Switch to Xenial

[dirk-thomas]

This ticket collects everything necessary to switch to Xenial. All branches should be named xenial to enable CI testing of all changes together.

For the upcoming Alpha 6 we still aim for Trusty support. So breaking changes shouldn't land before.

• Compile
  • The CI jobs need to be updated to use Xenial instead of Trusty use Xenial instead of Trusty #216
  • create Debian package of OpenSplice @j-rivero
    • 6.4.0+osrf1-0amd64, i386, armhf and arm64 packages are ready (arm64 still building at this time). Also hosted in packages.osrfoundation.org.
  • fix Python 3.5 issues fix using only SOABI on Python 3.5, remove obsolete MULTIARCH rosidl#151
• install new dependencies (CMake 3.5) on Windows slaves
  • eatable
  • windshield
• Warnings (run Linux job with branch xenial and ci_branch ci_scripts_xenial)
  • switch to use upstream pydocstyle instead of embedded version and update default warnings use upstream pydocstyle ament/ament_lint#49
    • Linux addressed by use Xenial instead of Trusty #216
    • install pydocstyle on OS X install pydocstyle #221
    • install new dependencies (pydocstyle) on Windows slaves
      • eatable
      • windshield
  • allow newer version of clang-format if available update clang format ament/ament_lint#55
  • operator delete in compiler warning operator delete examples#107
  • operator delete in compiler warning operator delete realtime_support#37
  • sign compare in ament_index_cpp/test/utest.cpp fix sign compare warning with newer compiler ament/ament_index#13
  • sign compare in rcl/test/rcl/test_time.cpp gtest fix compiler warning rcl#62
  • sign compare in test_rclcpp/test/test_executor gtest fix compiler warning system_tests#133

• Update wiki pages
  • https://github.com/ros2/ros2/wiki/Linux-Development-Setup/_compare/891a0fb8fa1e181b4734d5a0247703ae67fdae62...33477346803fd6bb921a1df72a4ba3a160ca649b
  • https://github.com/ros2/ros2/wiki/OSX-Development-Setup/_compare/65f5962e18dfff4cce165e0c0c993212928bf264...aa7d88729b27d83d10f3428a0cb132db29fae7ad
  • https://github.com/ros2/ros2/wiki/Windows-Development-Setup/_compare/4e8bc11c720827d54dadc4780dfaefde66d16d39...88cc120e34c22052f0733fa68f369bb0dd613b41
  • install CMake 3.5 https://github.com/ros2/ros2/wiki/Windows-Development-Setup/_compare/f97a2787cd1fdcf6ff8dc066a0e7593813b5f415...cf6a85413fe95530fb0bd40cd4d9439fb9f1f351
  • compiler version https://github.com/ros2/ros2/wiki/Migration-Guide/_compare/4c3a28b83734e96c1ee59c2b07635f1534ff8859...bcd2433ef6846eb12e1983c58544d11ff4b74114
  • mention switch to Xenial https://github.com/ros2/ros2/wiki/Roadmap/_compare/c3c275be4503ab8aff56f055a13b0ce1e10ed969...dd3615b872a5b6b9a4408f43c33c60cdd4c81529

• Require Python 3.5, rclpy already relies on this new version for the type support extensions
  • require Python 3.5 design#91
  • require Python 3.5 rclpy#33
  • require Python 3.5 rosidl#152
• Require CMake 3.5
  • require CMake 3.5 ament/ament_cmake#72 (and its references)

[dirk-thomas]

Using the now available Debian package of OpenSplice the Linux job was able to build with all rmw implementations: http://ci.ros2.org/job/ci_linux/1312/

[tfoote]

We need to consider how this will effect our embedded test platforms. @mikaelarguedas and I were talking at the end of last week and realized if we jump forward to Xenial we won't have any ARM test platforms we can test on.

Almost all of them are on Ubuntu Trusty or Debian Jessie. Xenial support is supposed to come soon, but is not ready yet.

[tfoote]

We'll plan to move forward with dropping trusty support in Alpha 7. We expect new base images for the boards in the next 6 months with the newer versions which will allow us to use the newer functionality. We do have the ability to test on arm and arm64 in docker/qemu.

[dirk-thomas]

All pull requests are ready to be merged. Waiting for review.

Latest builds show no regressions:

• http://ci.ros2.org/job/ci_linux/1432/
• http://ci.ros2.org/job/ci_osx/1115/
• http://ci.ros2.org/job/ci_windows/1448/

[dirk-thomas]

Another set of builds after all PRs have been merged which show no regressions:

• http://ci.ros2.org/job/ci_linux/1450/
• http://ci.ros2.org/job/ci_osx/1132/
• http://ci.ros2.org/job/ci_windows/1465/

[dirk-thomas]

@wjwwood Can you please install CMake 3.5 on dosa.

[wjwwood]

It's done. You know the credentials for dosa are on the internal wiki though...

[dirk-thomas]

Sure, but I have no idea how to install a new version of CMake on OS X 😉 Thanks

[jacquelinekay]

homebrew is still a mystery to me. Might be good to take time to learn about it though. Thanks William 🍻

[wjwwood]

https://github.com/Linuxbrew/linuxbrew?

[wjwwood]

Ack, that's a stale page: http://linuxbrew.sh/

[dirk-thomas]

I have created PRs for all repos regarding CMake 3.5. Since they touch a lot of CMake code I would like to get them merged asap. Please comment on ament/ament_cmake#72 with a plus one after reviewing all the PRs referenced there.

The latest CI builds look good:

• http://ci.ros2.org/job/ci_linux/1466/
• http://ci.ros2.org/job/ci_osx/1141/
• http://ci.ros2.org/job/ci_windows/1476/

[wjwwood]

I had a few comments, but I looked over all the pr's and they look good to me.