:
         - save_cache:
             name: Save Cache << parameters.key >>
-            key: "<< parameters.key >>-v13\
+            key: "<< parameters.key >>-v21\
               -{{ arch }}\
               -{{ .Branch }}\
               -{{ .Environment.CIRCLE_PR_NUMBER }}\
@@ -96,6 +96,11 @@ _commands:
                 (echo vcs_export && cat) >> lockfile.txt
               sha256sum $PWD/lockfile.txt >> lockfile.txt
 
+              # Temp: Rolling transition to 24.04 leaves rosdep in 22.04 in the lurch
+              # This replaces main rosdep index with the last prior to release: Feb 28, 2024
+              sed -i "s|ros\/rosdistro\/master|ros\/rosdistro\/rolling\/2024-02-28|" /etc/ros/rosdep/sources.list.d/20-default.list
+              export ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/rolling/2024-02-28/index-v4.yaml
+
               apt-get update
               rosdep update --rosdistro $ROS_DISTRO
               dependencies=$(
@@ -123,7 +128,7 @@ _commands:
           type: string
         mixins:
           type: string
-        skip:
+        packages_skip_regex:
           default: ""
           type: string
         restore:
@@ -185,6 +190,7 @@ _commands:
                       BUILD_PACKAGES=$(
                         colcon list \
                           --names-only \
+                          --packages-skip-regex << parameters.packages_skip_regex >> \
                           --packages-above \
                             $BUILD_UNFINISHED \
                             $BUILD_FAILED \
@@ -200,7 +206,6 @@ _commands:
                     . << parameters.underlay >>/install/setup.sh
                     colcon build \
                       --packages-select ${BUILD_PACKAGES} \
-                      --packages-skip << parameters.skip >> \
                       --mixin << parameters.mixins >>
               - ccache_stats:
                   workspace: << parameters.workspace >>
@@ -226,6 +231,9 @@ _commands:
           type: string
         cache_test:
           type: boolean
+        packages_skip_regex:
+          type: string
+          default: ""
       steps:
         - run:
             name: Test Workspace | << parameters.workspace >>
@@ -261,6 +269,7 @@ _commands:
                 TEST_PACKAGES=$(
                   colcon list \
                     --names-only \
+                    --packages-skip-regex << parameters.packages_skip_regex >> \
                     --packages-above \
                       $TEST_UNPASSED \
                       $TEST_FAILURES \
@@ -270,7 +279,8 @@ _commands:
               then
                 TEST_PACKAGES=$(
                   colcon list \
-                    --names-only)
+                    --names-only \
+                    --packages-skip-regex << parameters.packages_skip_regex >> )
               fi
               TEST_PACKAGES=$(
                 echo $TEST_PACKAGES \
@@ -380,14 +390,10 @@ _steps:
       underlay: /opt/underlay_ws
       workspace: /opt/overlay_ws
       mixins: ${OVERLAY_MIXINS}
-  setup_workspace_overlay_1: &setup_workspace_overlay_1
+  build_workspace_overlay: &build_workspace_overlay
     setup_workspace:
       <<: *setup_workspace_overlay
-      skip: nav2_system_tests
-  setup_workspace_overlay_2: &setup_workspace_overlay_2
-    setup_workspace:
-      <<: *setup_workspace_overlay
-      restore: false
+      packages_skip_regex: << parameters.packages_skip_regex >>
   restore_overlay_workspace: &restore_overlay_workspace
     setup_workspace:
       <<: *setup_workspace_overlay
@@ -397,6 +403,7 @@ _steps:
       key: overlay_ws
       workspace: /opt/overlay_ws
       cache_test: << parameters.cache_test >>
+      packages_skip_regex: << parameters.packages_skip_regex >>
   collect_overlay_coverage: &collect_overlay_coverage
     run:
       name: Collect Code Coverage
@@ -434,9 +441,11 @@ commands:
       - *install_overlay_dependencies
   build_source:
     description: "Build Source"
+    parameters:
+      packages_skip_regex:
+        type: string
     steps:
-      - *setup_workspace_overlay_1
-      - *setup_workspace_overlay_2
+      - *build_workspace_overlay
   restore_build:
     description: "Restore Build"
     steps:
@@ -450,6 +459,8 @@ commands:
     parameters:
       cache_test:
         type: boolean
+      packages_skip_regex:
+        type: string
     steps:
       - *test_overlay_workspace
   report_coverage:
@@ -485,8 +496,14 @@ executors:
       OVERLAY_MIXINS: "release ccache coverage-gcc lld"
 
