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Fix jazzy and rolling CI jobs (#37)
* allow pip installs * use ros-base images * use correct tera renderer version * use tera binaries instead of building from source * cleanup pkg.xml and readme
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‎.github/workflows/ci-humble.yml‎

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name: CI (humble)
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on:
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push:
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branches: [ main ]
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pull_request:
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branches: [ main ]
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workflow_dispatch:
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jobs:
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build:
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runs-on: ubuntu-latest
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container:
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image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
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steps:
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- uses: ros-tooling/action-ros-ci@v0.4
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continue-on-error: false
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with:
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target-ros2-distro: humble

‎.github/workflows/ci-jazzy.yaml‎

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build:
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runs-on: ubuntu-latest
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container:
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image: ubuntu:noble
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image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
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steps:
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- uses: actions/checkout@v4
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- uses: ros-tooling/setup-ros@v0.7
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with:
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required-ros-distributions: jazzy
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use-ros2-testing: true
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- name: Allow pip to install packages
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run: printf "[install]\nbreak-system-packages = true\n" | sudo tee -a /etc/pip.conf
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- uses: ros-tooling/action-ros-ci@v0.4
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continue-on-error: true
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with:
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target-ros2-distro: jazzy

‎.github/workflows/ci-rolling.yaml‎

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build:
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runs-on: ubuntu-latest
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container:
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image: ubuntu:noble
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image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
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steps:
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- uses: actions/checkout@v4
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- uses: ros-tooling/setup-ros@v0.7
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with:
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required-ros-distributions: rolling
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use-ros2-testing: true
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- name: Allow pip to install packages
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run: printf "[install]\nbreak-system-packages = true\n" | sudo tee -a /etc/pip.conf
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- uses: ros-tooling/action-ros-ci@v0.4
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continue-on-error: true
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with:
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target-ros2-distro: rolling

‎.github/workflows/ci.yml‎

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‎.gitignore‎

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build/
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install/
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log/

‎CMakeLists.txt‎

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if(NOT EXISTS "${TERA_RENDERER}")
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# Add empty bin directory (used to download the tera renderer)
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install(DIRECTORY DESTINATION "opt/${PROJECT_NAME}/bin")
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set(TERA_VERSION "0.0.35")
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# Clone the tera renderer
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message(STATUS "Cloning Tera renderer")
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if(NOT EXISTS "${ACADOS_SOURCE_BUILD_DIR}/tera_renderer")
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execute_process(COMMAND git clone --quiet https://github.com/acados/tera_renderer -b v${TERA_VERSION}
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WORKING_DIRECTORY "${ACADOS_SOURCE_BUILD_DIR}"
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RESULT_VARIABLE TERA_GIT_OUT
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OUTPUT_VARIABLE TERA_GIT_OUT)
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if(NOT TERA_GIT_OUT EQUAL 0)
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message(FATAL_ERROR "Failed to clone Tera renderer")
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endif()
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else()
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message(STATUS "${ACADOS_SOURCE_BUILD_DIR}/tera_renderer already exists")
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set(TERA_VERSION "0.0.34")
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set(TERA_URL_BASE "https://github.com/acados/tera_renderer")
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set(TERA_URL "${TERA_URL_BASE}/releases/download/v${TERA_VERSION}/t_renderer-v${TERA_VERSION}-linux")
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message(STATUS "Tera renderer not found, downloading version ${TERA_VERSION} from ${TERA_URL}")
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# Download binaries for the tera renderer
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file(DOWNLOAD
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"${TERA_URL}"
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"${TERA_RENDERER}"
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SHOW_PROGRESS
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STATUS TERA_DOWNLOAD_STATUS
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)
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list(GET TERA_DOWNLOAD_STATUS 0 TERA_DOWNLOAD_CODE)
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if(NOT TERA_DOWNLOAD_CODE EQUAL 0)
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message(FATAL_ERROR "Failed to download Tera renderer: ${TERA_DOWNLOAD_STATUS}")
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endif()
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# Compile the tera renderer
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message(STATUS "Building Tera renderer")
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execute_process(COMMAND cargo build --quiet --release
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WORKING_DIRECTORY "${ACADOS_SOURCE_BUILD_DIR}/tera_renderer"
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RESULT_VARIABLE TERA_BUILD_OUT
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OUTPUT_VARIABLE TERA_BUILD_OUT)
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if(NOT TERA_BUILD_OUT EQUAL 0)
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message(FATAL_ERROR "Failed to build Tera renderer")
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endif()
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# Copy the tera renderer
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file(COPY "${ACADOS_SOURCE_BUILD_DIR}/tera_renderer/target/release/t_renderer"
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DESTINATION "${ACADOS_SOURCE_DIR}/bin")
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# Make the tera renderer executable
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file(CHMOD
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${TERA_RENDERER}
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PERMISSIONS
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OWNER_READ OWNER_WRITE GROUP_READ GROUP_WRITE OWNER_EXECUTE GROUP_EXECUTE WORLD_READ WORLD_EXECUTE)
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OWNER_READ OWNER_WRITE OWNER_EXECUTE
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GROUP_READ GROUP_EXECUTE
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WORLD_READ WORLD_EXECUTE
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)
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endif()
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endif()
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ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.sh.in")

