Add support for rmw_connextdds, and disable rmw_connext_cpp (#547) (

#549) * Add support for `rmw_connextdds` Signed-off-by: Andrea Sorbini <asorbini@rti.com> Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
ros2 · Mar 23, 2021 · b78db4f · b78db4f
1 parent 0308aa6
commit b78db4f
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Showing 10 changed files with 175 additions and 89 deletions.
diff --git a/create_jenkins_job.py b/create_jenkins_job.py
@@ -139,12 +139,12 @@ def main(argv=None):
         'linux-aarch64': {
             'label_expression': 'linux_aarch64',
             'shell_type': 'Shell',
-            'ignore_rmw_default': data['ignore_rmw_default'] | {'rmw_connext_cpp', 'rmw_connext_dynamic_cpp'},
+            'ignore_rmw_default': data['ignore_rmw_default'] | {'rmw_connext_cpp', 'rmw_connext_dynamic_cpp', 'rmw_connextdds'},
         },
         'linux-armhf': {
             'label_expression': 'linux_armhf',
             'shell_type': 'Shell',
-            'ignore_rmw_default': data['ignore_rmw_default'] | {'rmw_connext_cpp', 'rmw_connext_dynamic_cpp'},
+            'ignore_rmw_default': data['ignore_rmw_default'] | {'rmw_connext_cpp', 'rmw_connext_dynamic_cpp', 'rmw_connextdds'},
             'build_args_default': data['build_args_default'].replace(
                 '--cmake-args', '--cmake-args -DCMAKE_CXX_FLAGS=-Wno-psabi -DCMAKE_C_FLAGS=-Wno-psabi -DDISABLE_SANITIZERS=ON'),
         },
@@ -160,7 +160,7 @@ def main(argv=None):
     os_config_overrides = {
         'linux-rhel': {
             'mixed_overlay_pkgs': '',
-            'ignore_rmw_default': {'rmw_connext_cpp', 'rmw_connext_dynamic_cpp', 'rmw_opensplice_cpp'},
+            'ignore_rmw_default': {'rmw_connext_cpp', 'rmw_connext_dynamic_cpp', 'rmw_opensplice_cpp', 'rmw_connextdds'},
             'use_connext_debs_default': 'false',
         },
     }
@@ -218,7 +218,7 @@ def create_job(os_name, job_name, template_file, additional_dict):
         # configure a manual version of the packaging job
         ignore_rmw_default_packaging = {'rmw_opensplice_cpp'}
         if os_name in ['linux-aarch64', 'linux-armhf']:
-            ignore_rmw_default_packaging |= {'rmw_connext_cpp', 'rmw_connext_dynamic_cpp'}
+            ignore_rmw_default_packaging |= {'rmw_connext_cpp', 'rmw_connext_dynamic_cpp', 'rmw_connextdds'}
         create_job(os_name, 'ci_packaging_' + os_name, 'packaging_job.xml.em', {
             'build_discard': {
                 'days_to_keep': 180,
@@ -327,7 +327,8 @@ def create_job(os_name, job_name, template_file, additional_dict):
         # packages of ros2.repos that are used by the qualitly level packages during
         # tests.
 
-        # out of the list since ignored by colcon: shape_msgs, stereo_msgs, rmw_connext, rmw_cyclonedds
+        # out of the list since ignored by colcon: shape_msgs, stereo_msgs,
+        # rmw_connext, rmw_connextdds, rmw_cyclonedds.
