Noetic support (#93)

Signed-off-by: Louise Poubel <[email protected]>
Co-authored-by: Jose Luis Rivero <[email protected]>

.travis.yml

@@ -2,8 +2,7 @@ sudo: required
 
 env:
   matrix:
-    - DOCKER_IMAGE=ubuntu:18.04 IGNITION_VERSION="blueprint" ROS_DISTRO="melodic"
-    - DOCKER_IMAGE=ubuntu:18.04 IGNITION_VERSION="citadel" ROS_DISTRO="melodic"
+    - DOCKER_IMAGE=ubuntu:20.04 ROS_DISTRO="noetic"
 
 services:
   - docker
@@ -17,7 +16,7 @@ before_install:
   - echo $DOCKER_IMAGE
   - echo $IGNITION_VERSION
   - docker pull $DOCKER_IMAGE
-  - docker run  -e IGNITION_VERSION -e ROS_DISTRO -d -v $(pwd):/code $DOCKER_IMAGE /bin/bash -c 'while true; do sleep 1; done'
+  - docker run  -e ROS_DISTRO -d -v $(pwd):/code $DOCKER_IMAGE /bin/bash -c 'while true; do sleep 1; done'
   - docker exec $(docker ps -aq) /bin/bash -c 'id'
 
 before_script:

.travis/build

@@ -2,49 +2,28 @@
 set -ev
 
 # Configuration.
-export CATKIN_WS=~/catkin_ws
-export CATKIN_WS_SRC=${CATKIN_WS}/src
+export COLCON_WS=~/ws
+export COLCON_WS_SRC=${COLCON_WS}/src
 export DEBIAN_FRONTEND=noninteractive
-
-if [ "$IGNITION_VERSION" == "blueprint" ]; then
-  IGN_DEPS="libignition-msgs4-dev libignition-transport7-dev libignition-gazebo2-dev"
-elif [ "$IGNITION_VERSION" == "citadel" ]; then
-  IGN_DEPS="libignition-msgs5-dev libignition-transport8-dev libignition-gazebo3-dev"
-else
-  exit 1
-fi
+export ROS_PYTHON_VERSION=3
 
 # Dependencies.
-echo "deb [trusted=yes] http://packages.osrfoundation.org/gazebo/ubuntu-stable bionic main" > /etc/apt/sources.list.d/gazebo-stable.list
-echo "deb [trusted=yes] http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list
+echo "deb [trusted=yes] http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list
 apt-get update -qq
-apt-get install -qq -y $IGN_DEPS \
-                       python-catkin-tools \
-                       python-rosdep
+apt-get install -qq -y python3-colcon-common-extensions \
+                       python3-rosdep
 
 rosdep init
 rosdep update
-rosdep install --from-paths ./ -i -y --rosdistro $ROS_DISTRO \
-  --skip-keys=ignition-gazebo2 \
-  --skip-keys=ignition-gazebo3 \
-  --skip-keys=ignition-msgs4 \
-  --skip-keys=ignition-msgs5 \
-  --skip-keys=ignition-rendering2 \
-  --skip-keys=ignition-rendering3 \
-  --skip-keys=ignition-sensors2 \
-  --skip-keys=ignition-sensors3 \
-  --skip-keys=ignition-transport7 \
-  --skip-keys=ignition-transport8
+rosdep install --from-paths ./ -i -y --rosdistro $ROS_DISTRO
 
 # Build.
 source /opt/ros/$ROS_DISTRO/setup.bash
-mkdir -p $CATKIN_WS_SRC
-ln -s /code $CATKIN_WS_SRC
-cd $CATKIN_WS
-catkin init
-catkin config --install
-catkin build --limit-status-rate 0.1 --no-notify -DCMAKE_BUILD_TYPE=Release
-catkin build --limit-status-rate 0.1 --no-notify --make-args tests
+mkdir -p $COLCON_WS_SRC
+ln -s /code $COLCON_WS_SRC
+cd $COLCON_WS
+colcon build --event-handlers console_direct+
 
 # Tests.
-catkin run_tests
+colcon test --event-handlers console_direct+
+colcon test-result

README.md

@@ -1,4 +1,4 @@
-[![Build Status](https://travis-ci.org/ignitionrobotics/ros_ign.svg?branch=melodic)](https://travis-ci.org/ignitionrobotics/ros_ign/branches)
+[![Build Status](https://travis-ci.org/ignitionrobotics/ros_ign.svg?branch=noetic)](https://travis-ci.org/ignitionrobotics/ros_ign/branches)
 
 * ROS 1 branches:
     * [melodic](https://github.com/osrf/ros_ign/tree/melodic)
@@ -22,66 +22,48 @@
 This repository holds packages that provide integration between
 [ROS](http://www.ros.org/) and [Ignition](https://ignitionrobotics.org):
 
