extensions: support for content sharing for ROS

extensions/ros1/launch

@@ -2,19 +2,40 @@
 
 function activate_workspace() {
     rosdir="$1"
-    setup_sh="$rosdir/setup.bash"
+    setup_sh="$rosdir/setup.sh"
 
     if [ ! -f "$setup_sh" ]; then
         echo "error: $setup_sh not found"
         exit 1
     fi
     # shellcheck disable=SC1090
-    _CATKIN_SETUP_DIR="$rosdir" source "$setup_sh"
+    _CATKIN_SETUP_DIR="$rosdir" source "$setup_sh" "${@:2}"
 }
 
 # Save off parameters, the sourced setup scripts may manipulate them.
 original_args=("$@")
 
-activate_workspace "$SNAP/opt/ros/$ROS_DISTRO"
+# activate_workspace in content shared snaps
+if [ -d "$SNAP/opt/ros/underlay_ws/opt/ros/$ROS_DISTRO" ]; then
+    activate_workspace "$SNAP/opt/ros/underlay_ws/opt/ros/$ROS_DISTRO" --local
+
+    case "$SNAP_ARCH" in
+        "amd64") ARCH_TRIPLET='x86_64-linux-gnu'
+        ;;
+        "arm64") ARCH_TRIPLET="aarch64-linux-gnu"
+        ;;
+        "armhf") ARCH_TRIPLET="arm-linux-gnueabihf"
+        ;;
+        *)
+            echo "Unsupported architecture '$SNAP_ARCH' for this app build."
+            exit 1
+        ;;
+    esac
+
+    export PATH="$SNAP/opt/ros/underlay_ws/usr/bin:$PATH"
+    export LD_LIBRARY_PATH="$SNAP/opt/ros/underlay_ws/usr/lib:$SNAP/opt/ros/underlay_ws/usr/lib/$ARCH_TRIPLET:$LD_LIBRARY_PATH"
+fi
+
+activate_workspace "$SNAP/opt/ros/$ROS_DISTRO" --local --extend
 
 exec "${original_args[@]}"

extensions/ros2/launch

@@ -2,18 +2,47 @@
 
 function source_with_prefix() {
     export ROS_WORKSPACE_CURRENT_PREFIX="$1"
-    if [ ! -f "$ROS_WORKSPACE_CURRENT_PREFIX/local_setup.bash" ]; then
-      echo "error: $ROS_WORKSPACE_CURRENT_PREFIX/local_setup.bash not found"
+    SETUP_SCRIPT="$ROS_WORKSPACE_CURRENT_PREFIX/local_setup.bash"
+    if [ ! -f "$SETUP_SCRIPT" ]; then
+      echo "error: $SETUP_SCRIPT not found"
       exit 1
     fi
     # shellcheck disable=SC1090,SC1091
-    source "$ROS_WORKSPACE_CURRENT_PREFIX/local_setup.bash"
+    source "$SETUP_SCRIPT"
 }
 
 # Save off parameters, the sourced setup scripts may manipulate them.
 original_args=("$@")
 
+if [ -d "$SNAP/opt/ros/underlay_ws/opt/ros/$ROS_DISTRO" ]; then
+  source_with_prefix "$SNAP/opt/ros/underlay_ws/opt/ros/$ROS_DISTRO"
+fi
+if [ -d "$SNAP/opt/ros/underlay_ws/opt/ros/snap" ]; then
+  source_with_prefix "$SNAP/opt/ros/underlay_ws/opt/ros/snap"
+fi
+if [ -d "$SNAP/opt/ros/underlay_ws/opt/ros/$ROS_DISTRO" ] || [ -d "$SNAP/opt/ros/underlay_ws/opt/ros/snap" ]; then
+
+  case "$SNAP_ARCH" in
+    "amd64") ARCH_TRIPLET='x86_64-linux-gnu'
+    ;;
+    "arm64") ARCH_TRIPLET="aarch64-linux-gnu"
+    ;;
+    "armhf") ARCH_TRIPLET="arm-linux-gnueabihf"
+    ;;
+    *)
+      echo "Unsupported architecture '$SNAP_ARCH' for this app build."
+      exit 1
+    ;;
+  esac
+
+  export PATH="$SNAP/opt/ros/underlay_ws/usr/bin:$PATH"
+  export LD_LIBRARY_PATH="$SNAP/opt/ros/underlay_ws/usr/lib:$SNAP/opt/ros/underlay_ws/usr/lib/$ARCH_TRIPLET:$LD_LIBRARY_PATH"
+fi
+
 source_with_prefix "$SNAP/opt/ros/$ROS_DISTRO"
-source_with_prefix "$SNAP/opt/ros/snap"
+
+if [ -f "$SNAP/opt/ros/snap/local_setup.bash" ]; then
+  source_with_prefix "$SNAP/opt/ros/snap"
+fi
 
