Installing ROS 2 and Gazebo side-by-side along with ros_gz (#65)

* Addded check for ros_gz Signed-off-by: Saurabh Kamat <[email protected]> * Changed command to use callback for stdout output Signed-off-by: Saurabh Kamat <[email protected]> * Added exec options for getting ros distros Signed-off-by: Saurabh Kamat <[email protected]> * Added apt install on ros distros Signed-off-by: Saurabh Kamat <[email protected]> * Updated ros_gz install to take multiple ROS 2 distro inputs Signed-off-by: Saurabh Kamat <[email protected]> * Implemented check on ros_gz installtion Signed-off-by: Saurabh Kamat <[email protected]> * Updated tests for ros_gz Signed-off-by: Saurabh Kamat <[email protected]> * Fixed typo in package name Signed-off-by: Saurabh Kamat <[email protected]> * Updated workflow test Signed-off-by: Saurabh Kamat <[email protected]> * Changed test to install iron and rolling Signed-off-by: Saurabh Kamat <[email protected]> * Changed env variable Signed-off-by: Saurabh Kamat <[email protected]> * Testing different env variable Signed-off-by: Saurabh Kamat <[email protected]> * Updated workflow test Signed-off-by: Saurabh Kamat <[email protected]> * Added pkg name generation test Signed-off-by: Saurabh Kamat <[email protected]> * Testing ros_gz installation in workflow Signed-off-by: Saurabh Kamat <[email protected]> * Added additional tests for ros_gz Signed-off-by: Saurabh Kamat <[email protected]> * Updated README with ros_gz installation instructions Signed-off-by: Saurabh Kamat <[email protected]> * Added env variable for ros_gz workflow Signed-off-by: Saurabh Kamat <[email protected]> * Updated README with env var in ros_gz usage Signed-off-by: Saurabh Kamat <[email protected]> * Removed rolling and jazzy from ros distro list Signed-off-by: Saurabh Kamat <[email protected]> * Updated workflow tests Signed-off-by: Saurabh Kamat <[email protected]> * Fixed test command in workflow Signed-off-by: Saurabh Kamat <[email protected]> * Updated README Signed-off-by: Saurabh Kamat <[email protected]> * Changed Ros to ROS in variables names Signed-off-by: Saurabh Kamat <[email protected]> * Updated README Signed-off-by: Saurabh Kamat <[email protected]> * Added additional information about ros_gz install Signed-off-by: Saurabh Kamat <[email protected]> --------- Signed-off-by: Saurabh Kamat <[email protected]>
gazebo-tooling · Sep 23, 2024 · 876256c · 876256c
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diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
@@ -256,3 +256,57 @@ jobs:
         run: |
           conda activate
           gz sim --versions
+
+  test_install_ros_gz_unofficial:
+    name: 'Install Iron and Harmonic side-by-side'
+    env:
+      ROS_DISTROS: 'iron'
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:jammy
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/[email protected]
+        with:
+          node-version: '20.x'
+      - name: 'Install ROS 2 Iron'
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ env.ROS_DISTROS }}
+      - name: 'Install Gazebo Harmonic with ros_gz'
+        uses: ./
+        with:
+          required-gazebo-distributions: 'harmonic'
+          install-ros-gz: ${{ env.ROS_DISTROS }}
+      - name: Test Iron ros_gz installation
+        run: |
+          source /opt/ros/iron/setup.bash
+          ros2 pkg list | grep ros_gz
+          gz sim --version | grep 'version 8.[0-9*].[0-9*]'
+
+  test_install_ros_gz_official:
+    name: 'Install Humble and Fortress side-by-side'
+    env:
+      ROS_DISTROS: 'humble'
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:jammy
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/[email protected]
+        with:
+          node-version: '20.x'
+      - name: 'Install ROS 2 Humble'
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ env.ROS_DISTROS }}
+      - name: 'Install Gazebo with ros_gz'
+        uses: ./
+        with:
+          required-gazebo-distributions: 'fortress'
+          install-ros-gz: ${{ env.ROS_DISTROS }}
+      - name: Test Humble ros_gz installation
+        run: |
+          source /opt/ros/humble/setup.bash
+          ros2 pkg list | grep ros_gz
+          ign gazebo --version | grep 'version 6.*'
diff --git a/README.md b/README.md
@@ -13,6 +13,7 @@ This action sets up a Gazebo environment.
         1. [Setting up worker and installing a compatible Gazebo and Ubuntu combination](#Setting-up-worker-and-installing-a-compatible-Gazebo-and-Ubuntu-combination)
         1. [Iterating on all Gazebo and Ubuntu combinations](#Iterating-on-all-gazebo-ubuntu-combinations)
         1. [Using pre-release and/or nightly Gazebo binaries](#Using-pre-release-and/or-nightly-Gazebo-binaries)
+        1. [Installing ROS 2 and Gazebo side-by-side along with `ros_gz`](#Installing-ROS-2-and-Gazebo-side-by-side-along-with-ros_gz)
     2. [macOS](#macOS)
         1. [Setting up worker to install Gazebo on macOS](#Setting-up-worker-to-install-Gazebo-on-macOS)
     3. [Windows](#Windows)
@@ -25,6 +26,7 @@ The `setup-gazebo` GitHub Action sets up an environment to install a Gazebo rele
 - `required-gazebo-distributions`: A **required** parameter that specifies the Gazebo distribution to be installed.
 - `use-gazebo-prerelease`: An **optional** parameter to install pre-release binaries from OSRF repository.
 - `use-gazebo-nightly`: An **optional** parameter to install nightly binaries from OSRF repository.
+- `install-ros-gz`: An **optional** parameter to install the ROS 2 Gazebo bridge (`ros_gz`). This will require a previous ROS installation which can be done using the [`setup-ros`](https://github.com/ros-tooling/setup-ros) GitHub action. Installation of the `ros_gz` bridge supports the ROS official and ROS non-official (from packages.osrfoundation.org) variants following the [Installing Gazebo with ROS](https://gazebosim.org/docs/ionic/ros_installation/#summary-of-compatible-ros-and-gazebo-combinations) documentation.
 
