[ros2] Update releases (#108)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

.travis.yml

@@ -2,7 +2,8 @@ sudo: required
 
 env:
   matrix:
-    - DOCKER_IMAGE=ubuntu:20.04 ROS_DISTRO="foxy"
+    - DOCKER_IMAGE=ubuntu:20.04 IGNITION_VERSION="citadel" ROS_DISTRO="foxy"
+    - DOCKER_IMAGE=ubuntu:20.04 IGNITION_VERSION="dome" ROS_DISTRO="foxy"
 
 services:
   - docker
@@ -16,7 +17,7 @@ before_install:
   - echo $DOCKER_IMAGE
   - echo $ROS_DISTRO
   - docker pull $DOCKER_IMAGE
-  - docker run  -e ROS_DISTRO -d -v $(pwd):/code $DOCKER_IMAGE /bin/bash -c 'while true; do sleep 1; done'
+  - docker run -e IGNITION_VERSION -e ROS_DISTRO -d -v $(pwd):/code $DOCKER_IMAGE /bin/bash -c 'while true; do sleep 1; done'
   - docker exec $(docker ps -aq) /bin/bash -c 'id'
 
 before_script:

.travis/build

@@ -7,15 +7,29 @@ export COLCON_WS_SRC=${COLCON_WS}/src
 export DEBIAN_FRONTEND=noninteractive
 export ROS_PYTHON_VERSION=3
 
+apt update -qq
+apt install -qq -y lsb-release wget curl
+
+# Citadel gets Ignition with rosdep
+if [ "$IGNITION_VERSION" == "dome" ]; then
+  echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
+  echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list
+  wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
+
+  IGN_DEPS="libignition-msgs6-dev libignition-transport9-dev libignition-gazebo4-dev"
+fi
+
 # Dependencies.
-echo "deb [trusted=yes] http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources.list.d/ros2-latest.list
+echo "deb http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources.list.d/ros2-latest.list
+curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
 apt-get update -qq
-apt-get install -qq -y python3-colcon-common-extensions \
+apt-get install -qq -y $IGN_DEPS \
+                       python3-colcon-common-extensions \
                        python3-rosdep
 
 rosdep init
 rosdep update
-rosdep install --from-paths ./ -i -y --rosdistro $ROS_DISTRO
+rosdep install --from-paths ./ -i -y -r --rosdistro $ROS_DISTRO
 
 # Build.
 source /opt/ros/$ROS_DISTRO/setup.bash

README.md

@@ -1,16 +1,22 @@
-[![Build Status](https://travis-ci.org/ignitionrobotics/ros_ign.svg?branch=ros2)](https://travis-ci.org/ignitionrobotics/ros_ign/branches)
-
-* ROS 1 branches:
-    * [melodic](https://github.com/ignitionrobotics/ros_ign/tree/melodic)
-        * Blueprint and Citadel
-        * Melodic
-* ROS 2 branches:
-    * [dashing](https://github.com/ignitionrobotics/ros_ign/tree/dashing)
-        * Blueprint and Citadel
-        * Dashing and Eloquent
-    * [ros2](https://github.com/osrf/ros_ign/tree/ros2)
-        * Citadel
-        * Foxy
+ROS version | Ignition version | Branch | Binaries hosted at
+-- | -- | -- | --
+Melodic | Blueprint | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | https://packages.osrfoundation.org
+Melodic | Citadel | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | only from source
+Melodic | Dome | not supported |
+Noetic | Blueprint | not supported |
+Noetic | Citadel | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | https://packages.ros.org
+Noetic | Dome | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source
+Dashing | Blueprint | [dashing](https://github.com/osrf/ros_ign/tree/dashing) | only from source
+Dashing | Citadel | [dashing](https://github.com/osrf/ros_ign/tree/dashing) | only from source
+Dashing | Dome | not supported |
+Eloquent | Blueprint | [dashing](https://github.com/osrf/ros_ign/tree/dashing) | only from source
+Eloquent | Citadel | [dashing](https://github.com/osrf/ros_ign/tree/dashing) | only from source
+Eloquent | Dome | not supported |
+Foxy | Blueprint | not supported |
+Foxy | Citadel | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | https://packages.ros.org
+Foxy | Dome | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | only from source
+
+> Please [ticket an issue](https://github.com/ignitionrobotics/ros_ign/issues/) if you'd like support to be added for some combination.
 
