Add Kilted (#178)

Signed-off-by: Antón Casas <antoncasas@eprosima.com>

Author: 4ntn

.github/workflows/ci.yml

@@ -14,7 +14,7 @@ jobs:
         strategy:
           fail-fast: false
           matrix:
-            platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi, esp32dev_ethernet, portenta_h7_m7_humble, portenta_h7_m7_jazzy, portenta_h7_m7_rolling, teensy41_custom, pico]
+            platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi, esp32dev_ethernet, portenta_h7_m7_humble, portenta_h7_m7_jazzy, portenta_h7_m7_kilted, portenta_h7_m7_rolling, teensy41_custom, pico]
 
         steps:
         - uses: actions/checkout@v3

README.md

@@ -100,6 +100,7 @@ The target ROS 2 distribution can be configured with the `board_microros_distro
   - `humble`
   - `iron`
   - `jazzy` *(default value)*
+  - `kilted`
   - `rolling`
 
 ### Transport configuration

ci/platformio.ini

@@ -18,6 +18,16 @@ board_microros_distro = jazzy
 lib_deps =
     ../
 
+; Kilted test
+[env:portenta_h7_m7_kilted]
+platform = ststm32
+board = portenta_h7_m7
+framework = arduino
+board_microros_transport = serial
+board_microros_distro = kilted
+lib_deps =
+    ../
+
 ; Rolling test
 [env:portenta_h7_m7_rolling]
 platform = ststm32

microros_utils/library_builder.py

@@ -99,7 +99,7 @@ def build_dev_environment(self):
 
         # Fix build: Ignore rmw_test_fixture_implementation in rolling
         touch_command = ''
-        if self.distro == 'rolling':
+        if self.distro in ('rolling', 'kilted'):
             touch_command = 'touch src/ament_cmake_ros/rmw_test_fixture_implementation/COLCON_IGNORE && '
 
         command = "cd {} && {} . {} && colcon build --cmake-args -DBUILD_TESTING=OFF -DPython3_EXECUTABLE=`which python`".format(self.dev_folder, touch_command, self.python_env)

microros_utils/repositories.py

@@ -99,6 +99,14 @@ class Sources:
             Repository("ament_cmake_ros", "https://github.com/ros2/ament_cmake_ros", "jazzy"),
             Repository("ament_index", "https://github.com/ament/ament_index", "jazzy")
         ],
+        'kilted': [
+            Repository("ament_cmake", "https://github.com/ament/ament_cmake", "kilted"),
+            Repository("ament_lint", "https://github.com/ament/ament_lint", "kilted"),
+            Repository("ament_package", "https://github.com/ament/ament_package", "kilted"),
+            Repository("googletest", "https://github.com/ament/googletest", "kilted"),
+            Repository("ament_cmake_ros", "https://github.com/ros2/ament_cmake_ros", "kilted"),
+            Repository("ament_index", "https://github.com/ament/ament_index", "kilted")
+        ],
         'rolling': [
             Repository("ament_cmake", "https://github.com/ament/ament_cmake", "rolling"),
             Repository("ament_lint", "https://github.com/ament/ament_lint", "rolling"),
@@ -180,6 +188,30 @@ class Sources:
             Repository("rcl_logging", "https://github.com/ros2/rcl_logging", "jazzy"),
             Repository("ros2_tracing", "https://github.com/ros2/ros2_tracing", "jazzy"),
         ],
+        'kilted': [
+            Repository("micro-CDR", "https://github.com/eProsima/micro-CDR", "kilted", "ros2"),
+            Repository("Micro-XRCE-DDS-Client", "https://github.com/eProsima/Micro-XRCE-DDS-Client", "kilted", "ros2"),
+            Repository("rcl", "https://github.com/micro-ROS/rcl", "kilted"),
+            Repository("rclc", "https://github.com/ros2/rclc", "kilted"),
+            Repository("micro_ros_utilities", "https://github.com/micro-ROS/micro_ros_utilities", "kilted"),
+            Repository("rcutils", "https://github.com/micro-ROS/rcutils", "kilted"),
+            Repository("micro_ros_msgs", "https://github.com/micro-ROS/micro_ros_msgs", "kilted"),
+            Repository("rmw-microxrcedds", "https://github.com/micro-ROS/rmw-microxrcedds", "kilted"),
+            Repository("rosidl_typesupport", "https://github.com/micro-ROS/rosidl_typesupport", "kilted"),
+            Repository("rosidl_typesupport_microxrcedds", "https://github.com/micro-ROS/rosidl_typesupport_microxrcedds", "kilted"),
+            Repository("rosidl", "https://github.com/ros2/rosidl", "kilted"),
+            Repository("rosidl_dynamic_typesupport", "https://github.com/ros2/rosidl_dynamic_typesupport", "kilted"),
+            Repository("rosidl_core", "https://github.com/ros2/rosidl_core", "kilted"),
+            Repository("rmw", "https://github.com/ros2/rmw", "kilted"),
+            Repository("rcl_interfaces", "https://github.com/ros2/rcl_interfaces", "kilted"),
+            Repository("rosidl_defaults", "https://github.com/ros2/rosidl_defaults", "kilted"),
+            Repository("unique_identifier_msgs", "https://github.com/ros2/unique_identifier_msgs", "kilted"),
+            Repository("common_interfaces", "https://github.com/ros2/common_interfaces", "kilted"),
+            Repository("test_interface_files", "https://github.com/ros2/test_interface_files", "kilted"),
+            Repository("rmw_implementation", "https://github.com/ros2/rmw_implementation", "kilted"),
+            Repository("rcl_logging", "https://github.com/ros2/rcl_logging", "kilted"),
+            Repository("ros2_tracing", "https://github.com/ros2/ros2_tracing", "kilted"),
+        ],
         'rolling': [
             Repository("micro-CDR", "https://github.com/eProsima/micro-CDR", "rolling", "ros2"),
             Repository("Micro-XRCE-DDS-Client", "https://github.com/eProsima/Micro-XRCE-DDS-Client", "rolling", "ros2"),
@@ -210,5 +242,6 @@ class Sources:
         'humble': ['rcl_logging_log4cxx', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples'],
         'iron': ['test_tracetools', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples'],
         'jazzy': ['test_tracetools', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples', 'lttngpy'],
+        'kilted': ['test_tracetools', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples', 'lttngpy', 'rmw_security_common'],
         'rolling': ['test_tracetools', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples', 'lttngpy', 'rmw_security_common']
     }