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Bundle Format - V1

Summary

The output of the bundle verb is a tar'd and gzip'd file containing the following:

  1. version - A file with the version of the bundle file format
  2. metadata.tar - A tar archive containing various metadata
  3. bundle.tar - A tar archive containing the filesystem bundle

version

Contains a single version number formatted <major version>.<minor version>. The minor version will be incremented whenever a backwards compatible change is made. The major version will be incremented if there is a non-backwards compatible change to the bundle format.

metadata.tar

All files contained within metadata.tar are formatted as a JSON dictionary. This allows for backwards compatible additions to any of the files. Order is not guaranteed for this archive.

installers.json

{
  "apt": {
	"installed_packages": [
	  {
		"version": "2.26.1",
		"name": "pacakge1"
	  },
	  {
		"version": "1.0.6-8",
		"name": "package2"
	  }
	]
  }
  "pip3": {
	"installed_packages": [
	  {
		"version": "1.11.13",
		"name": "package1"
	  },
	  {
		"version": "1.8.3",
		"name": "package2"
	  }
	]
  }
}

bundle.tar

This contains the built packages and all of their dependencies. It contains setup.sh at the root which can be sourced to add all the dependencies to the current environment.

When sourcing this setup.sh it expects COLCON_BUNDLE_PREFIX to be set to the folder where the contents of bundle.tar have been extracted.

Bundle Format - V2

Summary

The output of the bundle verb is a tar file containing multiple sub-files

  1. version - A file with the version of the bundle file format
  2. metadata.tar.gz - A tar archive containing various metadata
  3. pad - OPTIONAL used to write the overlays from a fixed offset
  4. N *.tar files - These tar archives contain overlay'able contents

** Overlay'able - The top level of each of the archives contains a setup.sh that can be sources to overlay this archive's contents on top of the current environment

version

Contains a single version number formatted <major version>.<minor version>. The minor version will be incremented whenever a backwards compatible change is made. The major version will be incremented if there is a non-backwards compatible change to the bundle format.

metadata.tar.gz

All files contained within metadata.tar are formatted as a JSON dictionary. This allows for backwards compatible additions to any of the files. Order is not guaranteed for this archive.

installers.json:

{
  "apt": {
	"installed_packages": [
	  {
		"version": "2.26.1",
		"name": "pacakge1"
	  },
	  {
		"version": "1.0.6-8",
		"name": "package2"
	  }
	]
  }
  "pip3": {
	"installed_packages": [
	  {
		"version": "1.11.13",
		"name": "package1"
	  },
	  {
		"version": "1.8.3",
		"name": "package2"
	  }
	]
  }
}

overlays.json:

Contains overlays to be applied to the envrionment. The unit for offset and size is bytes.

{
	"overlays": [
		{
			"file_name": "bundle.tar.gz",
			"sha256": "3c0f891fa2e98c125198afe250054609fd26e7462570ff6d3f6654625627cbf4",
			"offset": 1000,
			"size": 10000
		},
		{
			"file_name": "install.tar.gz",
			"sha256": "650d05f59bc3d19c3871994e0261f7dfe790b050d5baf7c42a2c11f86ee39690",
			"offset": 11000,
			"size": 1000
		}
	]
}

Overlay archives:

These contain the built packages and dependencies. At the root each overlay is setup.sh which can be sourced to overlay the included files on top of the current environment.

Common environment variables modified by a setup.sh:

PATH
LD_LIBRARY_PATH
PYTHONPATH

When sourcing each setup.sh COLCON_BUNDLE_PREFIX should be set to the folder where the contents of the overlay archive have been extracted.

See: http://wiki.ros.org/catkin/Tutorials/workspace_overlaying for the original concept.