[foxy] Edifice support (#140)

Signed-off-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: Alejandro Hernández <ahcorde@gmail.com> Co-authored-by: Alejandro Hernández <ahcorde@gmail.com>
gazebosim · Mar 22, 2021 · 54e12e2 · 54e12e2
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Showing 11 changed files with 84 additions and 22 deletions.
diff --git a/.travis.yml b/.travis.yml
@@ -4,6 +4,7 @@ env:
   matrix:
     - DOCKER_IMAGE=ubuntu:20.04 IGNITION_VERSION="citadel" ROS_DISTRO="foxy"
     - DOCKER_IMAGE=ubuntu:20.04 IGNITION_VERSION="dome" ROS_DISTRO="foxy"
+    - DOCKER_IMAGE=ubuntu:20.04 IGNITION_VERSION="edifice" ROS_DISTRO="foxy"
 
 services:
   - docker

diff --git a/.travis/build b/.travis/build
@@ -11,19 +11,26 @@ apt update -qq
 apt install -qq -y lsb-release wget curl
 
 # Citadel gets Ignition with rosdep
-if [ "$IGNITION_VERSION" == "dome" ]; then
+if [ "$IGNITION_VERSION" != "citadel" ]; 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-prerelease `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-prerelease.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"
+  if [ "$IGNITION_VERSION" == "dome" ]; then
+    IGN_DEPS="libignition-msgs6-dev libignition-transport9-dev libignition-gazebo4-dev"
+  fi
+
+  if [ "$IGNITION_VERSION" == "edifice" ]; then
+    IGN_DEPS="libignition-msgs7-dev libignition-transport10-dev libignition-gazebo5-dev"
+  fi
 fi
 
 # Dependencies.
-echo "deb http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources.list.d/ros2-latest.list
+echo "deb 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 | apt-key add -
 apt-get update -qq
-apt-get install -qq -y $IGN_DEPS \
+apt-get install -y $IGN_DEPS \
                        python3-colcon-common-extensions \
                        python3-rosdep
 

diff --git a/README.md b/README.md
@@ -1,3 +1,5 @@
+[![Build Status](https://travis-ci.org/ignitionrobotics/ros_ign.svg?branch=noetic)](https://travis-ci.org/ignitionrobotics/ros_ign/branches)
+
 ROS version | Ignition version | Branch | Binaries hosted at
 -- | -- | -- | --
 Melodic | Blueprint | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | https://packages.osrfoundation.org
@@ -6,6 +8,7 @@ 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
+Noetic | Edifice | [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 |
@@ -15,11 +18,14 @@ 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
+Foxy | Edifice | [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
 
+## Packages
+
 This repository holds packages that provide integration between
 [ROS](http://www.ros.org/) and [Ignition](https://ignitionrobotics.org):
 
@@ -73,7 +79,7 @@ More ROS dependencies will be installed below.
 
 ### Ignition
 
-Install either [Citadel or Dome](https://ignitionrobotics.org/docs).
+Install either [Citadel, Dome or Edifice](https://ignitionrobotics.org/docs).
 
 Set the `IGNITION_VERSION` environment variable to the Ignition version you'd
 like to compile against. For example:
@@ -96,7 +102,7 @@ The following steps are for Linux and OSX.
     git clone https://github.com/osrf/ros_ign.git -b ros2
     ```
 
-1. Install dependencies:
+1. Install dependencies (this may also install Ignition):
 
     ```
     cd ~/ws
@@ -107,7 +113,7 @@ The following steps are for Linux and OSX.
 
     ```
     # Source ROS distro's setup.bash
-    source /opt/ros/dashing/setup.bash
+    source /opt/ros/foxy/setup.bash
     # Build and install into workspace
     cd ~/ws/
     colcon build

diff --git a/RELEASING.md b/RELEASING.md
@@ -16,10 +16,13 @@ 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
+* Dome is only available from https://packages.osrfoundation.org
+* Edifice is available from:
+    * https://packages.osrfoundation.org: all Ubuntu versions
+    * https://packages.ros.org: only Ubuntu Focal, once ROS 2 Galactic is out
 
 Another factor to take into consideration is which Ignition version is officially
 supported for each ROS distro according to the following REPS:
@@ -52,6 +55,7 @@ versions:
     * Blueprint: 0
     * Citadel: 1
     * Dome: 2
+    * Edifice: 3
 
 ROS | Ignition | Version
 -- | -- | --
@@ -60,13 +64,15 @@ Melodic | Citadel | 0.101.X
 Noetic | Blueprint | :x:
 Noetic | Citadel | 0.111.X
 Noetic | Dome | 0.112.X
+Noetic | Edifice | 0.113.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
+Foxy | Edifice | 0.223.X
 
 ## Releasing into https://packages.ros.org
 

diff --git a/ros_ign_bridge/CMakeLists.txt b/ros_ign_bridge/CMakeLists.txt
@@ -20,8 +20,17 @@ find_package(std_msgs REQUIRED)
 find_package(tf2_msgs REQUIRED)
 find_package(trajectory_msgs REQUIRED)
 