 exec "${original_args[@]}"

schema/snapcraft.json

@@ -915,7 +915,15 @@
                                     "gnome-3-38",
                                     "kde-neon",
                                     "ros1-noetic",
-                                    "ros2-foxy"
+                                    "ros1-noetic-desktop",
+                                    "ros1-noetic-perception",
+                                    "ros1-noetic-robot",
+                                    "ros1-noetic-ros-base",
+                                    "ros1-noetic-ros-core",
+                                    "ros2-foxy",
+                                    "ros2-foxy-ros-base",
+                                    "ros2-foxy-ros-core",
+                                    "ros2-foxy-desktop"
                                 ]
                             }
                         }

snapcraft/extensions/_ros2_humble_meta.py

@@ -0,0 +1,119 @@
+# -*- Mode:Python; indent-tabs-mode:nil; tab-width:4 -*-
+#
+# Copyright 2023 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 types and tell flake8 to ignore the "unused" List.
+
+"""Base for ROS 2 Humble extensions to the Colcon plugin using content-sharing."""
+
+import dataclasses
+from abc import abstractmethod
+from typing import Any, Dict, Optional
+
+from overrides import overrides
+
+from .ros2_humble import ROS2HumbleExtension
+
+
+@dataclasses.dataclass
+class ROS2HumbleSnaps:
+    """A structure of ROS 2 Humble related snaps."""
+
+    sdk: str
+    content: str
+    variant: str
+
+
+class ROS2HumbleMetaBase(ROS2HumbleExtension):
+    """Drives ROS 2 build and runtime environment for snap using content-sharing."""
+
+    @property
+    @abstractmethod
+    def ros2_humble_snaps(self) -> ROS2HumbleSnaps:
+        """Return the ROS 2 Humble related snaps to use to construct the environment."""
+        raise NotImplementedError
+
+    @staticmethod
+    @overrides
+    def is_experimental(base: Optional[str]) -> bool:
+        return True
+
+    @overrides
+    def get_root_snippet(self) -> Dict[str, Any]:
+        root_snippet = super().get_root_snippet()
+        root_snippet["plugs"] = {
+            "ros-humble": {
+                "interface": "content",
+                "content": "ros-humble",
+                "target": "$SNAP/opt/ros/underlay_ws",
+                "default-provider": self.ros2_humble_snaps.content,
+            }
+        }
+        return root_snippet
+
+    @overrides
+    def get_app_snippet(self) -> Dict[str, Any]:
+        app_snippet = super().get_app_snippet()
+        python_paths = app_snippet["environment"]["PYTHONPATH"]
+        new_python_paths = [
+            f"$SNAP/opt/ros/underlay_ws/opt/ros/{self.ROS_DISTRO}/lib/python3.10/site-packages",
+            "$SNAP/opt/ros/underlay_ws/usr/lib/python3/dist-packages",
+        ]
+
+        app_snippet["environment"][
+            "PYTHONPATH"
+        ] = f'{python_paths}:{":".join(new_python_paths)}'
+
+        return app_snippet
+
+    @overrides
+    def get_part_snippet(self, *, plugin_name: str) -> Dict[str, Any]:
+        part_snippet = super().get_part_snippet(plugin_name=plugin_name)
+
+        # These are colcon-plugin specific entries
+        if plugin_name == "colcon":
+            part_snippet["colcon-ros-build-snaps"] = [self.ros2_humble_snaps.sdk]
+            part_snippet["colcon-cmake-args"] = [
+                f'-DCMAKE_SYSTEM_PREFIX_PATH="/snap/{self.ros2_humble_snaps.sdk}/current/usr"'
+            ]
+
+        return part_snippet
+
+    @overrides
+    def get_parts_snippet(self) -> Dict[str, Any]:
+        parts_snippet = super().get_parts_snippet()
+        # Very unlikely but it may happen that the snapped application doesn't
+        # even pull those deps. In that case, there is no valid ROS 2 ws to source.
+        # We make sure here that they are staged no matter what.
+        parts_snippet[f"ros2-{self.ROS_DISTRO}/ros2-launch"]["stage-packages"] = [
+            f"ros-{self.ROS_DISTRO}-ros-environment",
+            f"ros-{self.ROS_DISTRO}-ros-workspace",
+            f"ros-{self.ROS_DISTRO}-ament-index-cpp",
+            f"ros-{self.ROS_DISTRO}-ament-index-python",
+        ]
+
+        # Something in the ROS 2 build chain requires to find this lib during cmake call,
+        # however its cmake files ship with the '-dev' package.
+        parts_snippet[f"ros2-{self.ROS_DISTRO}/ros2-launch"]["build-packages"].append(
+            "libpython3.10-dev"
+        )
+
+        # The part name must follow the format <extension-name>/<part-name>
+        parts_snippet[
+            f"ros2-{self.ROS_DISTRO}-{self.ros2_humble_snaps.variant}/ros2-launch"
+        ] = parts_snippet[f"ros2-{self.ROS_DISTRO}/ros2-launch"]
+        parts_snippet.pop(f"ros2-{self.ROS_DISTRO}/ros2-launch")
+
+        return parts_snippet