         quality_level_pkgs = [
             'action_msgs',
             'ament_index_cpp',

diff --git a/job_templates/ci_job.xml.em b/job_templates/ci_job.xml.em
@@ -89,8 +89,7 @@
         <script plugin="script-security@@1.70">
           <script><![CDATA[build.setDescription("""\
 branch: ${build.buildVariableResolver.resolve('CI_BRANCH_TO_TEST')}, <br/>
-use_connext_static: ${build.buildVariableResolver.resolve('CI_USE_CONNEXT_STATIC')}, <br/>
-@# use_connext_dynamic: ${build.buildVariableResolver.resolve('CI_USE_CONNEXT_DYNAMIC')}, <br/>
+use_connextdds: ${build.buildVariableResolver.resolve('CI_USE_CONNEXTDDS')}, <br/>
 use_connext_debs: ${build.buildVariableResolver.resolve('CI_USE_CONNEXT_DEBS')}, <br/>
 use_cyclonedds: ${build.buildVariableResolver.resolve('CI_USE_CYCLONEDDS')}, <br/>
 use_fastrtps_static: ${build.buildVariableResolver.resolve('CI_USE_FASTRTPS_STATIC')}, <br/>
@@ -132,12 +131,18 @@ fi
 if [ "$CI_USE_WHITESPACE_IN_PATHS" = "true" ]; then
   export CI_ARGS="$CI_ARGS --white-space-in sourcespace buildspace installspace workspace"
 fi
-export CI_ARGS="$CI_ARGS --ignore-rmw"
-if [ "$CI_USE_CONNEXT_STATIC" = "false" ]; then
+export CI_ARGS="$CI_ARGS --ignore-rmw rmw_connext_dynamic_cpp"
+# TODO(asorbini) `rmw_connext_cpp` is still the default for dashing and foxy.
+if [ -n "$CI_ROS_DISTRO" -a \( "$CI_ROS_DISTRO" = dashing -o "$CI_ROS_DISTRO" = foxy \) ]; then
+  if [ "$CI_USE_CONNEXTDDS" = "false" ]; then
+    export CI_ARGS="$CI_ARGS rmw_connext_cpp"
+  fi
+else
+  # Always ignore `rmw_connext_cpp` in favor of `rmw_connextdds` for newer releases.
   export CI_ARGS="$CI_ARGS rmw_connext_cpp"
-fi
-if [ "$CI_USE_CONNEXT_DYNAMIC" = "false" ]; then
-  export CI_ARGS="$CI_ARGS rmw_connext_dynamic_cpp"
+  if [ "$CI_USE_CONNEXTDDS" = "false" ]; then
+    export CI_ARGS="$CI_ARGS rmw_connextdds"
+  fi
 fi
 if [ "$CI_USE_CYCLONEDDS" = "false" ]; then
   export CI_ARGS="$CI_ARGS rmw_cyclonedds_cpp"
@@ -271,12 +276,28 @@ if "!CI_COLCON_BRANCH!" NEQ "" (
 if "!CI_USE_WHITESPACE_IN_PATHS!" == "true" (
   set "CI_ARGS=!CI_ARGS! --white-space-in sourcespace buildspace installspace workspace"
 )
-set "CI_ARGS=!CI_ARGS! --ignore-rmw"
-if "!CI_USE_CONNEXT_STATIC!" == "false" (
+set "CI_ARGS=!CI_ARGS! --ignore-rmw rmw_connext_dynamic_cpp"
+:: TODO(asorbini) `rmw_connext_cpp` is still the default for dashing and foxy.
+set "CI_CONNEXTDDS_RMW="
+if "!CI_ROS_DISTRO!" NEQ "" (
+  if "!CI_ROS_DISTRO!" == "dashing" (
+    set CI_CONNEXTDDS_RMW=rmw_connext_cpp
+  ) else (
+    if "!CI_ROS_DISTRO!" == "foxy" (
+      set CI_CONNEXTDDS_RMW=rmw_connext_cpp
+    )
+  )
+)
+if "!CI_CONNEXTDDS_RMW!" == "rmw_connext_cpp" (
+  if "!CI_USE_CONNEXTDDS!" == "false" (
+    set "CI_ARGS=!CI_ARGS! rmw_connext_cpp"
+  )
+) else (
+  :: Always ignore `rmw_connext_cpp` in favor of `rmw_connextdds` for newer releases.
