From 671f37f0e5ad18a5cb22d79498680b02a2ffcb8a Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Tue, 28 Dec 2021 11:02:26 -0800 Subject: [PATCH 1/2] =?UTF-8?q?[noetic]=20=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 | 20 +------------------- .github/workflows/noetic-ci.yml | 3 --- README.md | 6 ++---- ros_ign_bridge/CMakeLists.txt | 9 --------- ros_ign_bridge/package.xml | 3 --- ros_ign_bridge/src/convert.cpp | 14 +++++++------- ros_ign_gazebo/CMakeLists.txt | 12 ------------ ros_ign_gazebo/package.xml | 2 -- ros_ign_gazebo_demos/package.xml | 2 -- ros_ign_image/CMakeLists.txt | 9 --------- ros_ign_image/package.xml | 3 --- ros_ign_point_cloud/package.xml | 4 ---- 12 files changed, 10 insertions(+), 77 deletions(-) diff --git a/.github/workflows/build-and-test.sh b/.github/workflows/build-and-test.sh index 68735814..74240b67 100755 --- a/.github/workflows/build-and-test.sh +++ b/.github/workflows/build-and-test.sh @@ -10,25 +10,7 @@ export ROS_PYTHON_VERSION=3 apt update -qq apt install -qq -y lsb-release wget curl build-essential -# Citadel gets Ignition with rosdep -if [ "$IGNITION_VERSION" != "citadel" ]; then - echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list - echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-prerelease `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-prerelease.list - echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list - wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add - - - if [ "$IGNITION_VERSION" == "dome" ]; then - IGN_DEPS="libignition-msgs6-dev libignition-transport9-dev libignition-gazebo4-dev" - fi - - if [ "$IGNITION_VERSION" == "edifice" ]; then - IGN_DEPS="libignition-msgs7-dev libignition-transport10-dev libignition-gazebo5-dev" - fi - - if [ "$IGNITION_VERSION" == "fortress" ]; then - IGN_DEPS="libignition-msgs8-dev libignition-transport11-dev libignition-gazebo6-dev" - fi -fi +# Citadel, Edifice and Fortress get Ignition with rosdep for Focal # Dependencies. echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list diff --git a/.github/workflows/noetic-ci.yml b/.github/workflows/noetic-ci.yml index e172fb59..3ca30505 100644 --- a/.github/workflows/noetic-ci.yml +++ b/.github/workflows/noetic-ci.yml @@ -12,9 +12,6 @@ jobs: - docker-image: "ubuntu:20.04" ignition-version: "citadel" ros-distro: "noetic" - - docker-image: "ubuntu:20.04" - ignition-version: "dome" - ros-distro: "noetic" - docker-image: "ubuntu:20.04" ignition-version: "edifice" ros-distro: "noetic" diff --git a/README.md b/README.md index ebc176be..e2225cd2 100644 --- a/README.md +++ b/README.md @@ -3,13 +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 @@ -74,7 +72,7 @@ More ROS dependencies will be installed below. #### Ignition -Install either [Citadel, Dome, Edifice or Fortress](https://ignitionrobotics.org/docs). +Install either [Citadel, Edifice 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 1f4b2eed..ad1a9fad 100644 --- a/ros_ign_bridge/CMakeLists.txt +++ b/ros_ign_bridge/CMakeLists.txt @@ -38,15 +38,6 @@ elseif ("$ENV{IGNITION_VERSION}" STREQUAL "edifice") set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR}) message(STATUS "Compiling against Ignition Edifice") -# Dome -elseif ("$ENV{IGNITION_VERSION}" STREQUAL "dome") - 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") # Default to Citadel else() find_package(ignition-transport8 REQUIRED) diff --git a/ros_ign_bridge/package.xml b/ros_ign_bridge/package.xml