 _jobs:
+  job_build: &job_build
+    parameters: &job_build_parameters
+      packages_skip_regex:
+        type: string
+        default: ""
   job_test: &job_test
     parameters:
+      <<: *job_build_parameters
       cache_test:
         type: boolean
         default: false
@@ -499,39 +516,57 @@ _jobs:
 
 jobs:
   release_build: &release_build
+    <<: *job_build
     executor: release_exec
     steps:
       - checkout_source
       - setup_dependencies
-      - build_source
+      - build_source:
+          packages_skip_regex: << parameters.packages_skip_regex >>
+  system_build: &system_build
+    <<: *release_build
   release_test: &release_test
     <<: *job_test
     executor: release_exec
     steps:
       - restore_build
       - test_build:
           cache_test: << parameters.cache_test >>
+          packages_skip_regex: << parameters.packages_skip_regex >>
       - report_coverage
 
+_parameters:
+  release_parameters: &release_parameters
+    packages_skip_regex: "nav2_system_tests"
+
 workflows:
   version: 2
   build_and_test:
     jobs:
-      - release_build
-      - release_test:
+      - release_build:
+          <<: *release_parameters
+      - system_build:
           requires:
             - release_build
+      - release_test:
+          requires:
+            - system_build
           cache_test: true
   nightly:
     jobs:
-      - release_build
-      - release_test:
+      - release_build:
+          <<: *release_parameters
+      - system_build:
           requires:
             - release_build
+      - release_test:
+          requires:
+            - system_build
+          <<: *release_parameters
           matrix:
+            alias: release_test
             parameters:
               rmw:
-                - rmw_connextdds
                 - rmw_cyclonedds_cpp
                 - rmw_fastrtps_cpp
     triggers:

.devcontainer/caddy/Caddyfile

@@ -0,0 +1,132 @@
+# Snippet for global matchers and variables
+# to logically expression request conditions
+# E.g. for conditionally changing redirects
+(globals) {
+	# Use gzip compression for all responses
+	encode gzip
+
+	# Matcher for http request scheme. E.g. "http" or "https"
+	@http_scheme {
+		expression {http.request.scheme}=="https" || {header.X-Forwarded-Scheme}=="https" || {header.X-Forwarded-Proto}=="https"
+	}
+	# If any http scheme is "https", then use "wss"
+	vars @http_scheme WsScheme "wss"
+	# Else default to "ws"
+	vars WsScheme "ws"
+
+	# Matcher for forwarded request headers
+	@host_forwarded {
+		header X-Forwarded-Host *
+	}
+	# If http headers exists, then use them
+	vars @host_forwarded ReqHost {header.X-Forwarded-Host}
+	# Else default to host in request
+	vars ReqHost {http.request.hostport}
+
+	# Matcher for websocket connection upgrade requests
+	@websockets {
+		# Avoid case sensitivity issues when matching field values
+		# E.g. when values are rewritten by Codespace port forwarding
+		header_regexp Connection (?i)(Upgrade)
+		header Upgrade websocket
+	}
+}
+
+# Snippet for redirect with given URL queries values
+# to simplify remote development with web apps
+# E.g auto redirect websocket URL to match request scheme
+(redirect) {
+	# Configure redirect to match request scheme
+	vars LayoutUrl "/assets/foxglove/nav2_layout.json"
+	vars DataSourceUrl "{vars.WsScheme}://{vars.ReqHost}{args.0}/"
+	redir /autoconnect "{args.0}/?ds=foxglove-websocket&ds.url={vars.DataSourceUrl}"
+	redir /autolayout "{args.0}/?ds=foxglove-websocket&ds.url={vars.DataSourceUrl}&layoutUrl={vars.LayoutUrl}"
+}
+
+# Snippet for dummy imports
+(dummy) {
+}
+
+# Snippet for enabling mobile web app features
+# to improve user experience on small screen devices
+# E.g. for enabling fullscreen mode on iOS and Android
+(mobile) {
+	# Match for directory redirects to index.html
+	route / {
+		# Inject link to manifest just after <head> tag
+		# https://developer.mozilla.org/docs/Web/Manifest
+		replace `<head>` `<head><link rel="manifest" href="manifest.json" crossorigin="use-credentials"/>`
+	}
+	# Redirect relative handle_path'ed manifest.json to /manifests directory
+	redir /manifest.json /assets{http.request.orig_uri.path.dir}manifest.json
+}
+
+# Snippet for hosted web app using websockets
+# to serve static files and reverse proxying connections
+# E.g. for serving GzWeb and Foxglove web apps
+(app) {
+	# handle and strip path prefix from redirect
+	handle_path {args.0}/* {
+		# Set root directory for static files
+		root * {http.vars.root}{args.0}
+		# Enable mobile web app features
+		import mobile
+		# Reverse proxy websockets to backend address
+		reverse_proxy @websockets {args.1}
+		# Import custom snippets
+		import {args.2} {args.0}
+	}
+}
+
+# Listen for http requests on port 8080
+# regardless of hostname or domain address
+# E.g. whatever Codespaces assigns to host
+:8080 {
+	# Include global matchers and variables
+	import globals
+	root * {$ROOT_SRV:/srv}
+	file_server browse
+
+	# Handle root content
+	# I.e. assets internal to workspace
+	handle /* {
+		# Template manifest.json files
+		templates */manifest.json {
+			mime application/json
+		}
+	}
+
+	# Handle nav2 web app
+	# I.e. main landing page
+	handle_path /nav2/* {
+		root * {http.vars.root}/nav2
+		import mobile
+		# Render markdown files as html
+		templates
+	}
+
+	# Matcher for requests without browse query
+	@no_browse {
+		path /
+		not query browse=true
+	}
+	# Redirect to nav2 web app by default
+	redir @no_browse /nav2/
+
+	# Import app snippets for web apps
+	import app "/gzweb" "localhost:9090" "dummy"
+	import app "/foxglove" "localhost:8765" "redirect"
+
+	# Handle glances web app
+	redir /glances /glances/
+	handle_path /glances/* {
+		import mobile
+		# Reverse proxy to glances backend
+		reverse_proxy * "localhost:61208"
+	}
+
+	# For debugging
+	# log {
+	# 	output file /var/log/caddy/server.log
+	# }
+}

.devcontainer/caddy/srv/assets/foxglove/manifest.json

@@ -0,0 +1,40 @@
+{
+    "name": "Foxglove: {{placeholder "http.vars.ReqHost"}}",
+    "short_name": "Foxglove: {{placeholder "http.vars.ReqHost"}}",
+    "icons": [
+      {
+        "src": "/media/icons/foxglove/any_icon_x512.webp",
+        "sizes": "512x512",
+        "type": "image/webp",
+        "purpose": "any"
+      },
+      {
+        "src": "/media/icons/foxglove/maskable_icon_x512.webp",
+        "sizes": "512x512",
+        "type": "image/webp",
+        "purpose": "maskable"
+      }
+    ],
+    "id": "/foxglove/",
+    "start_url": "/foxglove/autoconnect",
+    "theme_color": "#6F3BE8",
+    "background_color": "#6F3BE8",
+    "display": "fullscreen",
+    "shortcuts" : [
+        {
+          "name": "Auto Connect",
+          "url": "/foxglove/autoconnect",
+          "description": "Auto connect to default data source"
+        },
+        {
+          "name": "Auto Layout",
+          "url": "/foxglove/autolayout",
+          "description": "Auto connect using default layout"
+        },
+        {
+          "name": "Manual Connect",
+          "url": "/foxglove/",
+          "description": "Manually connect to data source"
+        }
+      ]
+}