Support for ROS2 Crystal #60
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I haven't tried The Java code generator is integrated into the |
About the same issue, please see the following build: DockerfileFROM ubuntu:bionic
# setup timezone
RUN echo 'Etc/UTC' > /etc/timezone && \
ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
apt-get update && apt-get install -q -y tzdata && rm -rf /var/lib/apt/lists/*
# install packages
RUN apt-get update && apt-get install -q -y \
bash-completion \
dirmngr \
git \
gnupg2 \
libasio-dev \
libtinyxml2-dev \
lsb-release \
python3-pip \
wget \
&& rm -rf /var/lib/apt/lists/*
# setup ros2 keys
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116
# setup sources.list
RUN echo "deb http://packages.ros.org/ros2/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros2-latest.list
# setup environment
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8
# install packages from the ROS repositories
RUN apt-get update && apt-get install -y --no-install-recommends \
python3-catkin-pkg-modules \
python3-colcon-common-extensions \
python3-rosdep \
python3-vcstool \
&& rm -rf /var/lib/apt/lists/*
# install python packages
RUN pip3 install -U \
argcomplete \
flake8 \
flake8-blind-except \
flake8-builtins \
flake8-class-newline \
flake8-comprehensions \
flake8-deprecated \
flake8-docstrings \
flake8-import-order \
flake8-quotes \
pytest-repeat \
pytest-rerunfailures
# bootstrap rosdep
ENV ROSDISTRO_INDEX_URL https://raw.githubusercontent.com/ros2/rosdistro/ros2/index.yaml
RUN rosdep init \
&& rosdep update
# install ros build tools
RUN apt-get update && apt-get install -y \
default-jdk \
gradle && \
rm -rf /var/lib/apt/lists/*
# clone source
ENV ROS2_WS /root/ros2_ws
RUN mkdir -p $ROS2_WS/src
WORKDIR $ROS2_WS
RUN wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos \
&& vcs import src < ros2.repos
RUN git -C src clone \
https://github.com/esteve/ament_java.git
RUN git -C src clone \
https://github.com/esteve/ros2_java.git
RUN git -C src clone \
https://github.com/esteve/ros2_java_examples.git
# install dependencies
RUN apt-get update && rosdep install -y \
--from-paths src \
--ignore-src \
--rosdistro bouncy \
--skip-keys "console_bridge fastcdr fastrtps libopensplice67 rti-connext-dds-5.3.1 urdfdom_headers rosidl_typesupport_java" \
&& rm -rf /var/lib/apt/lists/*
# build source
WORKDIR $ROS2_WS
RUN colcon \
build \
--cmake-args \
-DSECURITY=ON \
--no-warn-unused-cli \
--symlink-install \
--packages-up-to \
rcljava_examples
# setup bashrc
RUN cp /etc/skel/.bashrc ~/
# setup entrypoint
COPY ./ros2_source_entrypoint.sh /
ENTRYPOINT ["/ros2_source_entrypoint.sh"]
# CMD ["bash"]
CMD ["ros2", "run", "rcljava_examples", "publisher_lambda"]Build output: |
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There were major changes made to the rosidl pipeline in Crystal (which probably explains the errors). I've started updating Ultimately, I'll be working towards feature parity with |
@jacobperron Really appreciate your effort and contributions!! You're awesome:D Just wondering if there's a general timeline on the update? |
Timelines are hard 😅 I've opened up #66, which should let you compile |
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Considering Crystal is EOL, I'm going to close this. I'll be putting in some effort to get ROS 2 Java support for Foxy (and Dashing/Eloquent along the way). Here's a metaticket tracking progress: #82 |
ivanpauno
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May 12, 2021
… to the feedback topic (#60) Signed-off-by: Ivan Santiago Paunovic <[email protected]>
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While following along with the readme, I encountered some build issues when building from ROS2 Crystal. @esteve , perhaps you might see the IDL issue generated from the following example Dockerfiles? I'd like to eventually get to making a dockerfile to build android apk for ROS2 with.
Dockerfile
Build output:
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