index bedeb61a..d675c04f 100644 --- a/ros_ign_bridge/package.xml +++ b/ros_ign_bridge/package.xml @@ -26,9 +26,6 @@ ignition-msgs7 ignition-transport10 - - ignition-msgs6 - ignition-transport9 ignition-msgs5 ignition-transport8 diff --git a/ros_ign_bridge/src/convert.cpp b/ros_ign_bridge/src/convert.cpp index 6e96c091..5299ab41 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 14970554..87a06f8e 100644 --- a/ros_ign_gazebo/CMakeLists.txt +++ b/ros_ign_gazebo/CMakeLists.txt @@ -32,18 +32,6 @@ elseif ("$ENV{IGNITION_VERSION}" STREQUAL "edifice") set(IGN_GAZEBO_VER ${ignition-gazebo5_VERSION_MAJOR}) message(STATUS "Compiling against Ignition Edifice") -# Dome -elseif ("$ENV{IGNITION_VERSION}" STREQUAL "dome") - 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}) - - find_package(ignition-gazebo4 REQUIRED) - set(IGN_GAZEBO_VER ${ignition-gazebo4_VERSION_MAJOR}) - - message(STATUS "Compiling against Ignition Dome") # Default to Citadel else() find_package(ignition-transport8 REQUIRED) diff --git a/ros_ign_gazebo/package.xml b/ros_ign_gazebo/package.xml index bce273af..7f15950c 100644 --- a/ros_ign_gazebo/package.xml +++ b/ros_ign_gazebo/package.xml @@ -13,8 +13,6 @@ ignition-gazebo6 ignition-gazebo5 - - ignition-gazebo4 ignition-gazebo3 ignition-gazebo3 diff --git a/ros_ign_gazebo_demos/package.xml b/ros_ign_gazebo_demos/package.xml index ddc1ba01..7112c627 100644 --- a/ros_ign_gazebo_demos/package.xml +++ b/ros_ign_gazebo_demos/package.xml @@ -11,8 +11,6 @@ ignition-gazebo6 ignition-gazebo5 - - ignition-gazebo4 ignition-gazebo3 ignition-gazebo3 diff --git a/ros_ign_image/CMakeLists.txt b/ros_ign_image/CMakeLists.txt index 67221586..5bbf70f4 100644 --- a/ros_ign_image/CMakeLists.txt +++ b/ros_ign_image/CMakeLists.txt @@ -34,15 +34,6 @@ elseif ("$ENV{IGNITION_VERSION}" STREQUAL "edifice") set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR}) message(STATUS "Compiling against Ignition Edifice") -# Dome -elseif ("$ENV{IGNITION_VERSION}" STREQUAL "dome") - 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") # Default to Citadel else() find_package(ignition-transport8 REQUIRED) diff --git a/ros_ign_image/package.xml b/ros_ign_image/package.xml index 0394cee6..cc73f788 100644 --- a/ros_ign_image/package.xml +++ b/ros_ign_image/package.xml @@ -13,9 +13,6 @@ ignition-msgs7 ignition-transport10 - - ignition-msgs6 - ignition-transport9 ignition-msgs5 ignition-transport8 diff --git a/ros_ign_point_cloud/package.xml b/ros_ign_point_cloud/package.xml index 678af6a0..7c82b1d0 100644 --- a/ros_ign_point_cloud/package.xml +++ b/ros_ign_point_cloud/package.xml @@ -15,10 +15,6 @@ ignition-gazebo5 ignition-rendering5 ignition-sensors5 - - ignition-gazebo4 - ignition-rendering4 - ignition-sensors4 ignition-gazebo3 ignition-rendering3 From 54513ced44e166e700f29177c306e9e0b0516306 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Wed, 29 Dec 2021 13:42:44 -0800 Subject: [PATCH 2/2] Add definition, ported from melodic Signed-off-by: Louise Poubel --- ros_ign_bridge/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/ros_ign_bridge/CMakeLists.txt b/ros_ign_bridge/CMakeLists.txt index ad1a9fad..5e04c45d 100644 --- a/ros_ign_bridge/CMakeLists.txt +++ b/ros_ign_bridge/CMakeLists.txt @@ -47,6 +47,7 @@ else() set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR}) message(STATUS "Compiling against Ignition Citadel") + add_definitions(-DIGNITION_CITADEL) endif() catkin_package()