Merge branch 'master' into eye_display

Author: k-okada

.github/workflows/config.yml

@@ -205,7 +205,9 @@ jobs:
         run: |
           rm -fr ${{ matrix.ROS_DISTRO }}-${{ github.run_number }}-${{ github.run_attempt }}-${{ github.run_id }} || echo "OK"
 
-# ROS-O setup https://github.com/v4hn/ros-o-builder/blob/jammy-one/README.md#install-instructions
+  # ROS-O setup for v4hn https://github.com/v4hn/ros-o-builder/blob/jammy-one/README.md#install-instructions
+  # ROS-O setup for techfak https://ros.packages.techfak.net/
+  # note that v4hn uses ROS_DISTRO=one and techfak uses ROS_DISTRO
   ros-o:
     runs-on: ubuntu-latest
 
@@ -214,7 +216,13 @@ jobs:
       matrix:
         include:
           - DISTRO: ubuntu:22.04
-            ROS_REPOSITORY_URL: https://raw.githubusercontent.com/v4hn/ros-o-builder/jammy-one/repository
+            ROS_ONE_VARIANT: v4hn
+            ROS_REPOSITORY_URL: "deb [trusted=yes] https://raw.githubusercontent.com/v4hn/ros-o-builder/jammy-one/repository ./"
+            ROSDEP_PACKAGE_MAPPING: "yaml https://raw.githubusercontent.com/v4hn/ros-o-builder/jammy-one/repository/local.yaml debian"
+          - DISTRO: ubuntu:24.04
+            ROS_ONE_VARIANT: techfak
+            ROS_REPOSITORY_URL: "deb [trusted=yes] https://ros.packages.techfak.net noble-testing main"
+            ROSDEP_PACKAGE_MAPPING: "yaml https://ros.packages.techfak.net/ros-one.yaml ubuntu"
 
     container: ${{ matrix.DISTRO }}
 
@@ -228,23 +236,41 @@ jobs:
       - name: Setup ROS-O deb repository
         run: |
           set -x
-          apt update && apt install -qq -y ca-certificates
-          echo "deb [trusted=yes] ${{ matrix.ROS_REPOSITORY_URL }}/ ./" | tee /etc/apt/sources.list.d/ros-o-builder.list
+          apt update && apt install -qq -y ca-certificates git
+          echo ${{ matrix.ROS_REPOSITORY_URL }} | tee /etc/apt/sources.list.d/ros-o-builder.list
+          ##
+          # https://github.com/v4hn/ros-deb-builder-action/blob/b7c0ed93fde3a86b5b1027bf8f7145cad6067c90/prepare.sh#L27-L28
+          # Canonical dropped the Debian ROS packages from 24.04 for political reasons. Wow.
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" && "${{ matrix.DISTRO }}" == "ubuntu:24.04" ]]; then apt install -y software-properties-common retry && retry -d 50,10,30,300 -t 12 add-apt-repository -y ppa:v-launchpad-jochen-sprickerhof-de/ros; fi
+          ##
           apt update
-          apt install -qq -y python3-rosdep2
-          echo "yaml ${{ matrix.ROS_REPOSITORY_URL }}/local.yaml debian" | tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then
+              apt install -qq -y python3-rosdep2
+          fi
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak"  ]]; then
+              # Do not install python3-rosdep2, which is an outdated version of rosdep shipped via the Ubuntu repositories (instead of ROS)!
+              apt install -qq -y python3-rosdep
+              rosdep init
+          fi
+          echo ${{ matrix.ROSDEP_PACKAGE_MAPPING }} | tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
           rosdep update
-          # disable installing recommends as ros-o-builder do
-          echo 'APT::Install-Recommends "false";' | tee /etc/apt/apt.conf.d/99norecommends
+        shell: bash
 
