Merge pull request #849 from MirkoFerrati/mirko/core22_snap

update to core22, remove ros1, enable humble instead of foxy
facontidavide · Sep 20, 2023 · 23c2d8c · 23c2d8c
2 parents 670d10c + 83cbe14
commit 23c2d8c
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diff --git a/.github/workflows/ros2.yaml b/.github/workflows/ros2.yaml
@@ -9,6 +9,7 @@ jobs:
         env:
           - {ROS_DISTRO: foxy, ROS_REPO: main}
           - {ROS_DISTRO: galactic, ROS_REPO: main}
+          - {ROS_DISTRO: humble, ROS_REPO: main}
           - {ROS_DISTRO: rolling, ROS_REPO: main}
     runs-on: ubuntu-latest
     steps:

diff --git a/.github/workflows/snap.yaml b/.github/workflows/snap.yaml
@@ -47,3 +47,41 @@ jobs:
       with:
         snap: ${{needs.build.outputs.snap-file}}
         release: ${{ startsWith(github.ref, 'refs/tags/') && 'candidate' || 'edge'}}
+
+  build22:
+    runs-on: ubuntu-latest
+    outputs:
+      snap-file: ${{ steps.build-snap22.outputs.snap }}
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        # full history for latest tag name
+        fetch-depth: 0
+    - run: rm -r snap && mv snap_core22 snap
+    - uses: snapcore/action-build@v1
+      id: build-snap22
+
+    # Make sure the snap is installable
+    - run: |
+        sudo snap install --dangerous ${{ steps.build-snap22.outputs.snap }}
+
+    - uses: actions/upload-artifact@v3
+      with:
+        name: plotjuggler-snap22
+        path: ${{ steps.build-snap22.outputs.snap }}
+
+  publish22:
+    if: github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/')
+    runs-on: ubuntu-latest
+    needs: build22
+    steps:
+    - uses: actions/download-artifact@v3
+      with:
+        name: plotjuggler-snap22
+        path: .
+    - uses: snapcore/action-publish@v1
+      env:
+        SNAPCRAFT_STORE_CREDENTIALS: ${{ secrets.STORE_LOGIN }}
+      with:
+        snap: ${{needs.build.outputs.snap-file}}
+        release: humble/${{ startsWith(github.ref, 'refs/tags/') && 'candidate' || 'edge'}}
diff --git a/snap/snapcraft.yaml b/snap/snapcraft.yaml
@@ -232,7 +232,6 @@ parts:
       - ros-foxy-object-recognition-msgs
       - ros-foxy-octomap-msgs
       - ros-foxy-ouster-msgs
-      - ros-foxy-pacmod-msgs
       - ros-foxy-pcl-msgs
       - ros-foxy-pendulum-msgs
       - ros-foxy-phidgets-msgs

diff --git a/snap_core22/gui/PlotJuggler.desktop b/snap_core22/gui/PlotJuggler.desktop
@@ -0,0 +1,9 @@
+[Desktop Entry]
+Type=Application
+Name=PlotJuggler
+Exec=plotjuggler
+Icon=${SNAP}/meta/gui/plotjuggler.svg
+Comment=Visualize timeseries like a pro
+Terminal=false
+Categories=Development;
+Name[en_US]=PlotJuggler
diff --git a/snap_core22/gui/plotjuggler.svg b/snap_core22/gui/plotjuggler.svg
diff --git a/snap_core22/local/fastdds_no_shared_memory.xml b/snap_core22/local/fastdds_no_shared_memory.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
+        <transport_descriptors>
+            <transport_descriptor>
+                <transport_id>CustomUdpTransport</transport_id>
+                <type>UDPv4</type>
+            </transport_descriptor>
+        </transport_descriptors>
+
+        <participant profile_name="participant_profile" is_default_profile="true">
+            <rtps>
+                <userTransports>
+                    <transport_id>CustomUdpTransport</transport_id>
+                </userTransports>
+
+                <useBuiltinTransports>false</useBuiltinTransports>
+            </rtps>
+        </participant>
+    </profiles>
diff --git a/snap_core22/local/launcher-plotjuggler-ros2 b/snap_core22/local/launcher-plotjuggler-ros2
@@ -0,0 +1,10 @@
+#!/bin/bash
+
+# Paths to ROS 2 plugins
+export PLUGIN_FOLDERS=$SNAP/opt/ros/snap/lib/plotjuggler_ros
+export AMENT_PREFIX_PATH=$SNAP/opt/ros/humble
+# Disable FastDDS shared-memory
+export FASTRTPS_DEFAULT_PROFILES_FILE=${SNAP}/usr/share/fastdds_no_shared_memory.xml
+
+${SNAP}/usr/local/bin/plotjuggler --plugin_folders $PLUGIN_FOLDERS $@
+
diff --git a/snap_core22/local/plotjuggler.rosinstall b/snap_core22/local/plotjuggler.rosinstall
@@ -0,0 +1,2 @@
+- git: {local-name: plotjuggler-ros-plugins, uri: 'https://github.com/PlotJuggler/plotjuggler-ros-plugins.git', version: 1.7.3}
+- git: {local-name: plotjuggler_msgs, uri: 'https://github.com/facontidavide/plotjuggler_msgs.git', version: main}
diff --git a/snap_core22/snapcraft.yaml b/snap_core22/snapcraft.yaml
@@ -0,0 +1,262 @@
+name: plotjuggler
+adopt-info: plotjuggler # parse metadata from the plotjuggler part
+summary: The timeseries visualization tool that you deserve
+description: |
+  QT5 based application to display time series in plots,
+  using an intuitive "drag and drop" interface.
