Add ros2 jazzy support.

2024-06-18 13:09:16 +02:00 · 2024-06-18 13:09:16 +02:00 · cae671ccda
parent 05d2c194d0
commit cae671ccda
7 changed files with 56 additions and 15 deletions
--- a/.github/workflows/rust_and_ros2.yml
+++ b/.github/workflows/rust_and_ros2.yml
@ -17,7 +17,7 @@ jobs:
    - run: docker build . --file ./tests/Dockerfile_no_ros --tag r2r_no_ros
    - run: docker run r2r_no_ros cargo build --features doc-only

-  minimal_workspace_iron:
+  minimal_workspace_jazzy:
    runs-on: ubuntu-latest
    steps:
    - uses: actions/checkout@v4
@ -26,8 +26,15 @@ jobs:
      with:
        repository: m-dahl/r2r_minimal_node
        path: r2r_minimal_node
-    - run: docker build . --file ./tests/Dockerfile_iron --tag r2r_iron
-    - run: docker run r2r_iron /r2r/tests/build_minimal_node.bash
+    - run: docker build . --file ./tests/Dockerfile_jazzy --tag r2r_jazzy
+    - run: docker run r2r_jazzy /r2r/tests/build_minimal_node.bash
+
+  tests_jazzy:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - run: docker build . --file ./tests/Dockerfile_jazzy --tag r2r_jazzy
+    - run: docker run r2r_jazzy cargo test

  tests_iron:
    runs-on: ubuntu-latest
--- a/README.md
+++ b/README.md
@ -34,7 +34,7 @@ Since the default behavior is to build all sourced message types, build time can

 What works?
 --------------------
- Up to date with ROS2 ~Dashing~ ~Eloquent~ Foxy Galactic Humble Iron
+- Up to date with ROS2 ~Dashing~ ~Eloquent~ Foxy Galactic Humble Iron Jazzy
 - Building Rust types
 - Publish/subscribe
 - Services
@ -46,6 +46,7 @@ What works?
 Changelog
 --------------------
 #### [Unreleased]
+- Update for ros2 jazzy <https://github.com/sequenceplanner/r2r/pull/100>

