From 47d588dd9962d5624e505a021d94b92bd2fcbfff Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Tue, 28 Dec 2021 11:02:26 -0800 Subject: [PATCH] =?UTF-8?q?=F0=9F=8F=81=20Dome=20EOL?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Louise Poubel --- .github/workflows/build-and-test.sh | 10 +++------- .github/workflows/melodic-ci.yml | 3 --- README.md | 18 ++--------------- ros_ign_bridge/CMakeLists.txt | 26 ++++-------------------- ros_ign_bridge/package.xml | 11 ++++------ ros_ign_bridge/src/convert.cpp | 14 ++++++------- ros_ign_gazebo/CMakeLists.txt | 31 ++++++----------------------- ros_ign_gazebo/package.xml | 7 +++---- ros_ign_gazebo_demos/package.xml | 7 +++---- ros_ign_image/CMakeLists.txt | 29 ++++++++------------------- ros_ign_image/package.xml | 11 ++++------ ros_ign_point_cloud/package.xml | 15 +++++--------- 12 files changed, 49 insertions(+), 133 deletions(-) diff --git a/.github/workflows/build-and-test.sh b/.github/workflows/build-and-test.sh index 3686bce5..38c88709 100755 --- a/.github/workflows/build-and-test.sh +++ b/.github/workflows/build-and-test.sh @@ -9,14 +9,10 @@ export DEBIAN_FRONTEND=noninteractive apt update -qq apt install -qq -y lsb-release wget curl build-essential -if [ "$IGNITION_VERSION" == "blueprint" ]; then - IGN_DEPS="libignition-gazebo2-dev" -elif [ "$IGNITION_VERSION" == "citadel" ]; then - IGN_DEPS="libignition-gazebo3-dev" -elif [ "$IGNITION_VERSION" == "dome" ]; then - IGN_DEPS="libignition-gazebo4-dev" +if [ "$IGNITION_VERSION" == "citadel" ]; then + IGN_DEPS="ignition-citadel" elif [ "$IGNITION_VERSION" == "fortress" ]; then - IGN_DEPS="libignition-gazebo6-dev" + IGN_DEPS="ignition-fortress" else exit 1 fi diff --git a/.github/workflows/melodic-ci.yml b/.github/workflows/melodic-ci.yml index b6800305..7cde5fbe 100644 --- a/.github/workflows/melodic-ci.yml +++ b/.github/workflows/melodic-ci.yml @@ -12,9 +12,6 @@ jobs: - docker-image: "ubuntu:18.04" ignition-version: "citadel" ros-distro: "melodic" - - docker-image: "ubuntu:18.04" - ignition-version: "dome" - ros-distro: "melodic" - docker-image: "ubuntu:18.04" ignition-version: "fortress" ros-distro: "melodic" diff --git a/README.md b/README.md index 402f28f7..5294afe6 100644 --- a/README.md +++ b/README.md @@ -3,14 +3,11 @@ ROS version | Ignition version | Branch | Binaries hosted at -- | -- | -- | -- Melodic | Citadel | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | only from source -Melodic | Dome | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | https://packages.osrfoundation.org Melodic | Fortress | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | only from source Noetic | Citadel | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | https://packages.ros.org -Noetic | Dome | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source Noetic | Edifice | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source Noetic | Fortress (not released) | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source Foxy | Citadel | [foxy](https://github.com/osrf/ros_ign/tree/foxy) | https://packages.ros.org -Foxy | Dome | [foxy](https://github.com/osrf/ros_ign/tree/foxy) | only from source Foxy | Edifice | [foxy](https://github.com/osrf/ros_ign/tree/foxy) | only from source Galactic | Edifice | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | https://packages.ros.org Rolling | Edifice | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | https://packages.ros.org @@ -52,18 +49,7 @@ This branch supports ROS Melodic. See above for other ROS versions. ### Binaries -At the moment, Melodic binaries are only available for Dome. -They are hosted at https://packages.osrfoundation.org. - -1. Add https://packages.osrfoundation.org - - sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' - wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - - sudo apt-get update - -1. Install `ros_ign` - - sudo apt install ros-melodic-ros-ign +There are no binaries available for Melodic. ### From source @@ -75,7 +61,7 @@ More ROS dependencies will be installed below. #### Ignition -Install either [Citadel or Dome](https://ignitionrobotics.org/docs). +Install either [Citadel or Fortress](https://ignitionrobotics.org/docs). Set the `IGNITION_VERSION` environment variable to the Ignition version you'd like to compile against. For example: diff --git a/ros_ign_bridge/CMakeLists.txt b/ros_ign_bridge/CMakeLists.txt index e0818f43..71d83028 100644 --- a/ros_ign_bridge/CMakeLists.txt +++ b/ros_ign_bridge/CMakeLists.txt @@ -20,18 +20,8 @@ find_package(catkin REQUIRED COMPONENTS tf2_msgs visualization_msgs) -# Default to Dome, support Citadel and Blueprint -if ("$ENV{IGNITION_VERSION}" STREQUAL "blueprint") - find_package(ignition-transport7 REQUIRED) - set(IGN_TRANSPORT_VER ${ignition-transport7_VERSION_MAJOR}) - - find_package(ignition-msgs4 REQUIRED) - set(IGN_MSGS_VER ${ignition-msgs4_VERSION_MAJOR}) - - message(STATUS "Compiling against Ignition Blueprint") - - add_definitions(-DIGNITION_BLUEPRINT) -elseif("$ENV{IGNITION_VERSION}" STREQUAL "citadel") +# Citadel +if("$ENV{IGNITION_VERSION}" STREQUAL "citadel") find_package(ignition-transport8 REQUIRED) set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR}) @@ -40,7 +30,8 @@ elseif("$ENV{IGNITION_VERSION}" STREQUAL "citadel") message(STATUS "Compiling against Ignition Citadel") add_definitions(-DIGNITION_CITADEL) -elseif("$ENV{IGNITION_VERSION}" STREQUAL "fortress") +# Fortress (default) +else() find_package(ignition-transport11 REQUIRED) set(IGN_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR}) @@ -49,15 +40,6 @@ elseif("$ENV{IGNITION_VERSION}" STREQUAL "fortress") message(STATUS "Compiling against Ignition Fortress") add_definitions(-DIGNITION_FORTRESS) -else() - find_package(ignition-transport9 REQUIRED) - set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR}) - - find_package(ignition-msgs6 REQUIRED) - set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR}) - - message(STATUS "Compiling against Ignition Dome") - add_definitions(-DIGNITION_DOME) endif() catkin_package() diff --git a/ros_ign_bridge/package.xml b/ros_ign_bridge/package.xml index 76bd4917..716a0e78 100644 --- a/ros_ign_bridge/package.xml +++ b/ros_ign_bridge/package.xml @@ -19,17 +19,14 @@ tf2_msgs visualization_msgs - - ignition-msgs4 - ignition-transport7 + ignition-msgs5 ignition-transport8 - ignition-msgs6 - ignition-transport9 + ignition-msgs8 ignition-transport11 - ignition-msgs6 - ignition-transport9 + ignition-msgs8 + ignition-transport11 message_generation message_runtime diff --git a/ros_ign_bridge/src/convert.cpp b/ros_ign_bridge/src/convert.cpp index 9deb7a36..6dcc6ed8 100644 --- a/ros_ign_bridge/src/convert.cpp +++ b/ros_ign_bridge/src/convert.cpp @@ -554,7 +554,7 @@ convert_ros_to_ign( ign_msg.mutable_info()->set_height( ros_msg.info.height); - convert_ros_to_ign(ros_msg.info.origin, + convert_ros_to_ign(ros_msg.info.origin, (*ign_msg.mutable_info()->mutable_origin())); ign_msg.set_data(&ros_msg.data[0], ros_msg.data.size()); @@ -1012,17 +1012,17 @@ convert_ros_to_ign( { auto newJoint = ign_msg.add_joint(); newJoint->set_name(ros_msg.name[i]); - + if (ros_msg.position.size() > i) newJoint->mutable_axis1()->set_position(ros_msg.position[i]); else newJoint->mutable_axis1()->set_position(nan); - + if (ros_msg.velocity.size() > i) newJoint->mutable_axis1()->set_velocity(ros_msg.velocity[i]); else newJoint->mutable_axis1()->set_velocity(nan); - + if (ros_msg.effort.size() > i) newJoint->mutable_axis1()->set_force(ros_msg.effort[i]); else @@ -1353,7 +1353,7 @@ convert_ros_to_ign( { convert_ros_to_ign(ros_msg.header, (*ign_msg.mutable_header())); - // Note, in ROS's Marker message ADD and MODIFY both map to a value of "0", + // Note, in ROS's Marker message ADD and MODIFY both map to a value of "0", // so that case is not needed here. switch(ros_msg.action) { @@ -1379,7 +1379,7 @@ convert_ros_to_ign( // Type switch(ros_msg.type) { -#ifdef IGNITION_DOME +#ifndef IGNITION_CITADEL case visualization_msgs::Marker::ARROW: ign_msg.set_type(ignition::msgs::Marker::ARROW); break; @@ -1485,7 +1485,7 @@ convert_ign_to_ros( switch(ign_msg.type()) { -#ifdef IGNITION_DOME +#ifndef IGNITION_CITADEL case ignition::msgs::Marker::ARROW: ros_msg.type = visualization_msgs::Marker::TRIANGLE_LIST; break; diff --git a/ros_ign_gazebo/CMakeLists.txt b/ros_ign_gazebo/CMakeLists.txt index ab440ab2..3a164b6f 100644 --- a/ros_ign_gazebo/CMakeLists.txt +++ b/ros_ign_gazebo/CMakeLists.txt @@ -8,19 +8,8 @@ find_package(catkin roscpp ) -# Default to Dome, support Citadel and Blueprint -if ("$ENV{IGNITION_VERSION}" STREQUAL "blueprint") - find_package(ignition-gazebo2 REQUIRED) - set(IGN_GAZEBO_VER ${ignition-gazebo2_VERSION_MAJOR}) - - find_package(ignition-transport7 REQUIRED) - set(IGN_TRANSPORT_VER ${ignition-transport7_VERSION_MAJOR}) - - find_package(ignition-msgs4 REQUIRED) - set(IGN_MSGS_VER ${ignition-msgs4_VERSION_MAJOR}) - - message(STATUS "Compiling against Ignition Blueprint") -elseif("$ENV{IGNITION_VERSION}" STREQUAL "citadel") +# Citadel +if("$ENV{IGNITION_VERSION}" STREQUAL "citadel") find_package(ignition-gazebo3 REQUIRED) set(IGN_GAZEBO_VER ${ignition-gazebo3_VERSION_MAJOR}) @@ -31,7 +20,9 @@ elseif("$ENV{IGNITION_VERSION}" STREQUAL "citadel") set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR}) message(STATUS "Compiling against Ignition Citadel") -elseif("$ENV{IGNITION_VERSION}" STREQUAL "fortress") + add_definitions(-DIGNITION_CITADEL) +# Fortress (default) +else() find_package(ignition-gazebo6 REQUIRED) set(IGN_GAZEBO_VER ${ignition-gazebo6_VERSION_MAJOR}) @@ -42,17 +33,7 @@ elseif("$ENV{IGNITION_VERSION}" STREQUAL "fortress") set(IGN_MSGS_VER ${ignition-msgs8_VERSION_MAJOR}) message(STATUS "Compiling against Ignition Fortress") -else() - find_package(ignition-gazebo4 REQUIRED) - set(IGN_GAZEBO_VER ${ignition-gazebo4_VERSION_MAJOR}) - - find_package(ignition-transport9 REQUIRED) - set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR}) - - find_package(ignition-msgs6 REQUIRED) - set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR}) - - message(STATUS "Compiling against Ignition Dome") + add_definitions(-DIGNITION_FORTRESS) endif() ign_find_package(gflags diff --git a/ros_ign_gazebo/package.xml b/ros_ign_gazebo/package.xml index 36f8f53a..2095f1fd 