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sgillensgillen
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remove basic test
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‎.github/workflows/basic-test.yml‎

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‎scripts/build_debian_packages.sh‎

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#!/bin/bash
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# Build Debian packages for greenwave_monitor
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#
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# This script builds .deb packages for greenwave_monitor_interfaces, greenwave_monitor, and r2s_gw
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#
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# Usage: ./scripts/build_debian_packages.sh [ROS_DISTRO] [UBUNTU_DISTRO]
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# Examples:
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# ./scripts/build_debian_packages.sh # Uses defaults (humble/jammy)
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# ./scripts/build_debian_packages.sh humble jammy # ROS Humble on Ubuntu 22.04
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# ./scripts/build_debian_packages.sh jazzy noble # ROS Jazzy on Ubuntu 24.04
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#
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# Docker Usage (Recommended):
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# docker run -it --rm -v $(pwd):/workspace -w /workspace \
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# ros:humble-ros-base-jammy ./scripts/build_debian_packages.sh humble jammy
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#
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# Supported combinations:
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# humble/jammy, iron/jammy, jazzy/noble, kilted/noble, rolling/noble
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#
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# Output: Debian packages will be created in debian_packages/[ROS_DISTRO]/
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# Install: sudo apt install ./debian_packages/[ROS_DISTRO]/*.deb
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set -eo pipefail
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# Default values
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DEFAULT_ROS_DISTRO="humble"
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DEFAULT_UBUNTU_DISTRO="jammy"
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# Parse arguments
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ROS_DISTRO="${1:-$DEFAULT_ROS_DISTRO}"
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UBUNTU_DISTRO="${2:-$DEFAULT_UBUNTU_DISTRO}"
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# Validate ROS distro
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case "$ROS_DISTRO" in
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humble|iron|jazzy|kilted|rolling)
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;;
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*)
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echo "Error: Unsupported ROS distro: $ROS_DISTRO"
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echo "Supported distros: humble, iron, jazzy, kilted, rolling"
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exit 1
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;;
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esac
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# Validate Ubuntu distro
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case "$UBUNTU_DISTRO" in
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jammy|noble)
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;;
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*)
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echo "Error: Unsupported Ubuntu distro: $UBUNTU_DISTRO"
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echo "Supported distros: jammy, noble"
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exit 1
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;;
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esac
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echo "Building Debian packages for ROS $ROS_DISTRO on Ubuntu $UBUNTU_DISTRO"
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# Check if running in ROS container or local system
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if [ ! -f "/opt/ros/$ROS_DISTRO/setup.bash" ]; then
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echo "Error: ROS $ROS_DISTRO not found at /opt/ros/$ROS_DISTRO/setup.bash"
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echo "Please run this script in a ROS $ROS_DISTRO container or install ROS $ROS_DISTRO locally"
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echo ""
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echo "To run in Docker:"
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echo " docker run -it --rm -v \$(pwd):/workspace -w /workspace ros:$ROS_DISTRO-ros-base-$UBUNTU_DISTRO ./scripts/build_debian_packages.sh $ROS_DISTRO $UBUNTU_DISTRO"
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exit 1
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fi
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# Source ROS environment
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source /opt/ros/$ROS_DISTRO/setup.bash
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# Install dependencies
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echo "Installing build dependencies..."
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apt-get update -qq
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# Check if we need --break-system-packages for pip
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USE_BREAK_SYSTEM_PACKAGES=""
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if [[ "$ROS_DISTRO" == "jazzy" || "$ROS_DISTRO" == "kilted" || "$ROS_DISTRO" == "rolling" ]]; then
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USE_BREAK_SYSTEM_PACKAGES="--break-system-packages"
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fi
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# Install system dependencies
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apt-get install -y build-essential python3-pip python3-bloom python3-rosdep git lsb-release devscripts debhelper fakeroot
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# Install Python dependencies
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if [ -f "requirements.txt" ]; then
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if [ -n "$USE_BREAK_SYSTEM_PACKAGES" ]; then
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pip3 install $USE_BREAK_SYSTEM_PACKAGES -I pygments -r requirements.txt
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python3 -m pip install -U $USE_BREAK_SYSTEM_PACKAGES bloom
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else
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pip3 install -r requirements.txt
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python3 -m pip install -U bloom
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fi
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fi
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# Build workspace first
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echo "Building workspace..."