 #### [0.9.0] - 2024-05-17
 - Fix unsafe precondition(s) violated with rust 1.78 <https://github.com/sequenceplanner/r2r/issues/96>. There may be more of these to fix, please report if you encounter.
--- a/r2r/src/lib.rs
+++ b/r2r/src/lib.rs
@ -141,12 +141,21 @@ pub const ROS_DISTRO: &str = "foxy";
 pub const ROS_DISTRO: &str = "galactic";
 #[cfg(r2r__ros__distro__humble)]
 pub const ROS_DISTRO: &str = "humble";
+#[cfg(r2r__ros__distro__iron)]
+pub const ROS_DISTRO: &str = "iron";
+#[cfg(r2r__ros__distro__jazzy)]
+pub const ROS_DISTRO: &str = "jazzy";
+
 #[cfg(r2r__ros__distro__rolling)]
 pub const ROS_DISTRO: &str = "rolling";
+
 #[cfg(not(any(
    r2r__ros__distro__foxy,
    r2r__ros__distro__galactic,
    r2r__ros__distro__humble,
+    r2r__ros__distro__iron,
+    r2r__ros__distro__jazzy,
+
    r2r__ros__distro__rolling
 )))]
 pub const ROS_DISTRO: &str = "unknown";
--- a/r2r/src/qos.rs
+++ b/r2r/src/qos.rs
@ -251,7 +251,7 @@ pub enum ReliabilityPolicy {
    BestEffort,
    Reliable,
    SystemDefault,
-    #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__rolling))]
+    #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__rolling))]
    BestAvailable,
    Unknown,
 }
@ -267,7 +267,7 @@ impl From<ReliabilityPolicy> for rmw_qos_reliability_policy_t {
            ReliabilityPolicy::SystemDefault => {
                rmw_qos_reliability_policy_t::RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT
            }
-            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__rolling))]
+            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__rolling))]
            ReliabilityPolicy::BestAvailable => {
                rmw_qos_reliability_policy_t::RMW_QOS_POLICY_RELIABILITY_BEST_AVAILABLE
            }
@ -290,7 +290,7 @@ impl From<rmw_qos_reliability_policy_t> for ReliabilityPolicy {
            rmw_qos_reliability_policy_t::RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT => {
                ReliabilityPolicy::SystemDefault
            }
-            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__rolling))]
+            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__rolling))]
            rmw_qos_reliability_policy_t::RMW_QOS_POLICY_RELIABILITY_BEST_AVAILABLE => {
                ReliabilityPolicy::BestAvailable
            }
@ -306,7 +306,7 @@ pub enum DurabilityPolicy {
    TransientLocal,
    Volatile,
    SystemDefault,
-    #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__rolling))]
+    #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__rolling))]
    BestAvailable,
    Unknown,
 }
@ -323,7 +323,7 @@ impl From<DurabilityPolicy> for rmw_qos_durability_policy_t {
            DurabilityPolicy::SystemDefault => {
                rmw_qos_durability_policy_t::RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT
            }
-            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__rolling))]
+            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__rolling))]
            DurabilityPolicy::BestAvailable => {
                rmw_qos_durability_policy_t::RMW_QOS_POLICY_DURABILITY_BEST_AVAILABLE
            }
@ -346,7 +346,7 @@ impl From<rmw_qos_durability_policy_t> for DurabilityPolicy {
            rmw_qos_durability_policy_t::RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT => {
                DurabilityPolicy::SystemDefault
            }
-            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__rolling))]
+            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__rolling))]
            rmw_qos_durability_policy_t::RMW_QOS_POLICY_DURABILITY_BEST_AVAILABLE => {
                DurabilityPolicy::BestAvailable
            }
@ -363,7 +363,7 @@ pub enum LivelinessPolicy {
    ManualByNode,
    ManualByTopic,
    SystemDefault,
-    #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__rolling))]
+    #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__rolling))]
    BestAvailable,
    Unknown,
 }
@ -383,7 +383,7 @@ impl From<LivelinessPolicy> for rmw_qos_liveliness_policy_t {
            LivelinessPolicy::SystemDefault => {
                rmw_qos_liveliness_policy_t::RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT
            }
-            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__rolling))]
+            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__rolling))]
            LivelinessPolicy::BestAvailable => {
                rmw_qos_liveliness_policy_t::RMW_QOS_POLICY_LIVELINESS_BEST_AVAILABLE
            }
@ -409,7 +409,7 @@ impl From<rmw_qos_liveliness_policy_t> for LivelinessPolicy {
            rmw_qos_liveliness_policy_t::RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT => {
                LivelinessPolicy::SystemDefault
            }
-            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__rolling))]
+            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__rolling))]
            rmw_qos_liveliness_policy_t::RMW_QOS_POLICY_LIVELINESS_BEST_AVAILABLE => {
                LivelinessPolicy::BestAvailable
            }
--- a/r2r_common/src/lib.rs
+++ b/r2r_common/src/lib.rs
@ -10,7 +10,7 @@ use std::{
 };

 #[cfg(not(feature = "doc-only"))]
-const SUPPORTED_ROS_DISTROS: &[&str] = &["foxy", "galactic", "humble", "iron", "rolling"];
+const SUPPORTED_ROS_DISTROS: &[&str] = &["foxy", "galactic", "humble", "iron", "jazzy", "rolling"];

 const WATCHED_ENV_VARS: &[&str] = &[
    "AMENT_PREFIX_PATH",
--- a/tests/Dockerfile_jazzy
+++ b/tests/Dockerfile_jazzy
@ -0,0 +1,22 @@
+# syntax=docker/dockerfile:1
+FROM ros:jazzy
+
+# Update default packages
+RUN apt-get update
+
+# Get Ubuntu packages
+RUN apt-get install -y \
+    build-essential \
+    curl \
+    libclang-dev
+
+# Get ros test messages
+RUN apt-get install -y ros-jazzy-test-msgs ros-jazzy-example-interfaces
+
+# Get Rust
+RUN curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | bash -s -- -y
+RUN echo 'source $HOME/.cargo/env' >> $HOME/.bashrc
+
+COPY . /r2r
+RUN chmod +x /r2r/tests/test.bash
+ENTRYPOINT [ "/r2r/tests/test.bash" ]
--- a/tests/test.bash
+++ b/tests/test.bash
@ -5,7 +5,9 @@
 # run rustup to test with latest rust version
 rustup update

-if [ -e "/opt/ros/iron/setup.bash" ]; then
+if [ -e "/opt/ros/jazzy/setup.bash" ]; then
+    source "/opt/ros/jazzy/setup.bash"
+elif [ -e "/opt/ros/iron/setup.bash" ]; then
    source "/opt/ros/iron/setup.bash"
 elif [ -e "/opt/ros/humble/setup.bash" ]; then
    source "/opt/ros/humble/setup.bash"