   set "CI_ARGS=!CI_ARGS! rmw_connext_cpp"
-)
-if "!CI_USE_CONNEXT_DYNAMIC!" == "false" (
-  set "CI_ARGS=!CI_ARGS! rmw_connext_dynamic_cpp"
+  if "!CI_USE_CONNEXTDDS!" == "false" (
+    set "CI_ARGS=!CI_ARGS! rmw_connextdds"
+  )
 )
 if "!CI_USE_CYCLONEDDS!" == "false" (
   set "CI_ARGS=!CI_ARGS! rmw_cyclonedds_cpp"
@@ -368,12 +389,28 @@ if "!CI_ROS_DISTRO!" NEQ "" (
 if "!CI_USE_WHITESPACE_IN_PATHS!" == "true" (
   set "CI_ARGS=!CI_ARGS! --white-space-in sourcespace buildspace installspace workspace"
 )
-set "CI_ARGS=!CI_ARGS! --ignore-rmw"
-if "!CI_USE_CONNEXT_STATIC!" == "false" (
+set "CI_ARGS=!CI_ARGS! --ignore-rmw rmw_connext_dynamic_cpp"
+:: TODO(asorbini) `rmw_connext_cpp` is still the default for dashing and foxy.
+set "CI_CONNEXTDDS_RMW="
+if "!CI_ROS_DISTRO!" NEQ "" (
+  if "!CI_ROS_DISTRO!" == "dashing" (
+    set CI_CONNEXTDDS_RMW=rmw_connext_cpp
+  ) else (
+    if "!CI_ROS_DISTRO!" == "foxy" (
+      set CI_CONNEXTDDS_RMW=rmw_connext_cpp
+    )
+  )
+)
+if "!CI_CONNEXTDDS_RMW!" == "rmw_connext_cpp" (
+  if "!CI_USE_CONNEXTDDS!" == "false" (
+    set "CI_ARGS=!CI_ARGS! rmw_connext_cpp"
+  )
+) else (
+  :: Always ignore `rmw_connext_cpp` in favor of `rmw_connextdds` for newer releases.
   set "CI_ARGS=!CI_ARGS! rmw_connext_cpp"
-)
-if "!CI_USE_CONNEXT_DYNAMIC!" == "false" (
-  set "CI_ARGS=!CI_ARGS! rmw_connext_dynamic_cpp"
+  if "!CI_USE_CONNEXTDDS!" == "false" (
+    set "CI_ARGS=!CI_ARGS! rmw_connextdds"
+  )
 )
 if "!CI_USE_CYCLONEDDS!" == "false" (
   set "CI_ARGS=!CI_ARGS! rmw_cyclonedds_cpp"

diff --git a/job_templates/ci_launcher_job.xml.em b/job_templates/ci_launcher_job.xml.em
@@ -97,19 +97,11 @@ for (item in build_numbers) {
             <hudson.plugins.parameterizedtrigger.BooleanParameters>
               <configs>
                 <hudson.plugins.parameterizedtrigger.BooleanParameterConfig>
-                  <name>CI_USE_CONNEXT_STATIC</name>
+                  <name>CI_USE_CONNEXTDDS</name>
                   <value>false</value>
                 </hudson.plugins.parameterizedtrigger.BooleanParameterConfig>
               </configs>
             </hudson.plugins.parameterizedtrigger.BooleanParameters>
-@#            <hudson.plugins.parameterizedtrigger.BooleanParameters>
-@#              <configs>
-@#                <hudson.plugins.parameterizedtrigger.BooleanParameterConfig>
-@#                  <name>CI_USE_CONNEXT_DYNAMIC</name>
-@#                  <value>false</value>
-@#                </hudson.plugins.parameterizedtrigger.BooleanParameterConfig>
-@#              </configs>
-@#            </hudson.plugins.parameterizedtrigger.BooleanParameters>
 @[  end if]@
 @[  if os_name in ['windows', 'windows-metal']]@
             <hudson.plugins.parameterizedtrigger.BooleanParameters>

diff --git a/job_templates/packaging_job.xml.em b/job_templates/packaging_job.xml.em
@@ -114,8 +114,7 @@ ros_distro: ${build.buildVariableResolver.resolve('CI_ROS_DISTRO')}, <br/>
 branch: ${build.buildVariableResolver.resolve('CI_BRANCH_TO_TEST')}, <br/>
 ci_branch: ${build.buildVariableResolver.resolve('CI_SCRIPTS_BRANCH')}, <br/>
 repos_url: ${build.buildVariableResolver.resolve('CI_ROS2_REPOS_URL')}, <br/>
-use_connext_static: ${build.buildVariableResolver.resolve('CI_USE_CONNEXT_STATIC')}, <br/>
-@# use_connext_dynamic: ${build.buildVariableResolver.resolve('CI_USE_CONNEXT_DYNAMIC')}, <br/>
+use_connextdds: ${build.buildVariableResolver.resolve('CI_USE_CONNEXTDDS')}, <br/>
 use_connext_debs: ${build.buildVariableResolver.resolve('CI_USE_CONNEXT_DEBS')}, <br/>
 use_cyclonedds: ${build.buildVariableResolver.resolve('CI_USE_CYCLONEDDS')}, <br/>
 use_fastrtps_static: ${build.buildVariableResolver.resolve('CI_USE_FASTRTPS_STATIC')}, <br/>
@@ -146,12 +145,18 @@ fi
 if [ -n "${CI_COLCON_BRANCH+x}" ]; then
   export CI_ARGS="$CI_ARGS --colcon-branch $CI_COLCON_BRANCH"
 fi
-export CI_ARGS="$CI_ARGS --ignore-rmw"
-if [ "$CI_USE_CONNEXT_STATIC" = "false" ]; then
+export CI_ARGS="$CI_ARGS --ignore-rmw rmw_connext_dynamic_cpp"
+# TODO(asorbini) `rmw_connext_cpp` is still the default for dashing and foxy.
