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support ros2 foxy (#23)
* support ros2 foxy use gazebo11 for focal exclude dashing+11 and foxy+9 updated package names switch python package on ubuntu-distro switch on ros_distro fix bug remove ubuntu distro add gazebo11 to output testing ros2 foxy branch - need to revert this create separate test for foxy fix wrong include * switch py3 packages on ubuntu-distro * remove optional ubuntu_distro from test.yaml * don't install py2 packages for focal * commit unsaved change * clean up code * use ros-distro to determine py3 vs py2 packages Co-authored-by: chengke <[email protected]> Co-authored-by: Cheng <[email protected]>
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‎.github/workflows/test-ros2.yml‎

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@@ -22,7 +22,8 @@ jobs:
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include:
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- distro: dashing
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gazebo: 9
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ubuntu_distro: bionic
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ubuntu_distro: bionic
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container:
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image: rostooling/setup-ros-docker:ubuntu-${{ matrix.ubuntu_distro }}-ros-${{ matrix.distro }}-ros-base-latest
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@@ -37,7 +38,7 @@ jobs:
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# Note: rosbuild is the user of the docker image
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# TODO(ros-tooling/setup-ros-docker#7):
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sudo chown -R rosbuild:rosbuild "$HOME" .
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# Checkout SA ros1 branch into default root folder
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# Checkout SA ros2 branch into default root folder
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- name: Checkout hello world sample app
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uses: actions/checkout@v2
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with:

‎.github/workflows/test-ros2foxy.yml‎

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name: "Test aws-robomaker-github-actions-ros-2"
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on:
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push:
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pull_request:
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branches:
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- master
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- 'releases/*'
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defaults:
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run:
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shell: bash
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jobs:
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test_robomaker-sample-app-ci-ros2:
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runs-on: ubuntu-latest
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strategy:
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matrix:
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distro: ['foxy']
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gazebo: [11]
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include:
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- distro: foxy
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gazebo: 11
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ubuntu_distro: focal
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container:
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image: rostooling/setup-ros-docker:ubuntu-${{ matrix.ubuntu_distro }}-ros-${{ matrix.distro }}-ros-base-latest
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# NOTES: We run 2 tests for robot_ws and simulation_ws
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# The test steps are duplicated because github workflow does not support reusable step (with parameter yet)
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# We also can use matrix to run tests with different parameters but it is overkill for this
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steps:
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- name: Setup permissions
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run: |
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# Due to user permisson issue, calling chown is necessary for now
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# Related issue: https://github.com/actions/checkout/issues/47
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# Note: rosbuild is the user of the docker image
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# TODO(ros-tooling/setup-ros-docker#7):
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sudo chown -R rosbuild:rosbuild "$HOME" .
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# Checkout SA ros2 branch into default root folder
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- name: Checkout hello world sample app
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uses: actions/checkout@v2
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with:
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repository: aws-robotics/aws-robomaker-sample-application-helloworld
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ref: ros2_foxy
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# Checkout action code into action folder
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- name: Checkout action code
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uses: actions/checkout@v2
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with:
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path: action
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- name: Setup nodeJS
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uses: actions/[email protected]
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with:
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node-version: '12.x'
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- name: Install nodeJS packages
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run: npm install
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working-directory: ./action/robomaker-sample-app-ci
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- name: Build test script
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run: npm run build
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working-directory: ./action/robomaker-sample-app-ci
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# Trigger to run robomaker-sample-app-ci action script
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- name: Build and bundle robot_ws
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uses: ./action/robomaker-sample-app-ci
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with:
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ros-distro: ${{ matrix.distro }}
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gazebo-version: ${{ matrix.gazebo }}
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workspace-dir: ./robot_ws
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generate-sources: true
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# Expectation: bundle file, build files, and dependencies all exist
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- name: Check robot_ws file existence
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id: check_robot_ws_files
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uses: andstor/file-existence-action@87d74d4732ddb824259d80c8a508c0124bf1c673
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with:
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files: "./robot_ws.tar, ./robot_ws/build, ./robot_ws/install, ./robot_ws/src/deps"
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allow_failure: true
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# Trigger to run robomaker-sample-app-ci action script
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- name: Build and bundle simulation_ws
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uses: ./action/robomaker-sample-app-ci
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with:
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ros-distro: ${{ matrix.distro }}
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gazebo-version: ${{ matrix.gazebo }}
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workspace-dir: ./simulation_ws
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generate-sources: false
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# Expectation: bundle file, build files, and dependencies all exist
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- name: Check simulation_ws file existence
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id: check_simulation_ws_files
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uses: andstor/file-existence-action@87d74d4732ddb824259d80c8a508c0124bf1c673
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with:
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files: "./simulation_ws.tar, ./simulation_ws/build, ./simulation_ws/install, ./simulation_ws/src/deps"
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allow_failure: true
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# Expectation: source files exist
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- name: Check source file existence
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id: check_source_files
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uses: andstor/file-existence-action@87d74d4732ddb824259d80c8a508c0124bf1c673
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with:
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files: "./sources.zip, ./sources.tar.gz"
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- name: Check all files exists
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if: steps.check_robot_ws_files.outputs.files_exists == 'true' && steps.check_simulation_ws_files.outputs.files_exists == 'true' && steps.check_source_files.outputs.files_exists == 'true'
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# Only runs if all of the files exists
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run: echo All files exists!