+# Edifice
+if("$ENV{IGNITION_VERSION}" STREQUAL "edifice")
+  find_package(ignition-transport10 REQUIRED)
+  set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR})
+
+  find_package(ignition-msgs7 REQUIRED)
+  set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Ignition Edifice")
 # Dome
-if("$ENV{IGNITION_VERSION}" STREQUAL "dome")
+elseif("$ENV{IGNITION_VERSION}" STREQUAL "dome")
   find_package(ignition-transport9 REQUIRED)
   set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
 

diff --git a/ros_ign_bridge/package.xml b/ros_ign_bridge/package.xml
@@ -22,12 +22,17 @@
   <depend>tf2_msgs</depend>
   <depend>trajectory_msgs</depend>
 
+  <!-- Edifice -->
+  <depend condition="$IGNITION_VERSION == edifice">ignition-msgs7</depend>
+  <depend condition="$IGNITION_VERSION == edifice">ignition-transport10</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>
+  <depend condition="$IGNITION_VERSION == citadel">ignition-msgs5</depend>
+  <depend condition="$IGNITION_VERSION == citadel">ignition-transport8</depend>
+  <depend condition="$IGNITION_VERSION == ''">ignition-msgs5</depend>
+  <depend condition="$IGNITION_VERSION == ''">ignition-transport8</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/ros_ign_gazebo/CMakeLists.txt b/ros_ign_gazebo/CMakeLists.txt
@@ -14,8 +14,20 @@ find_package(ament_cmake REQUIRED)
 find_package(ignition-math6 REQUIRED)
 find_package(rclcpp REQUIRED)
 
+# Edifice
+if("$ENV{IGNITION_VERSION}" STREQUAL "edifice")
+  find_package(ignition-transport10 REQUIRED)
+  set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR})
+
+  find_package(ignition-msgs7 REQUIRED)
+  set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
+
+  find_package(ignition-gazebo5 REQUIRED)
+  set(IGN_GAZEBO_VER ${ignition-gazebo5_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Ignition Edifice")
 # Dome
-if("$ENV{IGNITION_VERSION}" STREQUAL "dome")
+elseif("$ENV{IGNITION_VERSION}" STREQUAL "dome")
   find_package(ignition-transport9 REQUIRED)
   set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
 

diff --git a/ros_ign_gazebo/package.xml b/ros_ign_gazebo/package.xml
@@ -17,14 +17,13 @@
   <depend>rclcpp</depend>
   <depend>ignition-math6</depend>
 
+  <!-- Edifice -->
+  <depend condition="$IGNITION_VERSION == edifice">ignition-gazebo5</depend>
   <!-- Dome -->
-  <exec_depend condition="$IGNITION_VERSION == dome">ignition-gazebo4</exec_depend>
-  <depend condition="$IGNITION_VERSION == dome">ignition-msgs6</depend>
-  <depend condition="$IGNITION_VERSION == dome">ignition-transport9</depend>
+  <depend condition="$IGNITION_VERSION == dome">ignition-gazebo4</depend>
   <!-- Citadel (default) -->
-  <exec_depend condition="$IGNITION_VERSION != dome">ignition-gazebo3</exec_depend>
-  <depend condition="$IGNITION_VERSION != dome">ignition-msgs5</depend>
-  <depend condition="$IGNITION_VERSION != dome">ignition-transport8</depend>
+  <depend condition="$IGNITION_VERSION == citadel">ignition-gazebo3</depend>
+  <depend condition="$IGNITION_VERSION == ''">ignition-gazebo3</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

diff --git a/ros_ign_gazebo_demos/package.xml b/ros_ign_gazebo_demos/package.xml
@@ -7,10 +7,13 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <!-- Edifice -->
+  <exec_depend condition="$IGNITION_VERSION == edifice">ignition-gazebo5</exec_depend>
   <!-- Dome -->
   <exec_depend condition="$IGNITION_VERSION == dome">ignition-gazebo4</exec_depend>
   <!-- Citadel (default) -->
-  <exec_depend condition="$IGNITION_VERSION != dome">ignition-gazebo3</exec_depend>
+  <exec_depend condition="$IGNITION_VERSION == citadel">ignition-gazebo3</exec_depend>
+  <exec_depend condition="$IGNITION_VERSION == ''">ignition-gazebo3</exec_depend>
 
   <exec_depend>image_transport_plugins</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>

diff --git a/ros_ign_image/CMakeLists.txt b/ros_ign_image/CMakeLists.txt
@@ -16,8 +16,17 @@ find_package(ros_ign_bridge REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 
+# Edifice
+if("$ENV{IGNITION_VERSION}" STREQUAL "edifice")
+  find_package(ignition-transport10 REQUIRED)
+  set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR})
+
+  find_package(ignition-msgs7 REQUIRED)
+  set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Ignition Edifice")
 # Dome
-if("$ENV{IGNITION_VERSION}" STREQUAL "dome")
+elseif("$ENV{IGNITION_VERSION}" STREQUAL "dome")
   find_package(ignition-transport9 REQUIRED)
   set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
 

diff --git a/ros_ign_image/package.xml b/ros_ign_image/package.xml
@@ -13,12 +13,17 @@
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
 
+  <!-- Edifice -->
+  <depend condition="$IGNITION_VERSION == edifice">ignition-msgs7</depend>
+  <depend condition="$IGNITION_VERSION == edifice">ignition-transport10</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>
+  <depend condition="$IGNITION_VERSION == citadel">ignition-msgs5</depend>
+  <depend condition="$IGNITION_VERSION == citadel">ignition-transport8</depend>
+  <depend condition="$IGNITION_VERSION == ''">ignition-msgs5</depend>
+  <depend condition="$IGNITION_VERSION == ''">ignition-transport8</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>