       - name: Setup catkin-tools
         run: |
           set -x
           # setup catkin tools
           apt install -qq -y python3-pip
-          pip3 install catkin-tools==0.9.4
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then
+              pip3 install catkin-tools==0.9.4
+              apt install -qq -y catkin
+          fi
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak" ]]; then
+              apt install -qq -y ros-one-catkin python3-catkin-tools
+          fi
           # setup build tools
-          apt install -qq -y cmake build-essential catkin ros-one-rosbash
+          apt install -qq -y cmake build-essential ros-one-rosbash
+        shell: bash
 
       - name: Setup Workspace
         run: |
@@ -253,8 +279,17 @@ jobs:
           # setup workspace
           mkdir -p ~/ws/src
           cd ~/ws/src
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak" ]]; then
+          # TODO: remove these lines and uncomment https://github.com/ubi-agni/ros-builder-action/blob/191fab06004ad5784c28cf2ba2b18f6d163a860d/ros-one.repos#L1089
+              git clone https://github.com/locusrobotics/catkin_virtualenv.git
+          fi
           ln -sf $GITHUB_WORKSPACE .
           rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
+          # check all system packages are able to install, because ROS-O build deb files that needs all packages
+          PIP_BREAK_SYSTEM_PACKAGES=1 rosdep install -qq --simulate -y --from-path . --ignore-src -t exec -t buildtool_export -t buildtool -t build -t build_export | tee rosdep-install.sh
+          # catkin_tools is not available on v4hn/jammy
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then sed -i '/python3-catkin-tools/s/^/#/' rosdep-install.sh; fi
+          sed 's/apt-get install/apt-get -y install/;/install ros-one/s/^/#/;/pip3 install/s/^/#/' rosdep-install.sh | bash -xe
         shell: bash
 
       - name: Compile Packages

3rdparty/aques_talk/CMakeLists.txt

@@ -5,6 +5,10 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
+if(DEFINED ENV{GITHUB_ACTIONS})
+  message(WARNING "skip downloading aques_talk within GithubAction")
+  return()
+endif()
 # Considering the use of docker in addition to the usual use,
 # we use dpkg-architecture command instead of ${CMAKE_SYSTEM_PROCESSOR} to get the architecture.
 # https://stackoverflow.com/a/58222507

bayesian_belief_networks/Makefile.bayesian

@@ -8,6 +8,7 @@ TARBALL     = build/bayesian-belief-networks.zip
 TARBALL_URL = https://github.com/eBay/bayesian-belief-networks/archive/$(GIT_REVISION).zip
 SOURCE_DIR  = build/bayesian-belief-networks-$(GIT_REVISION)
 MD5SUM_FILE = $(INSTALL_DIR)/bayesian-belief-networks.zip.md5sum
+TARBALL_PATCH = $(INSTALL_DIR)/bayesian-belief-networks.2to3
 UNPACK_CMD  = unzip
 
 PYTHONBIN   = python$(ROS_PYTHON_VERSION)
@@ -34,7 +35,10 @@ installed: $(DIST_DIR) # examples
 
 $(DIST_DIR): $(SOURCE_DIR)/unpacked
 	mkdir -p $(DIST_DIR)
-	cd $(SOURCE_DIR) && $(PYTHONBIN) ./setup.py build && PYTHONPATH=$(DIST_DIR) $(PYTHONBIN) ./setup.py install --prefix=$(INSTALL_DIR) $(SETUPTOOLS_ARG_EXTRA) --record installed_files.txt
+	cd $(SOURCE_DIR) && \
+	$(PYTHONBIN) ./setup.py build && \
+	(PYTHONPATH=$(DIST_DIR) $(PYTHONBIN) ./setup.py install --prefix=$(INSTALL_DIR) $(SETUPTOOLS_ARG_EXTRA) --single-version-externally-managed --record installed_files.txt || \
+	 PYTHONPATH=$(DIST_DIR) $(PYTHONBIN) ./setup.py install --prefix=$(INSTALL_DIR) $(SETUPTOOLS_ARG_EXTRA) --record installed_files.txt)
 
 
 clean: