tests: add fake pip fixture

.gitignore

@@ -2,6 +2,7 @@ docs/reference.md
 demos/*/parts/
 demos/*/prime/
 demos/*/stage/
+demos/*/snap/.snapcraft/
 demos/**/*.snap
 snap/.snapcraft/
 tests/unit/parts/

demos/ros2/scripts/bin/launch-system

@@ -0,0 +1,7 @@
+#!/bin/sh
+
+# The launch file doesn't properly interleave output like we need here. So
+# script it instead.
+
+ros2 run talker_cpp talker &
+ros2 run listener_py listener

demos/ros2/snap/snapcraft.yaml

@@ -0,0 +1,29 @@
+name: ros2-example
+version: '0.1' # just for humans, typically '1.2+git' or '1.3.2'
+summary: Single-line elevator pitch for your amazing snap # 79 char long summary
+description: |
+  This is my-snap's description. You have a paragraph or two to tell the
+  most important story about your snap. Keep it under 100 words though,
+  we live in tweetspace and your description wants to look good in the snap
+  store.
+
+grade: devel # must be 'stable' to release into candidate/stable channels
+confinement: strict
+
+apps:
+  ros2:
+    command: ros2
+    plugs: [network]
+
+  launch-system:
+    command: launch-system
+    plugs: [network]
+
+parts:
+  my-part:
+    # See 'snapcraft plugins'
+    plugin: ament
+
+  scripts:
+    plugin: dump
+    source: scripts

demos/ros2/src/listener_py/launch/talk_and_listen.py

@@ -0,0 +1,15 @@
+from ros2run.api import get_executable_path
+
+
+def launch(launch_descriptor, argv):
+    ld = launch_descriptor
+    ld.add_process(
+        cmd=[get_executable_path(package_name='talker_cpp', executable_name='talker')],
+        name='talker',
+    )
+    ld.add_process(
+        cmd=[get_executable_path(package_name='listener_py', executable_name='listener')],
+        name='listener',
+    )
+
+    return ld

demos/ros2/src/listener_py/nodes/listener.py

@@ -0,0 +1,23 @@
+import rclpy
+from std_msgs.msg import String
+
+
+def callback(message):
+    print('I heard: {}'.format(message.data))
+
+
+def main():
+    rclpy.init()
+
+    node = rclpy.Node('listener')
+
+    node.create_subscription(String, 'chatter', callback)
+
+    rclpy.spin(node)
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

demos/ros2/src/listener_py/package.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>listener_py</name>
+  <version>0.0.0</version>
+  <description>The listener_py package</description>
+  <maintainer email="me@example.com">me</maintainer>
+  <license>GPLv3</license>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

demos/ros2/src/listener_py/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/listener_py
+[install]
+install-scripts=$base/lib/listener_py

demos/ros2/src/listener_py/setup.py

@@ -0,0 +1,21 @@
+import os
+from setuptools import find_packages
+from setuptools import setup
+
+package_name = 'listener_py'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(),
+    data_files=[
+        (os.path.join('share', package_name), ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), ['launch/talk_and_listen.py']),
+    ],
+    install_requires=['setuptools'],
+    entry_points={
+        'console_scripts': [
+            'listener = nodes.listener:main',
+        ],
+    },
+)

demos/ros2/src/talker_cpp/CMakeLists.txt

@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(talker_cpp)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+#find_package(rmw REQUIRED)
+find_package(std_msgs REQUIRED)
+
+add_definitions("-std=c++11 -Wall -Wextra")
+
+add_executable(talker src/talker.cpp)
+ament_target_dependencies(talker
+  "rclcpp"
+  "std_msgs")
+install(TARGETS talker DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

demos/ros2/src/talker_cpp/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>talker_cpp</name>
+  <version>0.0.0</version>
+  <description>The talker_cpp package</description>
+  <maintainer email="me@example.com">me</maintainer>
+  <license>GPLv3</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>rclcpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

demos/ros2/src/talker_cpp/src/talker.cpp

@@ -0,0 +1,36 @@
+#include <iostream>
+#include <sstream>
+
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/string.hpp>
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+
+  auto node = rclcpp::node::Node::make_shared("talker");
+
+  auto publisher = node->create_publisher<std_msgs::msg::String>("chatter", rmw_qos_profile_default);
+
+  rclcpp::WallRate loopRate(1);
+
+  int count = 0;
+  while (rclcpp::ok())
+  {
+    auto message = std::make_shared<std_msgs::msg::String>();
+
+    std::stringstream stream;
+    stream << "Hello world " << count++;
+    message->data = stream.str();
+
+    std::cout << message->data << std::endl;
+
+    publisher->publish(message);
+
+    rclcpp::spin_some(node);
+
+    loopRate.sleep();
+  }
+
+  return 0;
+}

snapcraft/file_utils.py

@@ -127,13 +127,13 @@ def link_or_copy(source, destination, follow_symlinks=False):
 
 def link_or_copy_tree(source_tree, destination_tree,
                       copy_function=link_or_copy):
-    """Copy a source tree into a destination, hard-linking if possile.
+    """Copy a source tree into a destination, hard-linking if possible.
 
