fuse -> ROS 2 fuse_msgs : Port package and ignore unported packages for now

[methylDragon]

See: #276

This is just an extremely minor port.

It moves the message definitions and uses the ROS 2 message generation pipeline and adds COLCON_IGNORE files to the remaining unported packages.

I also added linting (fixing a package.xml linting issue).

PS: Should I be bumping the version number? It should be API breaking, so does that mean it should be a new MAJOR version? Or will it have to wait for release first?

Also pinging @svwilliams for visibility.

[methylDragon]

Hmm, looks like jenkins is failing on me, but I'm missing some permissions to see what's wrong?
(If I were to guess, it's probably failing because it's trying to catkin build it)

[svwilliams]

In case it is helpful, the buildserver error is:

[2022-10-07T00:19:40.026Z] ERROR: the following packages/stacks could not have their rosdep keys resolved
[2022-10-07T00:19:40.026Z] to system dependencies:
[2022-10-07T00:19:40.026Z] fuse_msgs: Cannot locate rosdep definition for [rosidl_default_runtime]
script returned exit code 1

Pinging @paulbovbel who designed our build system. We are starting the ROS2 port of the fuse package. Are there any steps required to make our build system work with ROS2? Or is the issue that the port is targeting ROS2 Rolling and Locus is using Galactic or whatever official release?

[sloretz]

PS: Should I be bumping the version number? It should be API breaking, so does that mean it should be a new MAJOR version? Or will it have to wait for release first?

Usually we bump the version number at the time of release, but in this case I think we could do it at any time. @svwilliams does Locus use a specific versioning system (such as semver.org?) If so, what version number would you prefer for Rolling? (current is 0.4.2)

Pinging @paulbovbel who designed our build system. We are starting the ROS2 port of the fuse package. Are there any steps required to make our build system work with ROS2? Or is the issue that the port is targeting ROS2 Rolling and Locus is using Galactic or whatever official release?

@svwilliams How would you feel about us adding a Rolling PR job and using that as CI?

[svwilliams]

How would you feel about us adding a Rolling PR job and using that as CI?

That probably makes the most sense. Locus is not currently targeting Rolling with our CI builds anyway. So even if we get the build configuration worked out to build fuse against ROS2, there is still potential for version compatibility problems.

[svwilliams]

Usually we bump the version number at the time of release, but in this case I think we could do it at any time. @svwilliams does Locus use a specific versioning system (such as semver.org?) If so, what version number would you prefer for Rolling? (current is 0.4.2)

Locus also bumps the version numbers at the time of release, but Locus has its own release schedule. Again, I'm going to defer to @paulbovbel for version number recommendations.

[sloretz]

This looks good to me, though I recommend adding a note to the main repository README saying the Rolling branch is a work in progress with a link to #276.

In absence of a PR job I manually built this repo with colcon build using ROS Rolling on Ubuntu Jammy. Only fuse_msgs was built. colcon test + colcon test-result shows all tests passed.

I manually ran a few commands to double check, and the output looks correct.

jammy:osrf> ros2 interface package fuse_msgs
fuse_msgs/msg/SerializedGraph
fuse_msgs/msg/SerializedTransaction
jammy:osrf> python3 -c 'import fuse_msgs.msg; print(fuse_msgs.msg.SerializedTransaction())'
fuse_msgs.msg.SerializedTransaction(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id=''), data=[])
jammy:osrf> python3 -c 'import fuse_msgs.msg; print(fuse_msgs.msg.SerializedGraph())'
fuse_msgs.msg.SerializedGraph(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id=''), plugin_name='', data=[])

[methylDragon]

This looks good to me, though I recommend adding a note to the main repository README saying the Rolling branch is a work in progress with a link to #276.

In absence of a PR job I manually built this repo with colcon build using ROS Rolling on Ubuntu Jammy. Only fuse_msgs was built. colcon test + colcon test-result shows all tests passed.

I manually ran a few commands to double check, and the output looks correct.

jammy:osrf> ros2 interface package fuse_msgs
fuse_msgs/msg/SerializedGraph
fuse_msgs/msg/SerializedTransaction
jammy:osrf> python3 -c 'import fuse_msgs.msg; print(fuse_msgs.msg.SerializedTransaction())'
fuse_msgs.msg.SerializedTransaction(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id=''), data=[])
jammy:osrf> python3 -c 'import fuse_msgs.msg; print(fuse_msgs.msg.SerializedGraph())'
fuse_msgs.msg.SerializedGraph(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id=''), plugin_name='', data=[])

Okie, I'll add that note and then merge! Thanks for the review!