-* [ros_ign](https://github.com/osrf/ros_ign/tree/melodic/ros_ign):
+* [ros_ign](https://github.com/osrf/ros_ign/tree/noetic/ros_ign):
   Metapackage which provides all the other packages.
-* [ros_ign_image](https://github.com/osrf/ros_ign/tree/melodic/ros_ign_image):
+* [ros_ign_image](https://github.com/osrf/ros_ign/tree/noetic/ros_ign_image):
   Unidirectional transport bridge for images from
   [Ignition Transport](https://ignitionrobotics.org/libs/transport)
   to ROS using
   [image_transport](http://wiki.ros.org/image_transport).
-* [ros_ign_bridge](https://github.com/osrf/ros_ign/tree/melodic/ros_ign_bridge):
+* [ros_ign_bridge](https://github.com/osrf/ros_ign/tree/noetic/ros_ign_bridge):
   Bidirectional transport bridge between
   [Ignition Transport](https://ignitionrobotics.org/libs/transport)
   and ROS.
-* [ros_ign_gazebo](https://github.com/osrf/ros_ign/tree/melodic/ros_ign_gazebo):
+* [ros_ign_gazebo](https://github.com/osrf/ros_ign/tree/noetic/ros_ign_gazebo):
   Convenient launch files and executables for using
   [Ignition Gazebo](https://ignitionrobotics.org/libs/gazebo)
   with ROS.
-* [ros_ign_gazebo_demos](https://github.com/osrf/ros_ign/tree/melodic/ros_ign_gazebo_demos):
+* [ros_ign_gazebo_demos](https://github.com/osrf/ros_ign/tree/noetic/ros_ign_gazebo_demos):
   Demos using the ROS-Ignition integration.
-* [ros_ign_point_cloud](https://github.com/osrf/ros_ign/tree/melodic/ros_ign_point_cloud):
+* [ros_ign_point_cloud](https://github.com/osrf/ros_ign/tree/noetic/ros_ign_point_cloud):
   Plugins for publishing point clouds to ROS from
   [Ignition Gazebo](https://ignitionrobotics.org/libs/gazebo) simulations.
 
 ## Install
 
-This branch supports ROS Melodic. See above for other ROS versions.
-
-### Binaries
-
-At the moment, Melodic binaries are only available for Blueprint.
-They are hosted at https://packages.osrfoundation.org.
-
-1. Add https://packages.osrfoundation.org
-
-        sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-        wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-        sudo apt-get update
-
-1. Install `ros_ign`
-
-        sudo apt install ros-melodic-ros-ign
-
-### From source
+This branch supports ROS Noetic. See above for other ROS versions.
 
 ### ROS
 
 Be sure you've installed
-[ROS Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu) (at least ROS-Base).
-More ROS dependencies will be installed below.
+[ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu) (at least ROS-Base).
 
-### Ignition
+### Binaries
 
-Install either [Blueprint or Citadel](https://ignitionrobotics.org/docs).
+Noetic binaries will *soon* be available for Citadel.
+They will be hosted at https://packages.ros.org.
 
-Set the `IGNITION_VERSION` environment variable to the Ignition version you'd
-like to compile against. For example:
+1. Make sure you have ROS Noetic installed.
 
-    export IGNITION_VERSION=citadel
+1. Install `ros_ign`
 
-> You only need to set this variable when compiling, not when running.
+        sudo apt install ros-noetic-ros-ign
 
-### Compile ros_ign
+### From source
 
 The following steps are for Linux and OSX.
 
@@ -93,32 +75,21 @@ The following steps are for Linux and OSX.
     cd ~/ws/src
 
     # Download needed software
-    git clone https://github.com/osrf/ros_ign.git -b melodic
+    git clone https://github.com/osrf/ros_ign.git -b noetic
     ```
 
-1. Install ROS dependencies:
+1. Install dependencies (this will also install Ignition):
 
     ```
     cd ~/ws
-    rosdep install --from-paths src -i -y --rosdistro melodic \
-      --skip-keys=ignition-gazebo2 \
-      --skip-keys=ignition-gazebo3 \
-      --skip-keys=ignition-msgs4 \
-      --skip-keys=ignition-msgs5 \
-      --skip-keys=ignition-rendering2 \
-      --skip-keys=ignition-rendering3 \
-      --skip-keys=ignition-sensors2 \
-      --skip-keys=ignition-sensors3 \
-      --skip-keys=ignition-transport7 \
-      --skip-keys=ignition-transport8
-
+    rosdep install --from-paths src -i -y --rosdistro noetic
     ```
 
 1. Build the workspace:
 
     ```
     # Source ROS distro's setup.bash
-    source /opt/ros/melodic/setup.bash
+    source /opt/ros/noetic/setup.bash
 
     # Build and install into workspace
     cd ~/ws/

RELEASING.md

@@ -20,7 +20,7 @@ The steps to make a new release of the package are:
 
 1. Bloom it into a custom repository
     ```
-    BLOOM_RELEASE_REPO_BASE=https://github.com/osrf/ bloom-release --no-pull-request --rosdistro melodic --track melodic ros_ign
+    BLOOM_RELEASE_REPO_BASE=https://github.com/osrf/ bloom-release --no-pull-request --rosdistro <ros_distro> --track <ros_distro> ros_ign
     ```
 
