Add ros2 iron

Author: m-dahl

.github/workflows/rust_and_ros2.yml

@@ -17,7 +17,7 @@ jobs:
     - run: docker build . --file ./tests/Dockerfile_no_ros --tag r2r_no_ros
     - run: docker run r2r_no_ros cargo build --features doc-only
 
-  minimal_workspace_humble:
+  minimal_workspace_iron:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
@@ -26,8 +26,15 @@ jobs:
       with:
         repository: m-dahl/r2r_minimal_node
         path: r2r_minimal_node
-    - run: docker build . --file ./tests/Dockerfile_humble --tag r2r_humble
-    - run: docker run r2r_humble /r2r/tests/build_minimal_node.bash
+    - run: docker build . --file ./tests/Dockerfile_iron --tag r2r_iron
+    - run: docker run r2r_iron /r2r/tests/build_minimal_node.bash
+
+  tests_iron:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - run: docker build . --file ./tests/Dockerfile_iron --tag r2r_iron
+    - run: docker run r2r_iron cargo test
 
   tests_humble:
     runs-on: ubuntu-latest

r2r/src/qos.rs

@@ -251,6 +251,8 @@ pub enum ReliabilityPolicy {
     BestEffort,
     Reliable,
     SystemDefault,
+    #[cfg(r2r__ros__distro__iron)]
+    BestAvailable,
     Unknown,
 }
 impl From<ReliabilityPolicy> for rmw_qos_reliability_policy_t {
@@ -265,6 +267,10 @@ impl From<ReliabilityPolicy> for rmw_qos_reliability_policy_t {
             ReliabilityPolicy::SystemDefault => {
                 rmw_qos_reliability_policy_t::RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT
             }
+            #[cfg(r2r__ros__distro__iron)]
+            ReliabilityPolicy::BestAvailable => {
+                rmw_qos_reliability_policy_t::RMW_QOS_POLICY_RELIABILITY_BEST_AVAILABLE
+            }
             ReliabilityPolicy::Unknown => {
                 rmw_qos_reliability_policy_t::RMW_QOS_POLICY_RELIABILITY_UNKNOWN
             }
@@ -284,6 +290,10 @@ impl From<rmw_qos_reliability_policy_t> for ReliabilityPolicy {
             rmw_qos_reliability_policy_t::RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT => {
                 ReliabilityPolicy::SystemDefault
             }
+            #[cfg(r2r__ros__distro__iron)]
+            rmw_qos_reliability_policy_t::RMW_QOS_POLICY_RELIABILITY_BEST_AVAILABLE => {
+                ReliabilityPolicy::BestAvailable
+            }
             rmw_qos_reliability_policy_t::RMW_QOS_POLICY_RELIABILITY_UNKNOWN => {
                 ReliabilityPolicy::Unknown
             }
@@ -296,6 +306,8 @@ pub enum DurabilityPolicy {
     TransientLocal,
     Volatile,
     SystemDefault,
+    #[cfg(r2r__ros__distro__iron)]
+    BestAvailable,
     Unknown,
 }
 
@@ -311,6 +323,10 @@ impl From<DurabilityPolicy> for rmw_qos_durability_policy_t {
             DurabilityPolicy::SystemDefault => {
                 rmw_qos_durability_policy_t::RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT
             }
+            #[cfg(r2r__ros__distro__iron)]
+            DurabilityPolicy::BestAvailable => {
+                rmw_qos_durability_policy_t::RMW_QOS_POLICY_DURABILITY_BEST_AVAILABLE
+            }
             DurabilityPolicy::Unknown => {
                 rmw_qos_durability_policy_t::RMW_QOS_POLICY_DURABILITY_UNKNOWN
             }
@@ -330,6 +346,10 @@ impl From<rmw_qos_durability_policy_t> for DurabilityPolicy {
             rmw_qos_durability_policy_t::RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT => {
                 DurabilityPolicy::SystemDefault
             }
+            #[cfg(r2r__ros__distro__iron)]
+            rmw_qos_durability_policy_t::RMW_QOS_POLICY_DURABILITY_BEST_AVAILABLE => {
+                DurabilityPolicy::BestAvailable
+            }
             rmw_qos_durability_policy_t::RMW_QOS_POLICY_DURABILITY_UNKNOWN => {
                 DurabilityPolicy::Unknown
             }
@@ -343,6 +363,8 @@ pub enum LivelinessPolicy {
     ManualByNode,
     ManualByTopic,
     SystemDefault,
+    #[cfg(r2r__ros__distro__iron)]
+    BestAvailable,
     Unknown,
 }
 