+
+  The snap comes with only ROS 2 plugins.
+  You can launch it with
+
+    $ plotjuggler
+
+  launching PlotJuggler with ROS 2 plugins by default.
+
+issues: https://github.com/facontidavide/plotjuggler/issues
+source-code: https://github.com/facontidavide/plotjuggler
+license: MPL-2.0
+
+confinement: strict
+base: core22
+
+apps:
+  plotjuggler:
+    command: usr/bin/launcher-plotjuggler-ros2
+    plugs: [network, network-bind, home, removable-media]
+    extensions: [kde-neon, ros2-humble]
+
+parts:
+  plotjuggler:
+    plugin: cmake
+    source: .
+    cmake-parameters:
+      - -DCMAKE_BUILD_TYPE=Release
+      - "-DCMAKE_PREFIX_PATH=$(echo $SNAPCRAFT_CMAKE_ARGS | awk -F= '{printf(\"%s/usr/lib/$CRAFT_ARCH_TRIPLET/cmake/Qt5\", $2)}')"
+    build-packages:
+      - distro-info-data
+      - libpulse0
+      - libdw-dev
+      - libbfd-dev
+      - libdwarf-dev
+      - libprotoc-dev
+      - libgl-dev
+      - libmosquitto-dev
+      - libzmq3-dev
+      - libzstd-dev
+    stage-packages:
+      - libdw1
+      - libmosquitto1
+      - libprotobuf23
+      - libprotobuf-dev
+      - libzmq5
+      - libzstd1
+      - libfreetype6
+    override-pull: |
+        craftctl default
+        git config --global --add safe.directory '*'
+        version="$(git describe --always --tags| sed -e 's/^v//;s/-/+git/;y/-/./')"
+        [ -n "$(echo $version | grep "+git")" ] && grade=devel || grade=stable
+        craftctl set version="$version"
+        craftctl set grade="$grade"
+
+        # Necessary to bypass XDG desktop portals because ROS 2 bags metadata.yaml are refering db3 files relatively
+        sed -i '/QApplication app(new_argc, new_argv.data());/a QCoreApplication::setAttribute(Qt::AA_DontUseNativeDialogs);' plotjuggler_app/main.cpp
+
+  plotjuggler-ros2:
+    after: [plotjuggler]
+    plugin: colcon
+    source: .