100644 --- a/ros_ign_gazebo/package.xml +++ b/ros_ign_gazebo/package.xml @@ -9,12 +9,11 @@ libgflags-dev - - ignition-gazebo2 + ignition-gazebo3 - ignition-gazebo4 + ignition-gazebo6 - ignition-gazebo4 + ignition-gazebo6 roscpp diff --git a/ros_ign_gazebo_demos/package.xml b/ros_ign_gazebo_demos/package.xml index f9bc47d4..68df6b22 100644 --- a/ros_ign_gazebo_demos/package.xml +++ b/ros_ign_gazebo_demos/package.xml @@ -7,12 +7,11 @@ catkin - - ignition-gazebo2 + ignition-gazebo3 - ignition-gazebo4 + ignition-gazebo6 - ignition-gazebo4 + ignition-gazebo6 image_transport_plugins ros_ign_bridge diff --git a/ros_ign_image/CMakeLists.txt b/ros_ign_image/CMakeLists.txt index 79a94795..75688c36 100644 --- a/ros_ign_image/CMakeLists.txt +++ b/ros_ign_image/CMakeLists.txt @@ -16,39 +16,26 @@ find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs) -# Default to Dome, support Citadel and Blueprint -if ("$ENV{IGNITION_VERSION}" STREQUAL "blueprint") - find_package(ignition-transport7 REQUIRED) - set(IGN_TRANSPORT_VER ${ignition-transport7_VERSION_MAJOR}) - - find_package(ignition-msgs4 REQUIRED) - set(IGN_MSGS_VER ${ignition-msgs4_VERSION_MAJOR}) - - message(STATUS "Compiling against Ignition Blueprint") -elseif("$ENV{IGNITION_VERSION}" STREQUAL "citadel") - find_package(ignition-transport8 QUIET) +# Citadel +if("$ENV{IGNITION_VERSION}" STREQUAL "citadel") + find_package(ignition-transport8 REQUIRED) set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR}) find_package(ignition-msgs5 REQUIRED) set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR}) message(STATUS "Compiling against Ignition Citadel") -elseif("$ENV{IGNITION_VERSION}" STREQUAL "fortress") - find_package(ignition-transport11 QUIET) + add_definitions(-DIGNITION_CITADEL) +# Fortress (default) +else() + find_package(ignition-transport11 REQUIRED) set(IGN_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR}) find_package(ignition-msgs8 REQUIRED) set(IGN_MSGS_VER ${ignition-msgs8_VERSION_MAJOR}) message(STATUS "Compiling against Ignition Fortress") -else() - find_package(ignition-transport9 QUIET) - set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR}) - - find_package(ignition-msgs6 REQUIRED) - set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR}) - - message(STATUS "Compiling against Ignition Dome") + add_definitions(-DIGNITION_FORTRESS) endif() catkin_package() diff --git a/ros_ign_image/package.xml b/ros_ign_image/package.xml index 5ac05f32..c4c91f94 100644 --- a/ros_ign_image/package.xml +++ b/ros_ign_image/package.xml @@ -7,17 +7,14 @@ catkin - - ignition-msgs4 - ignition-transport7 + ignition-msgs5 ignition-transport8 - ignition-msgs6 - ignition-transport9 + ignition-msgs8 ignition-transport11 - ignition-msgs6 - ignition-transport9 + ignition-msgs8 + ignition-transport11 image_transport ros_ign_bridge diff --git a/ros_ign_point_cloud/package.xml b/ros_ign_point_cloud/package.xml index 3875ff4b..34cc3f77 100644 --- a/ros_ign_point_cloud/package.xml +++ b/ros_ign_point_cloud/package.xml @@ -7,22 +7,17 @@ catkin - - ignition-gazebo2 - ignition-rendering2 - ignition-sensors2 + ignition-gazebo3 ignition-rendering3 ignition-sensors3 - ignition-gazebo4 - ignition-rendering4 - ignition-sensors4 + ignition-gazebo6 ignition-rendering6 ignition-sensors6 - ignition-gazebo4 - ignition-rendering4 - ignition-sensors4 + ignition-gazebo6 + ignition-rendering6 + ignition-sensors6 roscpp sensor_msgs