ros-naoqi · victorpaleologue · Nov 15, 2023 · Nov 10, 2023 · Nov 10, 2023 · Nov 10, 2023
diff --git a/.github/workflows/foxy_focal.yml b/.github/workflows/foxy_focal.yml
@@ -0,0 +1,15 @@
+name: ros2-foxy-focal
+
+on:
+  push
+
+jobs:
+  ros2_foxy_focal_ci:
+    name: foxy (focal)
+    uses: ./.github/workflows/ros2.yml
+    with:
+      ROS_DISTRO: foxy
+      ROS_REPO: testing
+      OS_NAME: ubuntu
+      OS_CODE_NAME: focal
+      ALLOW_FAIL: false
diff --git a/.github/workflows/galactic_focal.yml b/.github/workflows/galactic_focal.yml
@@ -0,0 +1,15 @@
+name: ros2-galactic-focal
+
+on:
+  push
+
+jobs:
+  ros2_galactic_focal_ci:
+    name: galactic (focal)
+    uses: ./.github/workflows/ros2.yml
+    with:
+      ROS_DISTRO: galactic
+      ROS_REPO: testing
+      OS_NAME: ubuntu
+      OS_CODE_NAME: focal
+      ALLOW_FAIL: false
diff --git a/.github/workflows/humble_jammy.yml b/.github/workflows/humble_jammy.yml
@@ -0,0 +1,15 @@
+name: ros2-humble-jammy
+
+on:
+  push
+
+jobs:
+  ros2_humble_jammy_ci:
+    name: humble (jammy)
+    uses: ./.github/workflows/ros2.yml
+    with:
+      ROS_DISTRO: humble
+      ROS_REPO: testing
+      OS_NAME: ubuntu
+      OS_CODE_NAME: jammy
+      ALLOW_FAIL: false
diff --git a/.github/workflows/iron_jammy.yml b/.github/workflows/iron_jammy.yml
@@ -0,0 +1,15 @@
+name: ros2-iron-jammy
+
+on:
+  push
+
+jobs:
+  ros2_iron_jammy_ci:
+    name: iron (jammy)
+    uses: ./.github/workflows/ros2.yml
+    with:
+      ROS_DISTRO: iron
+      ROS_REPO: testing
+      OS_NAME: ubuntu
+      OS_CODE_NAME: jammy
+      ALLOW_FAIL: false
diff --git a/.github/workflows/ros2.yml b/.github/workflows/ros2.yml
@@ -0,0 +1,41 @@
+name: ros2
+
+on:
+  workflow_call:
+    inputs:
+      ROS_DISTRO:
+        required: true
+        type: string
+      ROS_REPO:
+        required: true
+        type: string
+      OS_NAME:
+        required: true
+        type: string
+      OS_CODE_NAME:
+        required: true
+        type: string
+      ALLOW_FAIL:
+        required: true
+        type: boolean
+
+jobs:
+  ros2_ci:
+    name: ROS2
+    runs-on: ubuntu-latest
+    continue-on-error: ${{ inputs.ALLOW_FAIL }}
+    env:
+      CCACHE_DIR: "${{ github.workspace }}/.ccache"
+    steps:
+      - name: Check out the naoqi_driver2 repo
+        uses: actions/checkout@v2
+      - name: Fetch/store directory used by ccache
+        uses: actions/cache@v2
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ inputs.ROS_DISTRO }}-${{ inputs.ROS_REPO }}-${{github.run_id}}
+          restore-keys: |
+            ccache-${{ inputs.ROS_DISTRO }}-${{ inputs.ROS_REPO }}-
+      - name: Run industrial CI
+        uses: 'ros-industrial/industrial_ci@master'
+        env: ${{ inputs }}
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -2,108 +2,52 @@ cmake_minimum_required(VERSION 3.5)
 project(nao_meshes)
 
 find_package(ament_cmake REQUIRED)
-ament_package()
 
 # When getting a new binay, the MD5 might change, and the folder hierarchy too
 # read comments below to adapt
 
-set(PACKAGE_SHARE_DIR ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME})
-set(TMP_DIR ${PACKAGE_SHARE_DIR}/tmp)
-set(INSTALLER_TMP_PATH ${TMP_DIR}/tmp/installer.run)
+set(TMP_DIR ${CMAKE_CURRENT_BINARY_DIR}/tmp)
+set(INSTALLER_PATH ${TMP_DIR}/installer.run)
 
