Merge pull request #123 from gramaziokohler/ros2

Add minimal support for ROS2

Author: gonzalocasas

.github/workflows/build.yml renamed to .github/workflows/build-ros1.yml

@@ -11,24 +11,16 @@ on:
       - main
 
 jobs:
-  build-cpython:
+  build-ros1:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
         name: [
-          "ubuntu-py37",
-          "ubuntu-py38",
           "ubuntu-py39",
           "ubuntu-py310",
           "ubuntu-py311",
         ]
         include:
-          - name: "ubuntu-py37"
-            os: ubuntu-latest
-            python-version: "3.7"
-          - name: "ubuntu-py38"
-            os: ubuntu-latest
-            python-version: "3.8"
           - name: "ubuntu-py39"
             os: ubuntu-latest
             python-version: "3.9"
@@ -53,15 +45,15 @@ jobs:
           python -m pip install --no-cache-dir -r requirements-dev.txt
       - name: Set up docker containers
         run: |
-          docker build -t gramaziokohler/rosbridge:integration_tests ./docker
-          docker run -d -p 9090:9090 --name rosbridge gramaziokohler/rosbridge:integration_tests /bin/bash -c "roslaunch /integration-tests.launch"
+          docker build -t gramaziokohler/rosbridge:integration_tests_ros1 ./docker/ros1
+          docker run -d -p 9090:9090 --name rosbridge gramaziokohler/rosbridge:integration_tests_ros1 /bin/bash -c "roslaunch /integration-tests.launch"
           docker ps -a
       - name: Run linter
         run: |
           invoke check
       - name: Run tests
         run: |
-          pytest
+          pytest tests/ros1
       - name: Tear down docker containers
         run: |
           docker rm -f rosbridge

.github/workflows/build-ros2.yml

@@ -0,0 +1,59 @@
+name: build
+
+on:
+  push:
+    branches:
+      - main
+    tags:
+      - 'v*'
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  build-ros2:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        name: [
+          "ubuntu-py39",
+          "ubuntu-py310",
+          "ubuntu-py311",
+        ]
+        include:
+          - name: "ubuntu-py39"
+            os: ubuntu-latest
+            python-version: "3.9"
+          - name: "ubuntu-py310"
+            os: ubuntu-latest
+            python-version: "3.10"
+          - name: "ubuntu-py311"
+            os: ubuntu-latest
+            python-version: "3.11"
+    steps:
+      - uses: actions/checkout@v3
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install wheel
+      - name: Install
+        run: |
+          python -m pip install --no-cache-dir -r requirements-dev.txt
+      - name: Set up docker containers
+        run: |
+          docker build -t gramaziokohler/rosbridge:integration_tests_ros2 ./docker/ros2
+          docker run -d -p 9090:9090 --name rosbridge gramaziokohler/rosbridge:integration_tests_ros2 /bin/bash -c "ros2 launch /integration-tests.launch"
+          docker ps -a
+      - name: Run linter
+        run: |
+          invoke check
+      - name: Run tests
+        run: |
+          pytest tests/ros2
+      - name: Tear down docker containers
+        run: |
+          docker rm -f rosbridge

AUTHORS.rst

@@ -10,3 +10,4 @@ Authors
 * Hiroyuki Obinata `@obi-t4 <https://github.com/obi-t4>`_
 * Pedro Pereira `@MisterOwlPT <https://github.com/MisterOwlPT>`_
 * Domenic Rodriguez `@DomenicP <https://github.com/DomenicP>`_
+* Ilia Baranov `@iliabaranov <https://github.com/iliabaranov>`_

CHANGELOG.rst

@@ -12,6 +12,8 @@ Unreleased
 
 **Added**
 
+* Added a ROS2-compatible header class in ``roslibpy.ros2.Header``.
+
 **Changed**
 
 **Fixed**

README.rst

@@ -44,6 +44,8 @@ local ROS environment, allowing usage from platforms other than Linux.
 
 The API of **roslibpy** is modeled to closely match that of `roslibjs`_.
 
+ROS1 is fully supported. ROS2 support is still in progress.
+
 
 Main features
 -------------

docker/Dockerfile renamed to docker/ros1/Dockerfile

@@ -13,11 +13,9 @@ RUN apt-get update && apt-get install -y \
     # Clear apt-cache to reduce image size
     && rm -rf /var/lib/apt/lists/*
 
-# Copy entrypoint
-COPY ./ros_entrypoint.sh /
+# Copy launch
 COPY ./integration-tests.launch /
 
 EXPOSE 9090
 
-ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["bash"]

docker/integration-tests.launch renamed to docker/ros1/integration-tests.launch

@@ -0,0 +1,21 @@
+FROM ros:iron
+LABEL maintainer "Gonzalo Casas <[email protected]>"
+
+SHELL ["/bin/bash","-c"]
+
+# Install rosbridge
+RUN apt-get update && apt-get install -y \
+    ros-iron-rosbridge-suite \
+    # ros-iron-tf2-web-republisher \
+    # ros-iron-ros-tutorials \
+    # ros-iron-actionlib-tutorials \
+    --no-install-recommends \
+    # Clear apt-cache to reduce image size
+    && rm -rf /var/lib/apt/lists/*
+
+# Copy launch
+COPY ./integration-tests.launch /
+
+EXPOSE 9090
+
+CMD ["bash"]

docker/ros2/Dockerfile

@@ -0,0 +1,4 @@
+<launch>
+    <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml" />
+    <!-- <node pkg="tf2_web_republisher" type="tf2_web_republisher" name="tf2_web_republisher"></node> -->
+</launch>