+    colcon-cmake-args:
+      - -DCMAKE_BUILD_TYPE=Release
+      - -DBUILD_TESTING=OFF
+      - -DBUILD_DOCS=OFF
+      # point to previously build plotjuggler
+      - -Dplotjuggler_DIR:PATH=$CRAFT_STAGE/usr/local/lib/cmake/plotjuggler
+      # Due to https://github.com/ament/ament_cmake/issues/189 implicity OpenSSL link breaks. So we change CMAKE_PREFIX_PATH and not CMAKE_FIND_ROOT_PATH
+      - -DCMAKE_PREFIX_PATH=$(echo $SNAPCRAFT_CMAKE_ARGS | awk -F= '{printf("%s/usr/lib/x86_64-linux-gnu/cmake/Qt5", $2)}')
+      - --event-handlers=console_direct+
+    build-packages:
+      - git
+      - python3-vcstool
+      - ros-humble-ros-core
+      - patchelf
+    stage-packages:
+      # ROS 2 plugin need to source messages to plot them
+      # No custom message is going to be support for now
+      - ros-humble-ackermann-msgs
+      - ros-humble-action-msgs
+      - ros-humble-actionlib-msgs
+      - ros-humble-actuator-msgs
+      - ros-humble-apriltag-msgs
+      - ros-humble-aruco-msgs
+      - ros-humble-aruco-opencv-msgs
+      - ros-humble-automotive-autonomy-msgs
+      - ros-humble-automotive-navigation-msgs
+      - ros-humble-automotive-platform-msgs
+      - ros-humble-autoware-auto-msgs
+      - ros-humble-can-msgs
+      - ros-humble-cartographer-ros-msgs
+      - ros-humble-cascade-lifecycle-msgs
+      - ros-humble-control-msgs
+      - ros-humble-controller-manager-msgs
+      - ros-humble-create-msgs
+      - ros-humble-dataspeed-dbw-msgs
+      - ros-humble-dataspeed-ulc-msgs
+      - ros-humble-dbw-fca-msgs
+      - ros-humble-dbw-ford-msgs
+      - ros-humble-dbw-polaris-msgs
+      - ros-humble-delphi-esr-msgs
+      - ros-humble-delphi-mrr-msgs
+      - ros-humble-delphi-srr-msgs
+      - ros-humble-depthai-ros-msgs
+      - ros-humble-derived-object-msgs
+      - ros-humble-diagnostic-msgs
+      - ros-humble-dwb-msgs
+      - ros-humble-dynamixel-workbench-msgs
+      - ros-humble-foros-msgs
+      - ros-humble-four-wheel-steering-msgs
+      - ros-humble-foxglove-msgs
+      - ros-humble-gazebo-msgs
+      - ros-humble-geographic-msgs
+      - ros-humble-geometry-msgs
+      - ros-humble-gps-msgs
+      - ros-humble-graph-msgs
+      - ros-humble-grasping-msgs
+      - ros-humble-grbl-msgs
+      - ros-humble-grid-map-msgs
+      - ros-humble-ibeo-msgs
+      - ros-humble-irobot-create-msgs
+      - ros-humble-kartech-linear-actuator-msgs
+      - ros-humble-leo-msgs
+      - ros-humble-lgsvl-msgs
+      - ros-humble-lifecycle-msgs
+      - ros-humble-map-msgs
+      - ros-humble-marker-msgs
+      - ros-humble-marti-can-msgs
+      - ros-humble-marti-common-msgs
+      - ros-humble-marti-dbw-msgs
+      - ros-humble-marti-introspection-msgs
+      - ros-humble-marti-nav-msgs
+      - ros-humble-marti-perception-msgs
+      - ros-humble-marti-sensor-msgs
+      - ros-humble-marti-status-msgs
+      - ros-humble-marti-visualization-msgs
+      - ros-humble-marvelmind-ros2-msgs
+      - ros-humble-mavros-msgs
+      - ros-humble-micro-ros-diagnostic-msgs
+      - ros-humble-micro-ros-msgs
+      - ros-humble-microstrain-inertial-msgs
+      - ros-humble-mobileye-560-660-msgs
+      - ros-humble-moveit-msgs
+      - ros-humble-mrpt-msgs
+      - ros-humble-nao-command-msgs
+      - ros-humble-nao-sensor-msgs
+      - ros-humble-nav-2d-msgs
+      - ros-humble-nav-msgs
+      - ros-humble-nav2-msgs
+      - ros-humble-neobotix-usboard-msgs
+      - ros-humble-nmea-msgs
+      - ros-humble-novatel-gps-msgs
+      - ros-humble-novatel-oem7-msgs
+      - ros-humble-object-recognition-msgs
+      - ros-humble-octomap-msgs