@@ -361,6 +383,10 @@ impl From<LivelinessPolicy> for rmw_qos_liveliness_policy_t {
             LivelinessPolicy::SystemDefault => {
                 rmw_qos_liveliness_policy_t::RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT
             }
+            #[cfg(r2r__ros__distro__iron)]
+            LivelinessPolicy::BestAvailable => {
+                rmw_qos_liveliness_policy_t::RMW_QOS_POLICY_LIVELINESS_BEST_AVAILABLE
+            }
             LivelinessPolicy::Unknown => {
                 rmw_qos_liveliness_policy_t::RMW_QOS_POLICY_LIVELINESS_UNKNOWN
             }
@@ -383,6 +409,10 @@ impl From<rmw_qos_liveliness_policy_t> for LivelinessPolicy {
             rmw_qos_liveliness_policy_t::RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT => {
                 LivelinessPolicy::SystemDefault
             }
+            #[cfg(r2r__ros__distro__iron)]
+            rmw_qos_liveliness_policy_t::RMW_QOS_POLICY_LIVELINESS_BEST_AVAILABLE => {
+                LivelinessPolicy::BestAvailable
+            }
             rmw_qos_liveliness_policy_t::RMW_QOS_POLICY_LIVELINESS_UNKNOWN => {
                 LivelinessPolicy::Unknown
             }

r2r_common/src/lib.rs

@@ -8,7 +8,7 @@ use std::io::Read;
 use std::path::Path;
 
 #[cfg(not(feature = "doc-only"))]
-const SUPPORTED_ROS_DISTROS: &[&str] = &["foxy", "galactic", "humble", "rolling"];
+const SUPPORTED_ROS_DISTROS: &[&str] = &["foxy", "galactic", "humble", "iron", "rolling"];
 
 const WATCHED_ENV_VARS: &[&str] = &[
     "AMENT_PREFIX_PATH",

tests/Dockerfile_iron

@@ -0,0 +1,22 @@
+# syntax=docker/dockerfile:1
+FROM ros:iron
+
+# Update default packages
+RUN apt-get update
+
+# Get Ubuntu packages
+RUN apt-get install -y \
+    build-essential \
+    curl \
+    libclang-dev
+
+# Get ros test messages
+RUN apt-get install -y ros-iron-test-msgs ros-iron-example-interfaces
+
+# Get Rust
+RUN curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | bash -s -- -y
+RUN echo 'source $HOME/.cargo/env' >> $HOME/.bashrc
+
+COPY . /r2r
+RUN chmod +x /r2r/tests/test.bash
+ENTRYPOINT [ "/r2r/tests/test.bash" ]

tests/test.bash

@@ -5,13 +5,13 @@
 # run rustup to test with latest rust version
 rustup update
 
-if [ -e "/opt/ros/humble/setup.bash" ]; then
+if [ -e "/opt/ros/iron/setup.bash" ]; then
+    source "/opt/ros/iron/setup.bash"
+elif [ -e "/opt/ros/humble/setup.bash" ]; then
     source "/opt/ros/humble/setup.bash"
-fi
-if [ -e "/opt/ros/galactic/setup.bash" ]; then
+elif [ -e "/opt/ros/galactic/setup.bash" ]; then
     source "/opt/ros/galactic/setup.bash"
-fi
-if [ -e "/opt/ros/foxy/setup.bash" ]; then
+elif [ -e "/opt/ros/foxy/setup.bash" ]; then
     source "/opt/ros/foxy/setup.bash"
 fi