Update build instructions in README and CI

* Cherry-pick upstream ros2-java#119
  - Updates build instructions in README
  - Update CI for desktop
  - Add CI for Android
  - Minor patches to code for Android

* Switch to latest release of ros-tooling GitHub actions.

Author: jacobperron

.github/workflows/build_and_test.yml

@@ -11,11 +11,77 @@ jobs:
         sudo apt update -qq
         sudo apt install -y default-jdk
     - uses: actions/checkout@v2
-    - uses: ros-tooling/setup-ros@master  # using master, until a released version supports rolling
+    - uses: ros-tooling/setup-ros@0.1.0
       with:
         required-ros-distributions: rolling
     - uses: ros-tooling/action-ros-ci@master
       with:
         package-name: rosidl_generator_java rcljava_common rcljava
         target-ros2-distro: rolling
         vcs-repo-file-url: ${{ github.workspace }}/ros2_java_desktop.repos
+
+  build_android:
+    runs-on: ubuntu-18.04
+    steps:
+    - name: Install Java
+      run: |
+        sudo apt-get update -qq
+        sudo apt-get install -y default-jdk gradle
+    - uses: actions/checkout@v2
+    - name: Setup locale for ROS 2
+      run: |
+        sudo locale-gen en_US en_US.UTF-8
+        sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+        export LANG=en_US.UTF-8
+    - name: Setup sources for ROS 2
+      run: |
+        sudo apt-get update && sudo apt-get install -y curl gnupg2 lsb-release
+        curl -sL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+        sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
+    - name: Install ROS 2 dependencies
+      run: |
+        sudo apt-get update && sudo apt-get install -y python3-colcon-common-extensions python3-vcstool python3-lark-parser python3-dev
+    - name: Install colcon extensions for Gradle
+      run: |
+        sudo pip3 install git+git://github.com/colcon/colcon-gradle.git
+        sudo pip3 install git+git://github.com/colcon/colcon-ros-gradle.git
+    - name: Install Android NDK
+      run: |
+        curl -LO https://dl.google.com/android/repository/android-ndk-r21d-linux-x86_64.zip
+        unzip android-ndk-r21d-linux-x86_64.zip
+    - name: Setup workspace with VCS repo file
+      run: |
+        mkdir -p ros2_java_ws/src
+        cd ros2_java_ws
+        curl -sL file://${{ github.workspace }}/ros2_java_android.repos | vcs import src
+        # Use checked out version of ros2_java
+        rm -rf src/ros2_java/ros2_java
+        ln --symbolic ${{ github.workspace }} src/ros2_java
+    - name: Build ros2_java for Android
+      run: |
+        export PYTHON3_EXEC="$( which python3 )"
+        export PYTHON3_LIBRARY="$( ${PYTHON3_EXEC} -c 'import os.path; from distutils import sysconfig; print(os.path.realpath(os.path.join(sysconfig.get_config_var("LIBPL"), sysconfig.get_config_var("LDLIBRARY"))))' )"
+        export PYTHON3_INCLUDE_DIR="$( ${PYTHON3_EXEC} -c 'from distutils import sysconfig; print(sysconfig.get_config_var("INCLUDEPY"))' )"
+        export ANDROID_ABI=armeabi-v7a
+        export ANDROID_NATIVE_API_LEVEL=android-21
+        export ANDROID_TOOLCHAIN_NAME=arm-linux-androideabi-clang
+        export ANDROID_NDK=${PWD}/android-ndk-r21d
+
+        cd ros2_java_ws
+        colcon build \
+          --packages-ignore cyclonedds rcl_logging_log4cxx rosidl_generator_py \
+          --packages-up-to rcljava \
+          --cmake-args \
+          -DPYTHON_EXECUTABLE=${PYTHON3_EXEC} \
+          -DPYTHON_LIBRARY=${PYTHON3_LIBRARY} \
+          -DPYTHON_INCLUDE_DIR=${PYTHON3_INCLUDE_DIR} \
+          -DCMAKE_TOOLCHAIN_FILE=${ANDROID_NDK}/build/cmake/android.toolchain.cmake \
+          -DANDROID_FUNCTION_LEVEL_LINKING=OFF \
+          -DANDROID_NATIVE_API_LEVEL=${ANDROID_NATIVE_API_LEVEL} \
+          -DANDROID_TOOLCHAIN_NAME=${ANDROID_TOOLCHAIN_NAME} \
+          -DANDROID_STL=c++_shared \
+          -DANDROID_ABI=${ANDROID_ABI} \
+          -DANDROID_NDK=${ANDROID_NDK} \
+          -DTHIRDPARTY=ON \
+          -DCOMPILE_EXAMPLES=OFF \
+          -DCMAKE_FIND_ROOT_PATH="${PWD}/install"

rcljava/src/test/java/org/ros2/rcljava/node/NodeTest.java

@@ -108,6 +108,18 @@ public static void setupOnce() throws Exception {
     org.apache.log4j.BasicConfigurator.configure();
 
     RCLJava.rclJavaInit();
+    try
+    {
+      // Configure log4j. Doing this dynamically so that Android does not complain about missing
+      // the log4j JARs, SLF4J uses Android's native logging mechanism instead.
+      Class c = Class.forName("org.apache.log4j.BasicConfigurator");
+      Method m = c.getDeclaredMethod("configure", (Class<?>[]) null);
+      Object o = m.invoke(null, (Object[]) null);
+    }
+    catch (Exception e)
+    {
+      e.printStackTrace();
+    }
   }
 
   public class TestConsumer<T> implements Consumer<T> {

ros2_java_android.repos

@@ -87,6 +87,14 @@ repositories:
     type: git
     url: https://github.com/ros2/rmw.git
     version: dashing
+  ros2/rmw_connext:
+    type: git
+    url: https://github.com/ros2/rmw_connext.git
+    version: dashing
+  ros2/rmw_cyclonedds:
+    type: git
+    url: https://github.com/ros2/rmw_cyclonedds.git
+    version: dashing-eloquent
   ros2/rmw_fastrtps:
     type: git
     url: https://github.com/ros2/rmw_fastrtps.git
@@ -95,6 +103,10 @@ repositories:
     type: git
     url: https://github.com/ros2/rmw_implementation.git
     version: dashing
+  ros2/rmw_opensplice:
+    type: git
+    url: https://github.com/ros2/rmw_opensplice.git
+    version: dashing
   ros2/rosidl:
     type: git
     url: https://github.com/ros2/rosidl.git
@@ -115,10 +127,18 @@ repositories:
     type: git
     url: https://github.com/ros2/rosidl_typesupport.git
     version: dashing
+  ros2/rosidl_typesupport_connext:
+    type: git
+    url: https://github.com/ros2/rosidl_typesupport_connext.git
+    version: dashing
   ros2/rosidl_typesupport_fastrtps:
     type: git
     url: https://github.com/ros2/rosidl_typesupport_fastrtps.git
     version: dashing
+  ros2/rosidl_typesupport_opensplice:
+    type: git
+    url: https://github.com/ros2/rosidl_typesupport_opensplice.git
+    version: dashing
   ros2/test_interface_files:
     type: git
     url: https://github.com/ros2/test_interface_files.git