+      - ros-humble-ouster-msgs
+      - ros-humble-pal-statistics-msgs
+      - ros-humble-pcl-msgs
+      - ros-humble-pendulum-msgs
+      - ros-humble-phidgets-msgs
+      - ros-humble-plansys2-msgs
+      - ros-humble-play-motion2-msgs
+      - ros-humble-polygon-msgs
+      - ros-humble-radar-msgs
+      - ros-humble-raspimouse-msgs
+      - ros-humble-rc-common-msgs
+      - ros-humble-rc-reason-msgs
+      - ros-humble-rclpy-message-converter-msgs
+      - ros-humble-rcss3d-agent-msgs
+      - ros-humble-realsense2-camera-msgs
+      - ros-humble-rmf-api-msgs
+      - ros-humble-rmf-building-map-msgs
+      - ros-humble-rmf-charger-msgs
+      - ros-humble-rmf-dispenser-msgs
+      - ros-humble-rmf-door-msgs
+      - ros-humble-rmf-fleet-msgs
+      - ros-humble-rmf-ingestor-msgs
+      - ros-humble-rmf-lift-msgs
+      - ros-humble-rmf-obstacle-msgs
+      - ros-humble-rmf-scheduler-msgs
+      - ros-humble-rmf-site-map-msgs
+      - ros-humble-rmf-task-msgs
+      - ros-humble-rmf-traffic-msgs
+      - ros-humble-rmf-visualization-msgs
+      - ros-humble-rmf-workcell-msgs
+      - ros-humble-robot-calibration-msgs
+      - ros-humble-robot-controllers-msgs
+      - ros-humble-rosapi-msgs
+      - ros-humble-rosbridge-msgs
+      - ros-humble-rosbridge-test-msgs
+      - ros-humble-rosgraph-msgs
+      - ros-humble-rtabmap-msgs
+      - ros-humble-rtcm-msgs
+      - ros-humble-rviz-2d-overlay-msgs
+      - ros-humble-sensor-msgs
+      - ros-humble-sensor-msgs-py
+      - ros-humble-shape-msgs
+      - ros-humble-soccer-object-msgs
+      - ros-humble-soccer-vision-2d-msgs
+      - ros-humble-soccer-vision-3d-msgs
+      - ros-humble-soccer-vision-attribute-msgs
+      - ros-humble-statistics-msgs
+      - ros-humble-std-msgs
+      - ros-humble-stereo-msgs
+      - ros-humble-stubborn-buddies-msgs
+      - ros-humble-system-modes-msgs
+      - ros-humble-teleop-tools-msgs
+      - ros-humble-test-msgs
+      - ros-humble-tf2-geometry-msgs
+      - ros-humble-tf2-msgs
+      - ros-humble-tf2-sensor-msgs
+      - ros-humble-trajectory-msgs
+      - ros-humble-turtlebot3-msgs
+      - ros-humble-turtlebot4-msgs
+      - ros-humble-tuw-geometry-msgs
+      - ros-humble-ublox-msgs
+      - ros-humble-ublox-ubx-msgs
+      - ros-humble-udp-msgs
+      - ros-humble-unique-identifier-msgs
+      - ros-humble-ur-dashboard-msgs
+      - ros-humble-ur-msgs
+      - ros-humble-urg-node-msgs
+      - ros-humble-velodyne-msgs
+      - ros-humble-vision-msgs
+      - ros-humble-visualization-msgs
+      - ros-humble-webots-ros2-msgs
+      - ros-humble-wiimote-msgs
+      - ros-humble-wireless-msgs
+
+      # Additional DDS vendors
+      - ros-humble-rmw-cyclonedds-cpp
+      - ros-humble-rmw-fastrtps-cpp
+      - ros-humble-rmw-gurumdds-cpp
+      - ros-humble-rmw-connextdds
+    override-pull: |
+      if [ ! -d plotjuggler-ros-plugins ]; then
+
+        vcs import < /root/parts/plotjuggler/src/snap/local/plotjuggler.rosinstall
+
+        # prevent rosdep from installing plotjuggler
+        sed -i "s|<depend>plotjuggler</depend>||" plotjuggler-ros-plugins/package.xml
+
+        # add plotjuggler_LIBRARIES link
+        sed -i '/\${Qt5Xml_LIBRARIES}/a ${plotjuggler_LIBRARIES}' plotjuggler-ros-plugins/plugins/CMakeLists.txt
+
+        # Qt dependencies are managed by the kde neon-extension
+        sed -i '/qt/d' plotjuggler-ros-plugins/package.xml
+      fi
+
+  fastdds-no-shared-memory:
+    plugin: dump
+    source: snap/local/
+    organize:
+      'fastdds_no_shared_memory.xml': usr/share/
+      'launcher-plotjuggler*': usr/bin/