CI: add ROS-O testing on arm

.github/workflows/config.yml

@@ -205,26 +205,19 @@ jobs:
         run: |
           rm -fr ${{ matrix.ROS_DISTRO }}-${{ github.run_number }}-${{ github.run_attempt }}-${{ github.run_id }} || echo "OK"
 
+
   # 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
-
     strategy:
       fail-fast: false
       matrix:
-        include:
-          - DISTRO: ubuntu:22.04
-            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"
+        DEB_DISTRO: [22.04, 24.04]
+        ARCH: [x64, arm64]
+        ROS_ONE_VARIANT: [techfak]
 
-    container: ${{ matrix.DISTRO }}
+    runs-on: ${{ matrix.ARCH == 'x64' && format('ubuntu-{0}', matrix.DEB_DISTRO) || (matrix.ARCH == 'arm64' && format('ubuntu-{0}-arm', matrix.DEB_DISTRO) || format('ubuntu-{0}', matrix.DEB_DISTRO)) }}
 
     env:
       DEBIAN_FRONTEND : noninteractive
@@ -236,40 +229,48 @@ jobs:
       - name: Setup ROS-O deb repository
         run: |
           set -x
-          apt update && apt install -qq -y ca-certificates git
-          echo ${{ matrix.ROS_REPOSITORY_URL }} | tee /etc/apt/sources.list.d/ros-o-builder.list
+          sudo apt update && sudo apt install -qq -y ca-certificates git
+          if [[ "${{ matrix.DEB_DISTRO }}" == "22.04" ]]; then export CODE_NAME="jammy"; fi
+          if [[ "${{ matrix.DEB_DISTRO }}" == "24.04" ]]; then export CODE_NAME="noble"; fi
+          echo "deb [trusted=yes] https://ros.packages.techfak.net $CODE_NAME-testing main" | sudo tee /etc/apt/sources.list.d/ros-o-builder.list
           ##
           # https://github.com/v4hn/ros-deb-builder-action/blob/b7c0ed93fde3a86b5b1027bf8f7145cad6067c90/prepare.sh#L27-L28
           # Canonical dropped the Debian ROS packages from 24.04 for political reasons. Wow.
           if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" && "${{ matrix.DISTRO }}" == "ubuntu:24.04" ]]; then apt install -y software-properties-common retry && retry -d 50,10,30,300 -t 12 add-apt-repository -y ppa:v-launchpad-jochen-sprickerhof-de/ros; fi
           ##
-          apt update
+          sudo apt update
           if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then
-              apt install -qq -y python3-rosdep2
+              sudo apt install -qq -y python3-rosdep2
           fi
           if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak"  ]]; then
               # Do not install python3-rosdep2, which is an outdated version of rosdep shipped via the Ubuntu repositories (instead of ROS)!
-              apt install -qq -y python3-rosdep
-              rosdep init
+              sudo apt install -qq -y python3-rosdep
+              sudo rosdep init
+          fi
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then
+              export ROSDEP_PACKAGE_MAPPING="yaml https://raw.githubusercontent.com/v4hn/ros-o-builder/jammy-one/repository/local.yaml debian"
+          fi
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak"  ]]; then
+              export ROSDEP_PACKAGE_MAPPING="yaml https://ros.packages.techfak.net/ros-one.yaml ubuntu"
           fi
-          echo ${{ matrix.ROSDEP_PACKAGE_MAPPING }} | tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
+          echo $ROSDEP_PACKAGE_MAPPING | sudo tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
           rosdep update
         shell: bash
 
       - name: Setup catkin-tools
         run: |
           set -x
           # setup catkin tools
-          apt install -qq -y python3-pip
+          sudo apt install -qq -y python3-pip
           if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then
               pip3 install catkin-tools==0.9.4
-              apt install -qq -y catkin
+              sudo apt install -qq -y catkin
           fi
           if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak" ]]; then
-              apt install -qq -y ros-one-catkin python3-catkin-tools
+              sudo apt install -qq -y ros-one-catkin python3-catkin-tools
           fi
           # setup build tools
-          apt install -qq -y cmake build-essential ros-one-rosbash
+          sudo apt install -qq -y cmake build-essential ros-one-rosbash
         shell: bash
 
       - name: Setup Workspace
@@ -279,10 +280,6 @@ 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

sesame_ros/CMakeLists.txt

@@ -22,21 +22,36 @@ catkin_package(
 
 if($ENV{ROS_DISTRO} STREQUAL "kinetic" OR $ENV{ROS_DISTRO} STREQUAL "melodic")
   catkin_generate_virtualenv(
+    INPUT_REQUIREMENTS requirements.in.python2
     PYTHON_INTERPRETER python2
     CHECK_VENV FALSE
     )
 elseif("$ENV{ROS_DISTRO}" STREQUAL "indigo")
   file(DOWNLOAD http://curl.haxx.se/ca/cacert.pem ${CMAKE_BINARY_DIR}/cacert.pem)
   catkin_generate_virtualenv(
+    INPUT_REQUIREMENTS requirements.in.python2
     PYTHON_INTERPRETER python2
     # https://stackoverflow.com/questions/25981703/pip-install-fails-with-connection-error-ssl-certificate-verify-failed
     EXTRA_PIP_ARGS -vvv --cert=${CMAKE_BINARY_DIR}/cacert.pem
   )
 else()
+find_package(Python3 QUIET COMPONENTS Interpreter)
+if(Python3_FOUND)
+  message(STATUS "Found Python: ${Python3_EXECUTABLE}")
+  message(STATUS "Python Version: ${Python3_VERSION}")
+endif()
+if((NOT Python3_FOUND) OR (Python3_VERSION VERSION_LESS "3.10"))
   catkin_generate_virtualenv(
+    INPUT_REQUIREMENTS requirements.in.python2
     PYTHON_INTERPRETER python3
     CHECK_VENV FALSE
     )
+else()
+  catkin_generate_virtualenv(
+    INPUT_REQUIREMENTS requirements.in.python3.12
+    PYTHON_INTERPRETER python3
+  )
+endif()
 endif()
 
 include_directories()
@@ -46,10 +61,6 @@ catkin_install_python(
   PROGRAMS ${PYTHON_SCRIPT_FILES}
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-install(FILES requirements.txt
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   add_rostest(test/test_rospy_node.test

sesame_ros/requirements.in.python3.12

@@ -0,0 +1,14 @@
+asn1crypto==1.3.0
+certifi==2020.6.20
+chardet==3.0.4
+cryptography==3.4.8
+enum34==1.1.10
+idna==2.7
+ipaddress==1.0.23
+ndg-httpsclient==0.5.1
+pyasn1==0.4.8
+pycparser==2.20
+pyOpenSSL==17.5.0
+requests==2.20.0
+six==1.15.0
+urllib3==1.24.2