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colcon build --packages-up-to r2s_gw
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source install/setup.bash
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# Setup rosdep mappings
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echo "Setting up rosdep mappings..."
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mkdir -p ~/.ros/rosdep
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cat >~/.ros/rosdep/local.yaml <<EOF
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greenwave_monitor_interfaces:
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ubuntu:
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jammy: [ros-$ROS_DISTRO-greenwave-monitor-interfaces]
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noble: [ros-$ROS_DISTRO-greenwave-monitor-interfaces]
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greenwave_monitor:
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ubuntu:
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jammy: [ros-$ROS_DISTRO-greenwave-monitor]
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noble: [ros-$ROS_DISTRO-greenwave-monitor]
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EOF
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# Setup rosdep
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mkdir -p /etc/ros/rosdep/sources.list.d || sudo mkdir -p /etc/ros/rosdep/sources.list.d
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echo "yaml file://$HOME/.ros/rosdep/local.yaml" | sudo tee /etc/ros/rosdep/sources.list.d/99-local.list
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rosdep init 2>/dev/null || sudo rosdep init 2>/dev/null || true
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rosdep update --include-eol-distros
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# Create output directory
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DEBIAN_DIR="debian_packages/$ROS_DISTRO"
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mkdir -p "$DEBIAN_DIR"
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# Function to build a Debian package
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build_debian_package() {
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local package_name=$1
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local package_dir=$2
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echo "=================================="
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echo "Generating Debian package for $package_name..."
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echo "=================================="
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cd "$package_dir"
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# Generate debian files and build package
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bloom-generate rosdebian --ros-distro "$ROS_DISTRO"
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apt-get build-dep . -y || sudo apt-get build-dep . -y
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fakeroot debian/rules binary
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# Move package to output directory
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cp ../ros-$ROS_DISTRO-${package_name//_/-}_*.deb "../$DEBIAN_DIR/"
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cd ..
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echo "Successfully built $package_name"
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}
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# Function to install a package locally
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install_package() {
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local package_pattern=$1
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echo "Installing $package_pattern..."
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apt-get update || sudo apt-get update
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apt-get install -y ./$DEBIAN_DIR/$package_pattern || sudo apt-get install -y ./$DEBIAN_DIR/$package_pattern
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}
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# Build packages in dependency order
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echo "Starting Debian package generation..."
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# 1. Build greenwave_monitor_interfaces
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if [ -d "greenwave_monitor_interfaces" ]; then
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build_debian_package "greenwave_monitor_interfaces" "greenwave_monitor_interfaces"
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install_package "ros-$ROS_DISTRO-greenwave-monitor-interfaces_*.deb"
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else
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echo "Warning: greenwave_monitor_interfaces directory not found, skipping"
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fi
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# 2. Build greenwave_monitor
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if [ -d "greenwave_monitor" ]; then
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build_debian_package "greenwave_monitor" "greenwave_monitor"
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install_package "ros-$ROS_DISTRO-greenwave-monitor_*.deb"
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else
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echo "Warning: greenwave_monitor directory not found, skipping"
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fi
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# 3. Build r2s_gw
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if [ -d "r2s_gw" ]; then
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build_debian_package "r2s_gw" "r2s_gw"
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else
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echo "Warning: r2s_gw directory not found, skipping"
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fi
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echo "=================================="
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echo "Debian package generation complete!"
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echo "=================================="
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echo "Generated packages in $DEBIAN_DIR:"
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ls -la "$DEBIAN_DIR/"
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echo ""
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echo "To install the packages on another system:"
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echo " sudo apt install ./$DEBIAN_DIR/*.deb"
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echo ""
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echo "To create a local APT repository:"
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echo " sudo apt install dpkg-dev"
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echo " cd $DEBIAN_DIR"
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echo " dpkg-scanpackages . /dev/null | gzip -9c > Packages.gz"
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echo " # Then add 'deb [trusted=yes] file:///path/to/$DEBIAN_DIR ./' to /etc/apt/sources.list"

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