-# Try to figure out the architecture
-string(FIND ${CMAKE_INSTALL_PREFIX} "i686" IS_32)
-message(STATUS "Architecture is apparently 32 (-1 for no): ${IS_32}")
-if(${IS_32} STREQUAL "-1")
-# Trust CMAKE_SYSTEM_PROCESSOR which does not work on the farm
-if (${CMAKE_HOST_SYSTEM_PROCESSOR} STREQUAL "x86_64")
-set(IS_32 FALSE)
+if(${CMAKE_HOST_SYSTEM_PROCESSOR} MATCHES "$i.86$")
+  message(STATUS "Downloading 32-bit installer")
+  set(INSTALLER_URL "https://github.com/ros-naoqi/nao_meshes_installer/raw/master/naomeshes-0.6.7-linux-installer.run")
+  set(INSTALLER_MD5 1984b2790930044b4ee00496315c0021)
+elseif(${CMAKE_HOST_SYSTEM_PROCESSOR} STREQUAL "x86_64")
+  message(STATUS "Downloading 64-bit installer")
+  set(INSTALLER_URL "https://github.com/ros-naoqi/nao_meshes_installer/raw/master/naomeshes-0.6.7-linux-x64-installer.run")
+  set(INSTALLER_MD5 5f897a3328f217bae6c0ed2a934e524c)
 else()
-set(IS_32 TRUE)
-endif()
+  message(FATAL_ERROR "Mesh installer is not compatible with your host architecture '${CMAKE_HOST_SYSTEM_PROCESSOR}'")
 endif()
 
-if (NOT ${IS_32})
-message(STATUS "Downloading 64 bit installer")
-file(DOWNLOAD
-"https://github.com/ros-naoqi/nao_meshes_installer/raw/master/naomeshes-0.6.7-linux-x64-installer.run"
-  ${INSTALLER_TMP_PATH} SHOW_PROGRESS
-  INACTIVITY_TIMEOUT 60
-  EXPECTED_MD5 5f897a3328f217bae6c0ed2a934e524c
-)
-else()
-message(STATUS "Downloading 32 bit installer")
-file(DOWNLOAD
-"https://github.com/ros-naoqi/nao_meshes_installer/raw/master/naomeshes-0.6.7-linux-installer.run"
-  ${INSTALLER_TMP_PATH} SHOW_PROGRESS
+file(DOWNLOAD ${INSTALLER_URL} ${INSTALLER_PATH}
+  SHOW_PROGRESS
   INACTIVITY_TIMEOUT 60
-  EXPECTED_MD5 1984b2790930044b4ee00496315c0021
+  EXPECTED_MD5 ${INSTALLER_MD5}
 )
-endif()
 
 # specify the interesting folder in the archive. You might want to change
 # that for a new binary where the structure is different
 set(TMP_MESH_PATH ${TMP_DIR}/meshes)
 set(TMP_TEXTURE_PATH ${TMP_DIR}/texture)
 
-# final path in devel/install space
-set(FINAL_MESH_PATH share/${PROJECT_NAME}/)
-
-# make the file executable to install
-file(COPY ${INSTALLER_TMP_PATH}
-     FILE_PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE
-     DESTINATION ${TMP_DIR}
-)
-
-set(INSTALLER_PATH ${TMP_DIR}/installer.run)
+# Where to install the meshes and textures
+# relative to the share folder of the package.
+set(INSTALL_DESTINATION_IN_SHARE ${PROJECT_NAME})
 
