Add support for ROS-O (ROS One) distribution #854
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -83,7 +83,13 @@ async function configOs(): Promise<void> { | |
| await utils.exec("sudo", ["apt-get", "update"]); | ||
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| // Install tools required to configure the worker system. | ||
| await apt.runAptGetInstall([ | ||
| "ca-certificates", | ||
| "curl", | ||
| "gnupg2", | ||
| "locales", | ||
| "lsb-release", | ||
| ]); | ||
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| // Select a locale supporting Unicode. | ||
| await utils.exec("sudo", ["locale-gen", "en_US", "en_US.UTF-8"]); | ||
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@@ -112,26 +118,49 @@ async function addAptRepoKey(): Promise<void> { | |
| await utils.exec("sudo", ["apt-key", "add", keyFilePath]); | ||
| } | ||
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| /** | ||
| * Add ROS-O (ROS One) APT repository key. | ||
| * | ||
| * Downloads and installs the GPG key for the ROS-O repository. | ||
| */ | ||
| async function addRosOneAptRepoKey(): Promise<void> { | ||
| // Ensure the keyrings directory exists and ca-certificates is up to date | ||
| await utils.exec("sudo", ["mkdir", "-p", "/etc/apt/keyrings"]); | ||
| await utils.exec("sudo", ["update-ca-certificates"]); | ||
| await utils.exec("sudo", [ | ||
| "bash", | ||
| "-c", | ||
| "curl -sSL https://ros.packages.techfak.net/gpg.key -o /etc/apt/keyrings/ros-one-keyring.gpg", | ||
|
Member
There was a problem hiding this comment. who is behind this key and the repo? There was a problem hiding this comment. Packages for this specific repository are build through https://github.com/ubi-agni/ros-builder-action/ and owned by @rhaschke at CITEC Bielefeld. It is pretty much the go-to repository for anyone to "just install ROS-O" these days.
Member
There was a problem hiding this comment. Thanks for the info! I would just mention this in the README so that people know that ROS-O debs are downloaded from a separate apt repo and not the usual Open Robotics apt repo. @iory can you add that? |
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| ]); | ||
| } | ||
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| // Ubuntu distribution for ROS 1 | ||
| const ros1UbuntuVersion = "focal"; | ||
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| /** | ||
| * Add OSRF APT repository. | ||
| * | ||
| * @param ubuntuCodename the Ubuntu version codename | ||
| * @param needsRos1 whether ROS 1 packages are needed | ||
| * @param needsRos2 whether ROS 2 packages are needed | ||
| */ | ||
| async function addAptRepo( | ||
| ubuntuCodename: string, | ||
| use_ros2_testing: boolean, | ||
| needsRos1: boolean, | ||
| needsRos2: boolean, | ||
| ): Promise<void> { | ||
| // Add ROS 1 repository if needed | ||
| if (needsRos1) { | ||
| await utils.exec("sudo", [ | ||
| "bash", | ||
| "-c", | ||
| `echo "deb http://packages.ros.org/ros/ubuntu ${ubuntuCodename} main" > /etc/apt/sources.list.d/ros-latest.list`, | ||
| ]); | ||
| } | ||
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| // Add ROS 2 repository if needed | ||
| if (needsRos2) { | ||
| await utils.exec("sudo", [ | ||
| "bash", | ||
| "-c", | ||
|
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@@ -144,6 +173,26 @@ async function addAptRepo( | |
| await utils.exec("sudo", ["apt-get", "update"]); | ||
| } | ||
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| /** | ||
| * Add ROS-O (ROS One) APT repository. | ||
| * | ||
| * @param ubuntuCodename the Ubuntu version codename | ||
| * @param use_testing whether to use the testing repository | ||
| */ | ||
| async function addRosOneAptRepo( | ||
| ubuntuCodename: string, | ||
| use_testing: boolean, | ||
| ): Promise<void> { | ||
| const arch = await utils.getArch(); | ||
| const repo = use_testing ? `${ubuntuCodename}-testing` : ubuntuCodename; | ||
| await utils.exec("sudo", [ | ||
| "bash", | ||
| "-c", | ||
| `echo "deb [arch=${arch} signed-by=/etc/apt/keyrings/ros-one-keyring.gpg] https://ros.packages.techfak.net ${repo} main" > /etc/apt/sources.list.d/ros-one.list`, | ||