snapcraft/extensions/registry.py

@@ -23,6 +23,9 @@
 from .gnome import GNOME
 from .kde_neon import KDENeon
 from .ros2_humble import ROS2HumbleExtension
+from .ros2_humble_desktop import ROS2HumbleDesktopExtension
+from .ros2_humble_ros_base import ROS2HumbleRosBaseExtension
+from .ros2_humble_ros_core import ROS2HumbleRosCoreExtension
 
 if TYPE_CHECKING:
     from .extension import Extension
@@ -32,6 +35,9 @@
 _EXTENSIONS: Dict[str, "ExtensionType"] = {
     "gnome": GNOME,
     "ros2-humble": ROS2HumbleExtension,
+    "ros2-humble-ros-core": ROS2HumbleRosCoreExtension,
+    "ros2-humble-ros-base": ROS2HumbleRosBaseExtension,
+    "ros2-humble-desktop": ROS2HumbleDesktopExtension,
     "kde-neon": KDENeon,
 }
 

snapcraft/extensions/ros2_humble_desktop.py

@@ -0,0 +1,38 @@
+# -*- Mode:Python; indent-tabs-mode:nil; tab-width:4 -*-
+#
+# Copyright 2023 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 types and tell flake8 to ignore the "unused" List.
+
+"""Extension to the Colcon plugin for ROS 2 Humble using content sharing."""
+
+import functools
+
+from overrides import overrides
+
+from ._ros2_humble_meta import ROS2HumbleMetaBase, ROS2HumbleSnaps
+
+
+class ROS2HumbleDesktopExtension(ROS2HumbleMetaBase):
+    """Drives ROS 2 build and runtime environment for snap using content-sharing."""
+
+    @functools.cached_property
+    @overrides
+    def ros2_humble_snaps(self) -> ROS2HumbleSnaps:
+        return ROS2HumbleSnaps(
+            sdk="ros-humble-desktop-dev",
+            content="ros-humble-desktop",
+            variant="desktop",
+        )

snapcraft/extensions/ros2_humble_ros_base.py

@@ -0,0 +1,38 @@
+# -*- Mode:Python; indent-tabs-mode:nil; tab-width:4 -*-
+#
+# Copyright 2023 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 types and tell flake8 to ignore the "unused" List.
+
+"""Extension to the Colcon plugin for ROS 2 Humble using content sharing."""
+
+import functools
+
+from overrides import overrides
+
+from ._ros2_humble_meta import ROS2HumbleMetaBase, ROS2HumbleSnaps
+
+
+class ROS2HumbleRosBaseExtension(ROS2HumbleMetaBase):
+    """Drives ROS 2 build and runtime environment for snap using content-sharing."""
+
+    @functools.cached_property
+    @overrides
+    def ros2_humble_snaps(self) -> ROS2HumbleSnaps:
+        return ROS2HumbleSnaps(
+            sdk="ros-humble-ros-base-dev",
+            content="ros-humble-ros-base",
+            variant="ros-base",
+        )

snapcraft/extensions/ros2_humble_ros_core.py

@@ -0,0 +1,38 @@
+# -*- Mode:Python; indent-tabs-mode:nil; tab-width:4 -*-
+#
+# Copyright 2023 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 types and tell flake8 to ignore the "unused" List.
+
+"""Extension to the Colcon plugin for ROS 2 Humble using content sharing."""
+
+import functools
+
+from overrides import overrides
+
+from ._ros2_humble_meta import ROS2HumbleMetaBase, ROS2HumbleSnaps
+
+
+class ROS2HumbleRosCoreExtension(ROS2HumbleMetaBase):
+    """Drives ROS 2 build and runtime environment for snap using content-sharing."""
+
+    @functools.cached_property
+    @overrides
+    def ros2_humble_snaps(self) -> ROS2HumbleSnaps:
+        return ROS2HumbleSnaps(
+            sdk="ros-humble-ros-core-dev",
+            content="ros-humble-ros-core",
+            variant="ros-core",
+        )