+if [ -n "$CI_ROS_DISTRO" -a \( "$CI_ROS_DISTRO" = dashing -o "$CI_ROS_DISTRO" = foxy \) ]; then
+  if [ "$CI_USE_CONNEXTDDS" = "false" ]; then
+    export CI_ARGS="$CI_ARGS rmw_connext_cpp"
+  fi
+else
+  # Always ignore `rmw_connext_cpp` in favor of `rmw_connextdds` for newer releases.
   export CI_ARGS="$CI_ARGS rmw_connext_cpp"
-fi
-if [ "$CI_USE_CONNEXT_DYNAMIC" = "false" ]; then
-  export CI_ARGS="$CI_ARGS rmw_connext_dynamic_cpp"
+  if [ "$CI_USE_CONNEXTDDS" = "false" ]; then
+    export CI_ARGS="$CI_ARGS rmw_connextdds"
+  fi
 fi
 if [ "$CI_USE_CYCLONEDDS" = "false" ]; then
   export CI_ARGS="$CI_ARGS rmw_cyclonedds_cpp"
@@ -284,12 +289,28 @@ if "!CI_BRANCH_TO_TEST!" NEQ "" (
 if "!CI_COLCON_BRANCH!" NEQ "" (
   set "CI_ARGS=!CI_ARGS! --colcon-branch !CI_COLCON_BRANCH!"
 )
-set "CI_ARGS=!CI_ARGS! --ignore-rmw"
-if "!CI_USE_CONNEXT_STATIC!" == "false" (
+set "CI_ARGS=!CI_ARGS! --ignore-rmw rmw_connext_dynamic_cpp"
+:: TODO(asorbini) `rmw_connext_cpp` is still the default for dashing and foxy.
+set "CI_CONNEXTDDS_RMW="
+if "!CI_ROS_DISTRO!" NEQ "" (
+  if "!CI_ROS_DISTRO!" == "dashing" (
+    set CI_CONNEXTDDS_RMW=rmw_connext_cpp
+  ) else (
+    if "!CI_ROS_DISTRO!" == "foxy" (
+      set CI_CONNEXTDDS_RMW=rmw_connext_cpp
+    )
+  )
+)
+if "!CI_CONNEXTDDS_RMW!" == "rmw_connext_cpp" (
+  if "!CI_USE_CONNEXTDDS!" == "false" (
+    set "CI_ARGS=!CI_ARGS! rmw_connext_cpp"
+  )
+) else (
+  :: Always ignore `rmw_connext_cpp` in favor of `rmw_connextdds` for newer releases.
   set "CI_ARGS=!CI_ARGS! rmw_connext_cpp"
-)
-if "!CI_USE_CONNEXT_DYNAMIC!" == "false" (
-  set "CI_ARGS=!CI_ARGS! rmw_connext_dynamic_cpp"
+  if "!CI_USE_CONNEXTDDS!" == "false" (
+    set "CI_ARGS=!CI_ARGS! rmw_connextdds"
+  )
 )
 if "!CI_USE_CYCLONEDDS!" == "false" (
   set "CI_ARGS=!CI_ARGS! rmw_cyclonedds_cpp"
@@ -371,12 +392,28 @@ if "!CI_COLCON_BRANCH!" NEQ "" (
 if "!CI_ROS_DISTRO!" NEQ "" (
   set "CI_ARGS=!CI_ARGS! --ros-distro !CI_ROS_DISTRO!"