     Will fail fedora: ignore and continue:

ros_ign_bridge/README.md

@@ -22,7 +22,7 @@ service calls. Its support is limited to only the following message types:
 | geometry_msgs/Transform        | ignition::msgs::Pose             |
 | geometry_msgs/TransformStamped | ignition::msgs::Pose             |
 | geometry_msgs/Twist            | ignition::msgs::Twist            |
-| mav_msgs/Actuators             | ignition::msgs::Actuators        |
+| mav_msgs/Actuators ([not on Noetic](https://github.com/ethz-asl/mav_comm/issues/86)) | ignition::msgs::Actuators        |
 | nav_msgs/Odometry              | ignition::msgs::Odometry         |
 | rosgraph_msgs/Clock            | ignition::msgs::Clock            |
 | sensor_msgs/BatteryState       | ignition::msgs::BatteryState     |
@@ -44,7 +44,7 @@ First we start a ROS `roscore`:
 
 ```
 # Shell A:
-. /opt/ros/melodic/setup.bash
+. /opt/ros/noetic/setup.bash
 roscore
 ```
 
@@ -60,7 +60,7 @@ Now we start the ROS listener.
 
 ```
 # Shell C:
-. /opt/ros/melodic/setup.bash
+. /opt/ros/noetic/setup.bash
 rostopic echo /chatter
 ```
 
@@ -77,7 +77,7 @@ First we start a ROS `roscore`:
 
 ```
 # Shell A:
-. /opt/ros/melodic/setup.bash
+. /opt/ros/noetic/setup.bash
 roscore
 ```
 
@@ -100,7 +100,7 @@ Now we start the ROS talker.
 
 ```
 # Shell D:
-. /opt/ros/melodic/setup.bash
+. /opt/ros/noetic/setup.bash
 rostopic pub /chatter std_msgs/String "data: 'Hi'" --once
 ```
 
@@ -113,7 +113,7 @@ First we start a ROS `roscore`:
 
 ```
 # Shell A:
-. /opt/ros/melodic/setup.bash
+. /opt/ros/noetic/setup.bash
 roscore
 ```
 
@@ -146,7 +146,7 @@ Now we start the ROS GUI:
 
 ```
 # Shell E:
-. /opt/ros/melodic/setup.bash
+. /opt/ros/noetic/setup.bash
 rqt_image_view /default/camera/link/camera/image
 ```
 

ros_ign_bridge/include/ros_ign_bridge/convert.hpp

@@ -25,7 +25,7 @@
 #include <geometry_msgs/Transform.h>
 #include <geometry_msgs/TransformStamped.h>
 #include <geometry_msgs/Twist.h>
-#include <mav_msgs/Actuators.h>
+// #include <mav_msgs/Actuators.h>
 #include <nav_msgs/Odometry.h>
 #include <sensor_msgs/BatteryState.h>
 #include <sensor_msgs/CameraInfo.h>
@@ -248,17 +248,17 @@ convert_ign_to_ros(
   geometry_msgs::Twist & ros_msg);
 
 // mav_msgs
-template<>
-void
-convert_ros_to_ign(
-  const mav_msgs::Actuators & ros_msg,
-  ignition::msgs::Actuators & ign_msg);
-
-template<>
-void
-convert_ign_to_ros(
-  const ignition::msgs::Actuators & ign_msg,
-  mav_msgs::Actuators & ros_msg);
+// template<>
+// void
+// convert_ros_to_ign(
+//   const mav_msgs::Actuators & ros_msg,
+//   ignition::msgs::Actuators & ign_msg);
+//
+// template<>
+// void
+// convert_ign_to_ros(
+//   const ignition::msgs::Actuators & ign_msg,
+//   mav_msgs::Actuators & ros_msg);
 
 // nav_msgs
 template<>

ros_ign_bridge/package.xml

@@ -8,7 +8,10 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <depend>geometry_msgs</depend>
-  <depend>mav_msgs</depend>
+  <depend>ignition-msgs5</depend>
+  <depend>ignition-transport8</depend>
+  <!-- Not on Noetic https://github.com/ethz-asl/mav_comm/issues/86
+  <depend>mav_msgs</depend-->
   <depend>nav_msgs</depend>
   <depend>rosgraph_msgs</depend>
   <depend>rosconsole</depend>
@@ -18,12 +21,6 @@
   <depend>std_srvs</depend>
   <depend>tf2_msgs</depend>
 
-  <!-- Default to citadel, support blueprint -->
-  <depend condition="$IGNITION_VERSION == blueprint">ignition-msgs4</depend>
-  <depend condition="$IGNITION_VERSION == blueprint">ignition-transport7</depend>
-  <depend condition="$IGNITION_VERSION != blueprint">ignition-msgs5</depend>
-  <depend condition="$IGNITION_VERSION != blueprint">ignition-transport8</depend>
-
   <build_depend>message_generation</build_depend>
   <exec_depend>message_runtime</exec_depend>
   <test_depend>rostest</test_depend>