-# add a target for devel space
-add_custom_target(${PROJECT_NAME}_meshes
-  COMMAND ${INSTALLER_PATH} --mode text --prefix ${TMP_DIR}
-  COMMAND cp -fr ${TMP_MESH_PATH} ${PACKAGE_SHARE_DIR}
-  COMMAND cp -fr ${TMP_TEXTURE_PATH} ${PACKAGE_SHARE_DIR}
-  COMMAND rm -fr ${TMP_DIR}/rollback*
-)
-
-# uncompress the meshes during install
-install(CODE
-"
-# uncompress the archive
-message(STATUS \"using ${INSTALLER_PATH} to decompress to ${TMP_DIR}\")
-execute_process(COMMAND ${INSTALLER_PATH} --mode unattended --prefix ${TMP_DIR}
-                OUTPUT_VARIABLE OUT
-                ERROR_VARIABLE ERROR
-                RESULT_VARIABLE RESULT
-)
-message(STATUS \"intall out: \${OUT}\")
-message(STATUS \"install error: \${ERROR}\")
-message(STATUS \"install result: \${RESULT}\")
-
-execute_process(COMMAND ls
-                WORKING_DIRECTORY ${TMP_DIR}
-                OUTPUT_VARIABLE OUT_LS
-                ERROR_VARIABLE ERROR_LS
-                RESULT_VARIABLE RESULT_LS
-)
-message(STATUS \"ls out: \${OUT_LS}\")
-message(STATUS \"ls error: \${ERROR_LS}\")
-message(STATUS \"ls result: \${RESULT_LS}\")
-
-execute_process(COMMAND file ${TMP_DIR}/installer.run
-                OUTPUT_VARIABLE OUT_FILE
-                ERROR_VARIABLE ERROR_FILE_CMD
-                RESULT_VARIABLE RESULT_FILE
-)
-message(STATUS \"file out: \${OUT_FILE}\")
-message(STATUS \"file error: \${ERROR_FILE_CMD}\")
-message(STATUS \"file result: \${RESULT_FILE}\")
-"
+# install the meshes in the build directory when building
+message(STATUS "Unpacking meshes from the installer: \n${INSTALLER_PATH} --prefix ${TMP_DIR}")
+add_custom_target(install_meshes ALL
+  COMMAND chmod +x ${INSTALLER_PATH}
+  COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/install_with_auto_mode.sh ${INSTALLER_PATH} --prefix ${TMP_DIR}
+  BYPRODUCTS ${TMP_MESH_PATH} ${TMP_TEXTURE_PATH}
+  TERMINAL
 )
 
 # install the archive
-install(DIRECTORY ${TMP_MESH_PATH}
-        DESTINATION ${FINAL_MESH_PATH}/
-)
-install(DIRECTORY ${TMP_TEXTURE_PATH}
-        DESTINATION ${FINAL_MESH_PATH}/
+install(DIRECTORY ${TMP_MESH_PATH} ${TMP_TEXTURE_PATH}
+        DESTINATION share/${PROJECT_NAME}
 )
+
+ament_package()
diff --git a/install_with_auto_mode.sh b/install_with_auto_mode.sh
@@ -0,0 +1,27 @@
+#!/bin/bash
+set -e
+
+# Installer should show up to the user if it is not an automated job.
+if [ -n "$DEBIAN_FRONTEND" ]; then
+    if [ "$DEBIAN_FRONTEND" = "noninteractive" ]; then
+        INSTALL_MODE_FLAG=("--mode" "unattended")
+    elif [ "$DEBIAN_FRONTEND" = "readline" ]; then
+        INSTALL_MODE_FLAG=("--mode" "text")
+    fi
+fi
+# For GitHub Actions this works better
+if [ -n "$CI" ] && [ "$CI" = 1 ]; then
+    INSTALL_MODE_FLAG=("--mode" "unattended")
+fi
+# For ROS 2 CI, we can check if we're in a Docker container.
+if [ -f /.dockerenv ]; then
+    INSTALL_MODE_FLAG=("--mode" "unattended")
+fi
+
+# Unless they specifically agree to the license.
+if [ -n "$I_AGREE_TO_NAO_MESHES_LICENSE" ] && [ "$I_AGREE_TO_NAO_MESHES_LICENSE" = 1 ]; then
+    INSTALL_MODE_FLAG=("--mode" "unattended")
+fi
+
+# Call the installer, pass our flag and all the remaining arguments
+$1 "${INSTALL_MODE_FLAG[@]}" "${@:2}"
diff --git a/package.xml b/package.xml
@@ -5,6 +5,7 @@
   <description>ROS2 Meshes for the NAO robot</description>
   <author email="mbusy@softbankrobotics.com">Maxime Busy</author>
 
+  <maintainer email="victor.paleologue@palaio.eu">Victor Paleologue</maintainer>
   <maintainer email="mbusy@softbankrobotics.com">Maxime Busy</maintainer>
   <maintainer email="surya.ambrose@gmail.com">Surya Ambrose</maintainer>
   <maintainer email="natalia.lyubova@gmail.com">Natalia Lyubova</maintainer>