 # Integration between ROS and Ignition
 
@@ -37,3 +43,72 @@ This repository holds packages that provide integration between
 * [ros_ign_point_cloud](https://github.com/ignitionrobotics/ros_ign/tree/ros2/ros_ign_point_cloud):
   Plugins for publishing point clouds to ROS from
   [Ignition Gazebo](https://ignitionrobotics.org/libs/gazebo) simulations.
+
+## Install
+
+This branch supports ROS Foxy. See above for other ROS versions.
+
+### Binaries
+
+Foxy binaries are only available for Citadel.
+They are hosted at https://packages.ros.org.
+
+1. Add https://packages.ros.org
+
+        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'
+        curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+        sudo apt-get update
+
+1. Install `ros_ign`
+
+        sudo apt install ros-foxy-ros-ign
+
+### From source
+
+### ROS
+
+Be sure you've installed
+[ROS Foxy](https://index.ros.org/doc/ros2/Installation/) (at least ROS-Base).
+More ROS dependencies will be installed below.
+
+### Ignition
+
+Install either [Citadel or Dome](https://ignitionrobotics.org/docs).
+
+Set the `IGNITION_VERSION` environment variable to the Ignition version you'd
+like to compile against. For example:
+
+    export IGNITION_VERSION=citadel
+
+> You only need to set this variable when compiling, not when running.
+
+### Compile ros_ign
+
+The following steps are for Linux and OSX.
+
+1. Create a colcon workspace:
+
+    ```
+    # Setup the workspace
+    mkdir -p ~/ws/src
+    cd ~/ws/src
+    # Download needed software
+    git clone https://github.com/osrf/ros_ign.git -b ros2
+    ```
+
+1. Install dependencies:
+
+    ```
+    cd ~/ws
+    rosdep install --from-paths src -i -y --rosdistro foxy
+    ```
+
+1. Build the workspace:
+
+    ```
+    # Source ROS distro's setup.bash
+    source /opt/ros/dashing/setup.bash
+    # Build and install into workspace
+    cd ~/ws/
+    colcon build
+    ```

RELEASING.md

@@ -1,15 +1,105 @@
-# Release a new version of ros_ign_bridge
+# Release a new version of ros_ign
 
-The package uses the latest versions of ignition libraries, at this moment only
-availables in the packages.osrfoundation.org repository. This fact makes
-impossible to use bloom to release it. The steps to make a new release of the
-package is:
+Different branches of this repository support different combinations of
+ROS 1, ROS 2 and Ignition. Refer to the [README](README.md) to see what
+combinations are supported.
 
- 1. Use github to make an official release:
-    https://github.com/osrf/ros_ign/releases
+We use 2 separate approaches for releasing ROS-enabled binaries:
 
- 1. Update metadata for packaging in:
-    https://bitbucket.org/osrf/ros_ign_bridge-release/
+* Release upstream into https://packages.ros.org, so it's easily available to
+  all ROS users.
+* Release into https://packages.osrfoundation.org, which requires extra setup
+  for ROS users.
+
+Releasing into ROS packages is ideal, but that's only possible if the necessary
+Ignition libraries are available either through official Ubuntu packages, or
+directly from https://packages.ros.org. This situation varies according to the
+Ignition version:
+
+* Blueprint and Dome are only available from https://packages.osrfoundation.org
+* Citadel is available from:
+    * https://packages.osrfoundation.org: all Ubuntu versions
+    * https://packages.ros.org: only Ubuntu Focal
+
+Another factor to take into consideration is which Ignition version is officially
+supported for each ROS distro according to the following REPS:
+
+* ROS 1: [REP-0003](https://ros.org/reps/rep-0003.html)
+* ROS 2: [REP-2000](https://www.ros.org/reps/rep-2000.html)
+
+These factors determine which ROS + Ignition combinations are released into each
+repository.
+
+## Versioning
+
+All `ros_ign` packages are under fast development and haven't reached version
+1.0 yet. The team will make an effort to keep changes backwards compatible
+within a ROS distribution, but API / ABI / behaviour may be broken if necessary.
+
+The versioning scheme uses the minor version to identify ROS and Ignition
+versions:
+
+* 1st digit:
+    * ROS 1: 1
+    * ROS 2: 2
+* 2nd digit:
+    * Melodic: 0
+    * Noetic: 1
+    * Dashing: 0
+    * Eloquent: 1
+    * Foxy: 2
+* 3rd digit:
+    * Blueprint: 0
+    * Citadel: 1
+    * Dome: 2
+
+ROS | Ignition | Version
+-- | -- | --
+Melodic | Blueprint | 0.100.X
+Melodic | Citadel | 0.101.X
+Noetic | Blueprint | :x:
+Noetic | Citadel | 0.111.X
+Noetic | Dome | 0.112.X
+Dashing | Blueprint | 0.200.X
+Dashing | Citadel | 0.201.X
+Eloquent | Blueprint | 0.210.X
+Eloquent | Citadel | 0.211.X
+Foxy | Blueprint | :x:
+Foxy | Citadel | 0.221.X
+Foxy | Dome | 0.222.X
+
+## Releasing into https://packages.ros.org
+
+1. Follow the [standard ROS release process](http://wiki.ros.org/bloom/Tutorials/ReleaseCatkinPackage).
+
+## Releasing into https://packages.osrfoundation.org
+
+1. From the [standard ROS release process](http://wiki.ros.org/bloom/Tutorials/ReleaseCatkinPackage),
+   follow just these steps:
+
+    * `catkin_generate_changelog`
+    * `catkin_prepare_release`
+
+1. Install `rosdep` for Ignition packages and run rosdep update
+    ```
+    sudo bash -c 'echo "yaml https://github.com/osrf/osrf-rosdep/raw/master/ignition/ignition.yaml" >> /etc/ros/rosdep/sources.list.d/00-ignition.list'
+    rosdep update
+    ```
+
+1. Bloom it into a custom repository
+    ```
+    BLOOM_RELEASE_REPO_BASE=https://github.com/osrf/ bloom-release --no-pull-request --rosdistro melodic --track melodic ros_ign
+    ```
+
+    Will fail fedora: ignore and continue:
+    ```
+    # Would you like to try again? [Y/n]? n
+    # Skip generator action and continue with release [y/N]? y
+    ```
+
+1. Use [release-tools](https://bitbucket.org/osrf/release-tools)'s script to launch jenkins jobs:
+    ```
+    cd release-tools/bloom
+    ./ros_ign_bridge-release.py.bash 0.8.0 https://github.com/osrf/ros_ign-release <ros_distro> <token> --ignition-version <version_name>
+    ```
 