| ]); | ||
| await utils.exec("sudo", ["apt-get", "update"]); | ||
| } | ||
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|
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| /** | ||
| * Initialize rosdep. | ||
| */ | ||
|
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@@ -160,6 +209,19 @@ async function rosdepInit(): Promise<void> { | |
| await utils.exec("sudo", ["rosdep", "init"]); | ||
| } | ||
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| /** | ||
| * Configure rosdep for ROS-O (ROS One). | ||
| * | ||
| * Adds custom rosdep source for ROS-O packages. | ||
| */ | ||
| async function configureRosOneRosdep(): Promise<void> { | ||
| await utils.exec("sudo", [ | ||
| "bash", | ||
| "-c", | ||
| 'echo "yaml https://ros.packages.techfak.net/ros-one.yaml one" > /etc/ros/rosdep/sources.list.d/1-ros-one.list', | ||
| ]); | ||
| } | ||
|
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| /** | ||
| * Install ROS 1 or 2 (development packages and/or ROS binaries) on a Linux worker. | ||
| */ | ||
|
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@@ -168,12 +230,42 @@ export async function runLinux(): Promise<void> { | |
| const use_ros2_testing = core.getInput("use-ros2-testing") === "true"; | ||
| const installConnext = core.getInput("install-connext") === "true"; | ||
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| const requiredDistros = utils.getRequiredRosDistributions(); | ||
| const needsRosOne = requiredDistros.includes("one"); | ||
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| // Determine which ROS versions are needed | ||
| // ROS 1 distributions: noetic (from packages.ros.org/ros) | ||
| // ROS 2 distributions: rolling, humble, jazzy, iron, kilted, etc. (from packages.ros.org/ros2) | ||
| // ROS-O "one": separate repository (ros.packages.techfak.net) | ||
| const ros1Distros = ["noetic"]; | ||
| const needsRos1 = requiredDistros.some((distro) => | ||
| ros1Distros.includes(distro), | ||
| ); | ||
| const needsRos2 = requiredDistros.some( | ||
| (distro) => !ros1Distros.includes(distro) && distro !== "one", | ||
| ); | ||
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| await configOs(); | ||
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| await addAptRepoKey(); | ||
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| const ubuntuCodename = await utils.determineDistribCodename(); | ||
| // For backward compatibility when no ROS distributions are specified: | ||
| // - Focal (Ubuntu 20.04): add ROS 1 repository (for focal-specific dependencies) | ||
| // - Other versions: add ROS 2 repository (for jammy/noble-specific dependencies) | ||
| // For ROS-O (one): also add ROS 2 repository as it depends on ROS 2 packages | ||
| const addRos1Repo = needsRos1 || ubuntuCodename === ros1UbuntuVersion; | ||
| const addRos2Repo = | ||
| needsRos2 || | ||
| needsRosOne || | ||
| (requiredDistros.length === 0 && ubuntuCodename !== ros1UbuntuVersion); | ||
| await addAptRepo(ubuntuCodename, use_ros2_testing, addRos1Repo, addRos2Repo); | ||
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| // Add ROS-O repository if needed | ||
| if (needsRosOne) { | ||
| await addRosOneAptRepoKey(); | ||
| await addRosOneAptRepo(ubuntuCodename, use_ros2_testing); | ||
| } | ||
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| if ("noble" !== ubuntuCodename) { | ||
| // Temporary fix to avoid error mount: /var/lib/grub/esp: special device (...) does not exist. | ||
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@@ -195,7 +287,12 @@ export async function runLinux(): Promise<void> { | |
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| await rosdepInit(); | ||
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| // Configure rosdep for ROS-O if needed | ||
| if (needsRosOne) { | ||
| await configureRosOneRosdep(); | ||
| } | ||
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| for (const rosDistro of requiredDistros) { | ||
| await apt.runAptGetInstall([`ros-${rosDistro}-desktop`]); | ||
| } | ||
| } | ||
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What's the intent behind this?