 )
-set "CI_ARGS=!CI_ARGS! --ignore-rmw"
-if "!CI_USE_CONNEXT_STATIC!" == "false" (
+set "CI_ARGS=!CI_ARGS! --ignore-rmw rmw_connext_dynamic_cpp"
+:: TODO(asorbini) `rmw_connext_cpp` is still the default for dashing and foxy.
+set "CI_CONNEXTDDS_RMW="
+if "!CI_ROS_DISTRO!" NEQ "" (
+  if "!CI_ROS_DISTRO!" == "dashing" (
+    set CI_CONNEXTDDS_RMW=rmw_connext_cpp
+  ) else (
+    if "!CI_ROS_DISTRO!" == "foxy" (
+      set CI_CONNEXTDDS_RMW=rmw_connext_cpp
+    )
+  )
+)
+if "!CI_CONNEXTDDS_RMW!" == "rmw_connext_cpp" (
+  if "!CI_USE_CONNEXTDDS!" == "false" (
+    set "CI_ARGS=!CI_ARGS! rmw_connext_cpp"
+  )
+) else (
+  :: Always ignore `rmw_connext_cpp` in favor of `rmw_connextdds` for newer releases.
   set "CI_ARGS=!CI_ARGS! rmw_connext_cpp"
-)
-if "!CI_USE_CONNEXT_DYNAMIC!" == "false" (
-  set "CI_ARGS=!CI_ARGS! rmw_connext_dynamic_cpp"
+  if "!CI_USE_CONNEXTDDS!" == "false" (
+    set "CI_ARGS=!CI_ARGS! rmw_connextdds"
+  )
 )
 if "!CI_USE_CYCLONEDDS!" == "false" (
   set "CI_ARGS=!CI_ARGS! rmw_cyclonedds_cpp"

diff --git a/job_templates/snippet/property_parameter-definition_rmw_implementations.xml.em b/job_templates/snippet/property_parameter-definition_rmw_implementations.xml.em
@@ -1,13 +1,8 @@
         <hudson.model.BooleanParameterDefinition>
-          <name>CI_USE_CONNEXT_STATIC</name>
-          <description>By setting this to True, the build will attempt to use RTI&apos;s Connext (static type support).</description>
-          <defaultValue>@('false' if 'rmw_connext_cpp' in ignore_rmw_default else 'true')</defaultValue>
+          <name>CI_USE_CONNEXTDDS</name>
+          <description>By setting this to True, the build will attempt to use RTI Connext DDS.</description>
+          <defaultValue>@('false' if 'rmw_connextdds' in ignore_rmw_default else 'true')</defaultValue>
         </hudson.model.BooleanParameterDefinition>
-@#        <hudson.model.BooleanParameterDefinition>
-@#          <name>CI_USE_CONNEXT_DYNAMIC</name>
-@#          <description>By setting this to True, the build will attempt to use RTI&apos;s Connext (dynamic type support).</description>
-@#          <defaultValue>@('false' if 'rmw_connext_dynamic_cpp' in ignore_rmw_default else 'true')</defaultValue>
-@#        </hudson.model.BooleanParameterDefinition>
         <hudson.model.BooleanParameterDefinition>
           <name>CI_USE_CONNEXT_DEBS</name>
           <description>By setting this to True, the build will use the Debian packages for Connext, instead of the binaries off the RTI website (applies to Linux only).</description>

diff --git a/linux_docker_resources/entry_point.sh b/linux_docker_resources/entry_point.sh
@@ -20,34 +20,38 @@ echo "Enabling multicast..."
 ifconfig eth0 multicast
 echo "done."
 
-# extract all ignored rmws
-# extract args between --ignore-rmw until the first appearance of '-'
-IGNORE_CONNEXT=`echo ${CI_ARGS} | sed -e 's/.*ignore-rmw \([^-]*\).*/\1/' | sed -e 's/-.*//' | grep rmw_connext_cpp`
-# if we didn't find `rmw_connext_cpp` within the option string, install it!