‎.github/workflows/test.yml‎

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ros-distro: ${{ matrix.distro }}
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gazebo-version: ${{ matrix.gazebo }}
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workspace-dir: ./robot_ws
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generate-sources: true
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generate-sources: true
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# Expectation: bundle file, build files, and dependencies all exist
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- name: Check robot_ws file existence
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id: check_robot_ws_files
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ros-distro: ${{ matrix.distro }}
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gazebo-version: ${{ matrix.gazebo }}
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workspace-dir: ./simulation_ws
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generate-sources: false
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generate-sources: false
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# Expectation: bundle file, build files, and dependencies all exist
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- name: Check simulation_ws file existence
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id: check_simulation_ws_files

‎robomaker-sample-app-ci/README.md‎

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# AWS RoboMaker Sample Application CI Github Action
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This action will build and bundle your AWS RoboMaker Sample Application package.
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It must run in an environment that has all core ROS dependencies already installed for the ROS distro you are using (Kinetic, Melodic, Dashing, etc).
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It must run in an environment that has all core ROS dependencies already installed for the ROS distro you are using (Kinetic, Melodic, Dashing, Foxy etc).
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You use a [setup-ros-docker docker container], see usage section to see how to use this container.
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### `ros-distro`
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**Required** Distribution of ROS you are using (`[kinetic|melodic|dashing]`)
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**Required** Distribution of ROS you are using (`[kinetic|melodic|dashing|foxy]`)
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### `workspace-dir`
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‎robomaker-sample-app-ci/action.yml‎

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description: 'Build and Bundle an AWS RoboMaker Sample Application Package'
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inputs:
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ros-distro:
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description: 'Distribution of ROS to use [kinetic|melodic|dashing]'
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description: 'Distribution of ROS to use [kinetic|melodic|dashing|foxy]'
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required: true
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gazebo-version:
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description: 'Version of Gazebo to use [unspecified|7|9]'
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description: 'Version of Gazebo to use [unspecified|7|9|11]'
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default: ''
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workspace-dir:
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description: 'Path to the workspace folder that contains your packages [robot_ws|simulation_ws]'
@@ -19,9 +19,9 @@ inputs:
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outputs:
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ros-distro:
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description: 'Distribution of ROS to use [kinetic|melodic|dashing]'
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description: 'Distribution of ROS to use [kinetic|melodic|dashing|foxy]'
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gazebo-version:
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description: 'Version of Gazebo to use [gazebo7|gazebo9]'
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description: 'Version of Gazebo to use [gazebo7|gazebo9|gazebo11]'
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sample-app-version:
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description: 'Version of the sample application that was built (from the package.xml)'
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runs:

‎robomaker-sample-app-ci/package.json‎

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"kinetic",
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"melodic",
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"dashing",
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"foxy",
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"setup"
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],
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"author": "AWS RoboMaker",

‎robomaker-sample-app-ci/src/aws-robomaker-sample-application-ci.ts‎

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try {
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await exec.exec("sudo", ["apt-key", "adv", "--fetch-keys", "http://packages.osrfoundation.org/gazebo.key"]);
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113-
const aptPackages = [
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let aptPackages = [
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"zip",
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"cmake",
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"lcov",
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"libgtest-dev",
118-
"python-pip",
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"python-rosinstall",
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"python3-colcon-common-extensions",
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"python3-apt",
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"python3-pip",
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"python3-apt"
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(ROS_DISTRO == "foxy") ? "python3-rosinstall" : "python-rosinstall",
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];
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124+
if(ROS_DISTRO!="foxy"){
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//focal (foxy) does not ship with python2 and does not require python-pip
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//using the ros_distro instead of ubuntu_distro saves users from specifying another
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//essentially redundant parameter.
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aptPackages = aptPackages.concat(["python-pip"])
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}
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const python3Packages = [
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"setuptools",
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"colcon-bundle",
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147153
}
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}
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150-
async function setup_gazebo9() {
156+
async function setup_gazebo_source() {
151157
try {
152-
const gazebo9_apt_file = "/etc/apt/sources.list.d/gazebo-stable.list";
153-
await exec.exec("sudo", ["rm", "-f", gazebo9_apt_file]);
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await exec.exec("bash", ["-c", `echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable \`lsb_release -cs\` main" | sudo tee ${gazebo9_apt_file}`]);
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const gazebo_apt_file = "/etc/apt/sources.list.d/gazebo-stable.list";
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await exec.exec("sudo", ["rm", "-f", gazebo_apt_file]);
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await exec.exec("bash", ["-c", `echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable \`lsb_release -cs\` main" | sudo tee ${gazebo_apt_file}`]);
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await exec.exec("sudo", ["apt-get", "update"]);
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if (ROS_DISTRO == "kinetic") {
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if (ROS_DISTRO == "kinetic" && (GAZEBO_VERSION == "" || GAZEBO_VERSION == "7")) {
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GAZEBO_VERSION = "7";
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} else if (ROS_DISTRO == "kinetic" && GAZEBO_VERSION == "9") {
240-
await setup_gazebo9();
246+
await setup_gazebo_source();
241247
} else if (ROS_DISTRO == "melodic" && (GAZEBO_VERSION == "" || GAZEBO_VERSION == "9")) {
242248
GAZEBO_VERSION = "9";
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await setup_gazebo9();
249+
await setup_gazebo_source();
244250
} else if (ROS_DISTRO == "dashing" && (GAZEBO_VERSION == "" || GAZEBO_VERSION == "9")) {
245251
GAZEBO_VERSION = "9";
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await setup_gazebo9();
252+
await setup_gazebo_source();
253+
} else if (ROS_DISTRO == "foxy" && (GAZEBO_VERSION == "" || GAZEBO_VERSION == "11")) {
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GAZEBO_VERSION = "11";
255+
await setup_gazebo_source();
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} else {
248257
core.setFailed(`Invalid ROS and Gazebo combination`);
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}

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