- 1. Launch manually the builds in:
-    https://build.osrfoundation.org/job/ros_ign_bridge-debbuilder/

ros_ign_bridge/CMakeLists.txt

@@ -18,31 +18,24 @@ find_package(rosgraph_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 
-find_package(ignition-transport8 QUIET)
-# Citadel
-if(ignition-transport8_FOUND)
+# Dome
+if("$ENV{IGNITION_VERSION}" STREQUAL "dome")
+  find_package(ignition-transport9 REQUIRED)
+  set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
+
+  find_package(ignition-msgs6 REQUIRED)
+  set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Ignition Dome")
+# Default to Citadel
+else()
+  find_package(ignition-transport8 REQUIRED)
   set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR})
 
   find_package(ignition-msgs5 REQUIRED)
   set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR})
 
-else()
-  find_package(ignition-transport9 QUIET)
-  # Dome
-  if(ignition-transport9_FOUND)
-    set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
-
-    find_package(ignition-msgs6 REQUIRED)
-    set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR})
-
-  # Blueprint
-  else()
-    find_package(ignition-transport7 REQUIRED)
-    set(IGN_TRANSPORT_VER ${ignition-transport7_VERSION_MAJOR})
-
-    find_package(ignition-msgs4 REQUIRED)
-    set(IGN_MSGS_VER ${ignition-msgs4_VERSION_MAJOR})
-  endif()
+  message(STATUS "Compiling against Ignition Citadel")
 endif()
 
 include_directories(include)

ros_ign_bridge/package.xml

@@ -13,15 +13,20 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>pkg-config</buildtool_depend>
 
-  <depend>ignition-msgs5</depend>
-  <depend>ignition-transport8</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rosgraph_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
 
+  <!-- Dome -->
+  <depend condition="$IGNITION_VERSION == dome">ignition-msgs6</depend>
+  <depend condition="$IGNITION_VERSION == dome">ignition-transport9</depend>
+  <!-- Citadel (default) -->
+  <depend condition="$IGNITION_VERSION != dome">ignition-msgs5</depend>
+  <depend condition="$IGNITION_VERSION != dome">ignition-transport8</depend>
+
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

ros_ign_gazebo/CMakeLists.txt

@@ -14,31 +14,24 @@ find_package(ament_cmake REQUIRED)
 find_package(ignition-math6 REQUIRED)
 find_package(rclcpp REQUIRED)
 
-find_package(ignition-transport8 QUIET)
-# Citadel
-if(ignition-transport8_FOUND)
-  set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR})
+# Dome
+if("$ENV{IGNITION_VERSION}" STREQUAL "dome")
+  find_package(ignition-transport9 REQUIRED)
+  set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
 
-  find_package(ignition-msgs5 REQUIRED)
-  set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR})
+  find_package(ignition-msgs6 REQUIRED)
+  set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR})
 
+  message(STATUS "Compiling against Ignition Dome")
+# Default to Citadel
 else()
-  find_package(ignition-transport9 QUIET)
-  # Dome
-  if(ignition-transport9_FOUND)
-    set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
-
-    find_package(ignition-msgs6 REQUIRED)
-    set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR})
+  find_package(ignition-transport8 REQUIRED)
+  set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR})
 
-  # Blueprint
-  else()
-    find_package(ignition-transport7 REQUIRED)
-    set(IGN_TRANSPORT_VER ${ignition-transport7_VERSION_MAJOR})
+  find_package(ignition-msgs5 REQUIRED)
+  set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR})
 
-    find_package(ignition-msgs4 REQUIRED)
-    set(IGN_MSGS_VER ${ignition-msgs4_VERSION_MAJOR})
-  endif()
+  message(STATUS "Compiling against Ignition Citadel")
 endif()
 
 ign_find_package(gflags