-if [ -z "${IGNORE_CONNEXT}" ]; then
-    echo "Installing Connext..."
-    case "${CI_ARGS}" in
-      *--connext-debs*)
-        echo "Using Debian package of Connext"
-        ;;
-      *)
-        echo "Installing Connext binaries off RTI website..."
-        python3 -u /tmp/rti_web_binaries_install_script.py /tmp/rti_connext_dds-5.3.1-eval-x64Linux3gcc5.4.0.run /home/rosbuild/rti_connext_dds-5.3.1 --rtipkg_paths /tmp/rti_security_plugins-5.3.1-eval-x64Linux3gcc5.4.0.rtipkg /tmp/openssl-1.0.2n-5.3.1-host-x64Linux.rtipkg
-        if [ $? -ne 0 ]
-        then
-          echo "Connext not installed correctly (maybe you're on an ARM machine?)." >&2
-          exit 1
-        fi
-        mv /tmp/rti_license.dat /home/rosbuild/rti_license.dat
-        export RTI_LICENSE_FILE=/home/rosbuild/rti_license.dat
-        mv /tmp/openssl-1.0.2n /home/rosbuild/openssl-1.0.2n
-        export RTI_OPENSSL_BIN=/home/rosbuild/openssl-1.0.2n/x64Linux3gcc5.4.0/release/bin
-        export RTI_OPENSSL_LIBS=/home/rosbuild/openssl-1.0.2n/x64Linux3gcc5.4.0/release/lib
-        ;;
-    esac
-    echo "done."
-else
-    echo "NOT installing Connext."
+# We only attempt to install Connext on amd64
+if [ "${ARCH}" != "aarch64" ]; then
+    # extract all ignored rmws
+    # extract args between --ignore-rmw until the first appearance of '-'
+    IGNORE_CONNEXTDDS=`echo ${CI_ARGS} | sed -e 's/.*ignore-rmw \([^-]*\).*/\1/' | sed -e 's/-.*//' | grep rmw_connextdds`
+    IGNORE_CONNEXTCPP=`echo ${CI_ARGS} | sed -e 's/.*ignore-rmw \([^-]*\).*/\1/' | sed -e 's/-.*//' | grep rmw_connext_cpp`
+    # Install RTI Connext DDS if we didn't find both `rmw_connextdds` and `rmw_connext_cpp`
+    # within the "ignored RMWs" option string.
+    if [ -z "${IGNORE_CONNEXTDDS}" -o -z "${IGNORE_CONNEXTCPP}" ]; then
+        echo "Installing Connext..."
+        case "${CI_ARGS}" in
+          *--connext-debs*)
+            echo "Using Debian package of Connext"
+            ;;
+          *)
+            echo "Installing Connext binaries off RTI website..."
+            python3 -u /tmp/rti_web_binaries_install_script.py /tmp/rti_connext_dds-5.3.1-eval-x64Linux3gcc5.4.0.run /home/rosbuild/rti_connext_dds-5.3.1 --rtipkg_paths /tmp/rti_security_plugins-5.3.1-eval-x64Linux3gcc5.4.0.rtipkg /tmp/openssl-1.0.2n-5.3.1-host-x64Linux.rtipkg
+            if [ $? -ne 0 ]; then
+                echo "Connext not installed correctly (maybe you're on an ARM machine?)." >&2
+                exit 1
+            fi
+            mv /tmp/rti_license.dat /home/rosbuild/rti_license.dat
+            export RTI_LICENSE_FILE=/home/rosbuild/rti_license.dat
+            mv /tmp/openssl-1.0.2n /home/rosbuild/openssl-1.0.2n
+            export RTI_OPENSSL_BIN=/home/rosbuild/openssl-1.0.2n/x64Linux3gcc5.4.0/release/bin
+            export RTI_OPENSSL_LIBS=/home/rosbuild/openssl-1.0.2n/x64Linux3gcc5.4.0/release/lib
+            ;;
+        esac
+        echo "done."
+    else
+        echo "NOT installing Connext."
+    fi
 fi
 
 echo "Fixing permissions..."