     :param str source_tree: Source directory to be copied.
     :param str destination_tree: Destination directory. If this directory
                                  already exists, the files in `source_tree`
                                  will take precedence.
-    :param str boundary: Filesystem boundary no symlinks are allowed to cross.
+    :param callable copy_function: Callable that actually copies.
     """
 
     if not os.path.isdir(source_tree):

snapcraft/plugins/_ros/__init__.py

@@ -15,3 +15,4 @@
 # along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 from snapcraft.plugins._ros import rosdep  # noqa
+from snapcraft.plugins._ros import ros2  # noqa

snapcraft/plugins/_ros/ros2.py

@@ -0,0 +1,153 @@
+# -*- Mode:Python; indent-tabs-mode:nil; tab-width:4 -*-
+#
+# Copyright (C) 2017 Canonical Ltd
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License version 3 as
+# published by the Free Software Foundation.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+import contextlib
+import os
+import logging
+import shutil
+import subprocess
+
+from snapcraft import (
+    repo,
+    sources,
+)
+
+logger = logging.getLogger(__name__)
+
+_ROS2_URL_TEMPLATE = (
+    'https://raw.githubusercontent.com/ros2/ros2/{version}/ros2.repos'
+)
+
+
+_INSTALL_TOOLS_STEP = 'install-tools'
+_FETCH_ROS2_STEP = 'fetch-ros2'
+_BUILD_ROS2_STEP = 'build-ros2'
+
+
+class Bootstrapper:
+    def __init__(self, *, version, bootstrap_path, ubuntu_sources, project):
+        self._version = version
+        self._ubuntu_sources = ubuntu_sources
+        self._project = project
+
+        self._bootstrap_path = bootstrap_path
+        self._tool_dir = os.path.join(self._bootstrap_path, 'tools')
+        self._state_dir = os.path.join(self._bootstrap_path, 'state')
+        self._underlay_dir = os.path.join(self._bootstrap_path, 'underlay')
+        self._install_dir = os.path.join(self._bootstrap_path, 'install')
+        self._build_dir = os.path.join(self._bootstrap_path, 'build')
+        self._source_dir = os.path.join(self._underlay_dir, 'src')
+
+    def get_build_packages(self):
+        # Include dependencies for FastRTPS
+        packages = ['cmake']
+
+        # Dependencies for FastRTPS
+        packages.extend(['libasio-dev', 'libtinyxml2-dev'])
+
+        # Dependencies for the rest of ros2
+        packages.extend([
+            'libopencv-dev', 'libpoco-dev', 'libpocofoundation9v5',
+            'libpocofoundation9v5-dbg', 'python-empy', 'python3-dev',
+            'python3-empy', 'python3-nose', 'python3-pip',
+            'python3-setuptools', 'python3-yaml', 'libtinyxml-dev',
+            'libeigen3-dev'])
+
+        return packages
+
+    def get_stage_packages(self):
+        # Ament is a python3 tool, and it requires setuptools at runtime
+        packages = ['python3', 'python3-setuptools']
+
+        return packages
+
+    def pull(self):
+        self._run_step(
+            self._install_tools,
+            step=_INSTALL_TOOLS_STEP,
+            skip_message='Tools already installed. Skipping...')
+        self._run_step(
+            self._fetch_ros2,
+            step=_FETCH_ROS2_STEP,
+            skip_message='ros2 already fetched. Skipping...')
+
+    def build(self):
+        self._run_step(
+            self._build_ros2,
+            step=_BUILD_ROS2_STEP,
+            skip_message='ros2 already built. Skipping...')
+
+        return self._install_dir
+
+    def _run(self, command):
+        env = os.environ.copy()
+        env['PATH'] = env['PATH'] + ':' + os.path.join(
+            self._tool_dir, 'usr', 'bin')
+        env['PYTHONPATH'] = os.path.join(
+            self._tool_dir, 'usr', 'lib', 'python3', 'dist-packages')
+
+        subprocess.check_call(command, env=env)
+
+    def _step_done(self, step):
+        return os.path.isfile(os.path.join(self._state_dir, step))
+
+    def _set_step_done(self, step):
+        os.makedirs(self._state_dir, exist_ok=True)
+        open(os.path.join(self._state_dir, step), 'w').close()
+
+    def _run_step(self, callable, *, step, skip_message=None):
+        if self._step_done(step):
+            if skip_message:
+                logger.debug(skip_message)
+        else:
+            callable()
+            self._set_step_done(step)
+
+    def clean(self):
+        with contextlib.suppress(FileNotFoundError):
+            shutil.rmtree(self._bootstrap_path)
+
+    def _install_tools(self):
+        logger.info('Preparing to fetch vcstool...')
+        ubuntu = repo.Ubuntu(
+            self._bootstrap_path, sources=self._ubuntu_sources,
+            project_options=self._project)
+
+        logger.info('Fetching vcstool...')
+        ubuntu.get(['python3-vcstool'])
+
+        logger.info('Installing vcstool...')
+        ubuntu.unpack(self._tool_dir)
+
+    def _fetch_ros2(self):
+        os.makedirs(self._source_dir, exist_ok=True)
+        sources.Script(
+            _ROS2_URL_TEMPLATE.format(version=self._version),
+            self._underlay_dir).download()
+
+        logger.info('Fetching ros2 sources....')
+        ros2_repos = os.path.join(self._underlay_dir, 'ros2.repos')
+        self._run(
+            ['vcs', 'import', '--input', ros2_repos, self._source_dir])
+
+    def _build_ros2(self):
+        logger.info('Building ros2 underlay...')
+        ament_path = os.path.join(
+            self._source_dir, 'ament', 'ament_tools', 'scripts',
+            'ament.py')
+        self._run(
+            [ament_path, 'build', self._source_dir, '--build-space',
+             self._build_dir, '--install-space', self._install_dir])