‎README.md‎

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Simple ros2 vendor for Acados.
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![version](https://img.shields.io/badge/version-0.3.6-blue)
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[![CI (humble)](https://github.com/ICube-Robotics/acados_vendor_ros2/actions/workflows/ci.yml/badge.svg)](https://github.com/ICube-Robotics/acados_vendor_ros2/actions/workflows/ci.yml)
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[![CI (humble)](https://github.com/ICube-Robotics/acados_vendor_ros2/actions/workflows/ci-humble.yml/badge.svg)](https://github.com/ICube-Robotics/acados_vendor_ros2/actions/workflows/ci-humble.yml)
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[![Build tests (jazzy)](../../actions/workflows/ci-jazzy.yaml/badge.svg?branch=main)](../../actions/workflows/ci-jazzy.yaml?query=branch:main)
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[![Build tests (rolling)](../../actions/workflows/ci-rolling.yaml/badge.svg?branch=main)](../../actions/workflows/ci-rolling.yaml?query=branch:main)
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## Installation
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## Installation (humble)
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```bash
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mkdir ros2_ws/src
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cd ros2_ws/src
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git clone https://github.com/ICube-Robotics/acados_vendor_ros2.git
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cd acados_vendor_ros2
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# Download the source and install the c interface (lib "acados")
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cd ..
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rosdep install --ignore-src --from-paths . -y -r
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rosdep install --from-paths . -y --ignore-src
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colcon build
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```
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>**NOTE:** If the `ament_cmake_vendor_package` is missing, you can install it manually:
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## Installation (jazzy and later)
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```bash
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sudo apt install ros-<ROS_DISTRO>-ament-cmake-vendor-package
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git clone https://github.com/ICube-Robotics/acados_vendor_ros2.git
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cd acados_vendor_ros2
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PIP_BREAK_SYSTEM_PACKAGES=1 rosdep install --from-paths . -y --ignore-src
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colcon build
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```
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> [!TIP] Since Ubuntu 24.04, pip restricts installing Python packages to system locations by default. The `PIP_BREAK_SYSTEM_PACKAGES=1` flag allows `rosdep` to install Python dependencies even when system Python is used.
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> You can avoid using the flag if you manually install the `casadi` binaries beforehand as a system package or if you use a virtual environment (**later option recommended**).
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## Usage
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‎package.xml‎

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<author email="thibault.poignonec@gmail.com">Thibault Poignonec</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>ament_cmake_python</buildtool_depend>
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<buildtool_depend>ament_cmake_test</buildtool_depend>
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<buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
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<buildtool_depend>ament_cmake_python</buildtool_depend>
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<buildtool_depend>pkg-config</buildtool_depend>
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<build_depend>cargo</build_depend>
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<exec_depend>casadi-pip</exec_depend>
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<buildtool_export_depend>pkg-config</buildtool_export_depend>
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<test_depend>ament_cmake_test</test_depend>
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<test_depend>ament_cmake_copyright</test_depend>
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<test_depend>ament_cmake_lint_cmake</test_depend>
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<test_depend>ament_cmake_xmllint</test_depend>

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