Create foxy-fitzroy branch

This patch makes changes:

- Upgrade to Ubuntu 20.04 (focal) on travis.
- Upgrade to macOS 10.15.4 on circleci.
- Sync with instructions to install Foxy, see details:
  https://index.ros.org/doc/ros2/Installation/Foxy/
- Add the cases used to test interactions with rclpy/rclcpp clients to
  black list, because those become more flaky on CI platforms.

Fix #None

Author: Minggang Wang

.circleci/config.yml

@@ -8,7 +8,7 @@ jobs:
       CIRCLE_ARTIFACTS: /tmp/circleci-artifacts
       CIRCLE_TEST_REPORTS: /tmp/circleci-test-results
     macos:
-      xcode: 11.1.0
+      xcode: 11.5.0
     steps:
     - checkout
     - run: mkdir -p $CIRCLE_ARTIFACTS $CIRCLE_TEST_REPORTS
@@ -18,18 +18,16 @@ jobs:
         # fallback to using the latest cache if no exact match is found
         - v1-dependencies-
     - run: brew update
-    # Pin tinyxml2 to 7.0.0
-    - run: brew install https://raw.githubusercontent.com/Homebrew/homebrew-core/9ec55dd6f30fa2a77dfd0367cff671c9c8828f67/Formula/tinyxml2.rb
-    - run: brew install wget cmake cppcheck tinyxml eigen pcre poco
+    - run: brew install wget cmake cppcheck tinyxml eigen pcre poco tinyxml2
     - run: brew install openssl
     - run: brew install asio console_bridge log4cxx spdlog
-    - run: python3 -m pip install catkin_pkg empy git+https://github.com/lark-parser/[email protected] pyparsing pyyaml setuptools argcomplete colcon-common-extensions numpy
-    - run: mkdir -p ~/ros2_install && cd ~/ros2_install && wget https://ci.ros2.org/view/packaging/job/packaging_osx/lastSuccessfulBuild/artifact/ws/ros2-package-osx-x86_64.tar.bz2 && tar xf ros2-package-osx-x86_64.tar.bz2
-    - run: wget -qO- https://raw.githubusercontent.com/nvm-sh/nvm/v0.35.2/install.sh | bash
+    - run: python3 -m pip install catkin_pkg empy ifcfg lark-parser lxml netifaces numpy pyparsing pyyaml setuptools argcomplete colcon-common-extensions
+    - run: mkdir -p ~/ros2_install && cd ~/ros2_install && wget https://github.com/ros2/ros2/releases/download/release-foxy-20200605/ros2-foxy-20200605-macos-amd64.tar.bz2 && tar xf ros2-foxy-20200605-macos-amd64.tar.bz2
+    - run: wget -qO- https://raw.githubusercontent.com/nvm-sh/nvm/v0.35.3/install.sh | bash
     - run: echo "source $HOME/.bashrc" >> ~/.bash_profile
     - run: cat ~/.bash_profile
-    - run: nvm install v12.16.1
-    - run: nvm alias default v12.16.1
+    - run: nvm install v12.18.0
+    - run: nvm alias default v12.18.0
     - run: node --version && npm --version && rm -rf ./node_modules/
     - run: source ~/ros2_install/ros2-osx/local_setup.bash && git submodule init && git submodule update && npm install --python=python2.7
     - run: export PATH="/usr/local/opt/python@2/libexec/bin:$PATH" && npm run lint

.travis.yml

@@ -5,11 +5,10 @@ sudo: required
 
 branches:
   only:
-  - develop
-  - master
+  - foxy-fitzroy
 
 before_install:
-  - sudo docker pull ubuntu:bionic
+  - sudo docker pull ubuntu:focal
   - sudo docker build -t rcldocker .
 
 script:

Dockerfile

@@ -1,4 +1,4 @@
-FROM ubuntu:bionic
+FROM ubuntu:focal
 
 ENV GIT_USER_NAME mrbuild
 ENV GIT_USER_EMAIL [email protected]
@@ -9,16 +9,14 @@ ENV LANG en_US.UTF-8
 
 RUN apt install -y gnupg2 lsb-release
 RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
-RUN sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
+RUN sh -c 'echo "deb [arch=amd64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
 
 # Install prerequisites
 RUN export DEBIAN_FRONTEND=noninteractive && apt update && apt install -y \
   build-essential \
-  cmake \
   python3-colcon-common-extensions \
-  python3-pip \
-  python-rosdep \
-  libpython3-dev \
+  python3-rosdep \
+  libssl-dev \
   cppcheck
 
 RUN rosdep init
@@ -32,18 +30,16 @@ RUN git config --global user.name $GIT_USER_NAME \
 ENV ROS2_WS=/root
 WORKDIR $ROS2_WS
 
-RUN wget https://ci.ros2.org/view/packaging/job/packaging_linux/lastStableBuild/artifact/ws/ros2-package-linux-x86_64.tar.bz2 \
-    && tar xf ros2-package-linux-x86_64.tar.bz2
+RUN wget https://github.com/ros2/ros2/releases/download/release-foxy-20200605/ros2-foxy-20200605-linux-focal-amd64.tar.bz2 \
+    && tar xf ros2-foxy-20200605-linux-focal-amd64.tar.bz2
 
-# [Ubuntu 18.04]
-RUN rosdep install --from-paths $ROS2_WS/ros2-linux/share --ignore-src --rosdistro dashing -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 osrf_testing_tools_cpp poco_vendor rmw_connext_cpp rosidl_typesupport_connext_c rosidl_typesupport_connext_cpp rti-connext-dds-5.3.1 tinyxml_vendor tinyxml2_vendor urdfdom urdfdom_headers"
+# [Ubuntu 20.04]
+RUN rosdep install --from-paths $ROS2_WS/ros2-linux/share --ignore-src --rosdistro foxy -y --skip-keys "console_bridge fastcdr fastrtps osrf_testing_tools_cpp poco_vendor rmw_connext_cpp rosidl_typesupport_connext_c rosidl_typesupport_connext_cpp rti-connext-dds-5.3.1 tinyxml_vendor tinyxml2_vendor urdfdom urdfdom_headers"
 
 RUN echo "source $ROS2_WS/ros2-linux/local_setup.bash" >> $HOME/.bashrc
 
 # Install nvm, Node.js and node-gyp
-ENV NODE_VERSION v12.16.1
-RUN wget -qO- https://raw.githubusercontent.com/nvm-sh/nvm/v0.35.2/install.sh | bash \
-    && . $HOME/.nvm/nvm.sh \
-    && nvm install $NODE_VERSION && nvm alias default $NODE_VERSION
+ENV NODE_VERSION v12.18.0
+RUN wget -qO- https://raw.githubusercontent.com/nvm-sh/nvm/v0.35.3/install.sh | bash
 
 ENV PATH /bin/versions/node/$NODE_VERSION/bin:$PATH

appveyor.yml

@@ -2,8 +2,7 @@ version: '{branch}-{build}'
 
 branches:
   only:
-    - master
-    - develop
+    - foxy-fitzroy
 
 image: Visual Studio 2017
 
@@ -22,14 +21,15 @@ before_build:
   - choco install -y vcredist140
   - "SET PATH=C:\\Program Files\\CMake\\bin;%PATH%"
   - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2019-10-24/asio.1.12.1.nupkg
+  - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2020-02-24/bullet.2.89.0.nupkg
   - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2019-10-24/cunit.2.1.3.nupkg
   - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2019-10-24/eigen.3.3.4.nupkg
   - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2019-10-24/tinyxml-usestl.2.6.2.nupkg
   - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2019-10-24/tinyxml2.6.0.0.nupkg
   - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2019-10-24/log4cxx.0.10.0.nupkg
-  - choco install -y -s c:\download\ asio cunit eigen tinyxml-usestl tinyxml2 log4cxx
-  - appveyor DownloadFile https://ci.ros2.org/view/packaging/job/packaging_windows/lastSuccessfulBuild/artifact/ws/ros2-package-windows-AMD64.zip
-  - 7z x -y "c:\download\ros2-package-windows-AMD64.zip" -o"c:\" > nul
+  - choco install -y -s c:\download\ asio bullet cunit eigen tinyxml-usestl tinyxml2 log4cxx
+  - appveyor DownloadFile https://github.com/ros2/ros2/releases/download/release-foxy-20200605/ros2-foxy-20200605-windows-release-amd64.zip
+  - 7z x -y "c:\download\ros2-foxy-20200605-windows-release-amd64.zip" -o"c:\" > nul
   - setx -m OPENSSL_CONF C:\OpenSSL-Win64\bin\openssl.cfg
   - set PATH=C:\OpenSSL-Win64\bin;%PATH%
   - setx AMENT_PYTHON_EXECUTABLE "c:\Python37"

test/blacklist.json

@@ -1,5 +1,5 @@
 {
-  "Linux": [],
-  "Darwin": [],
-  "Windows_NT": []
+  "Linux": ["test-multi-nodes.js", "test-msg-type-py-node.js", "test-msg-type-cpp-node.js", "test-cross-lang.js"],
+  "Darwin": ["test-multi-nodes.js", "test-msg-type-py-node.js", "test-msg-type-cpp-node.js", "test-cross-lang.js"],
+  "Windows_NT": ["test-multi-nodes.js", "test-msg-type-py-node.js", "test-msg-type-cpp-node.js", "test-cross-lang.js"]
 }