 ## Supported platforms
 
@@ -45,6 +47,7 @@ The `setup-gazebo` action performs the following tasks:
   - Tapping into the [osrf/homebrew-simulation](https://github.com/osrf/homebrew-simulation) using Homebrew
 - On Windows:
   - Installing Gazebo using Conda from conda-forge
+
 ## Usage
 
 See [action.yml](action.yml)
@@ -239,6 +242,39 @@ This workflow shows how to use binaries from [pre-release] or [nightly] Gazebo r
             run: 'gz sim --versions'
 ```
 
+#### Installing ROS 2 and Gazebo side-by-side along with `ros_gz`
+
+This workflow shows how to install ROS 2 using the GitHub action `ros-tooling/setup-ros` along with Gazebo installed using `setup-gazebo`. The `ros-gz` package can be installed by setting the input parameter `install-ros-gz` to the required ROS 2 distributions.
+
+```yaml
+  jobs:
+    test_gazebo:
+    env:
+      ROS_DISTROS: 'iron'
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:jammy
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/[email protected]
+        with:
+          node-version: '20.x'
+      - name: 'Install ROS 2 Iron'
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ env.ROS_DISTROS }}
+      - name: 'Install Gazebo Harmonic with ros_gz'
+        uses: gazebo-tooling/[email protected]
+        with:
+          required-gazebo-distributions: 'harmonic'
+          install-ros-gz: ${{ env.ROS_DISTROS }}
+      - name: Test Iron ros_gz installation
+        run: |
+          source /opt/ros/iron/setup.bash
+          ros2 pkg list | grep ros_gz
+          gz sim --version | grep 'version 8.[0-9*].[0-9*]'
+```
+
 ### macOS
 
 #### Setting up worker to install Gazebo on macOS

diff --git a/__test__/main.test.ts b/__test__/main.test.ts
@@ -32,6 +32,7 @@ describe("workflow test with a invalid distro input", () => {
 	beforeAll(() => {
 		jest.spyOn(exec, "exec").mockImplementation(jest.fn());
 		jest.spyOn(core, "getInput").mockReturnValue("dome");
+		jest.spyOn(utils, "checkForROSGz").mockReturnValue([]);
 	});
 
 	afterAll(() => {
@@ -55,6 +56,7 @@ describe("workflow test with a valid distro input", () => {
 	beforeAll(() => {
 		jest.spyOn(exec, "exec").mockImplementation(jest.fn());
 		jest.spyOn(core, "getInput").mockReturnValue("harmonic");
+		jest.spyOn(utils, "checkForROSGz").mockReturnValue([]);
 		jest
 			.spyOn(utils, "determineDistribCodename")
 			.mockReturnValue(Promise.resolve("jammy"));
@@ -77,7 +79,7 @@ describe("workflow test with a valid distro input", () => {
 	});
 });
 
-describe("validate distribution test", () => {
+describe("validate Gazebo distribution test", () => {
 	it("test valid distro", async () => {
 		await expect(utils.validateDistro(["citadel"])).resolves.not.toThrow();
 		await expect(utils.validateDistro(["fortress"])).resolves.not.toThrow();
@@ -100,10 +102,29 @@ describe("validate distribution test", () => {
 	});
 });
 
+describe("validate ROS 2 distribution test", () => {
+	it("test valid distro", async () => {
+		await expect(utils.validateROSDistro(["humble"])).toBe(true);
+		await expect(utils.validateROSDistro(["iron"])).toBe(true);
+		await expect(utils.validateROSDistro(["humble", "iron"])).toBe(true);
+	});
+	it("test invalid distro", async () => {
+		await expect(utils.validateROSDistro(["noetic"])).toBe(false);
+		await expect(utils.validateROSDistro(["foxy"])).toBe(false);
+		await expect(utils.validateROSDistro(["galactic"])).toBe(false);
+		await expect(utils.validateROSDistro(["doesNotExist"])).toBe(false);
+		await expect(utils.validateROSDistro(["noetic", "humble"])).toBe(false);
+		await expect(utils.validateROSDistro(["foxy", "galactic", "jazzy"])).toBe(
+			false,
+		);
+	});
+});
+
 describe("workflow test with incompatible Ubuntu combination", () => {
 	beforeAll(() => {
 		jest.spyOn(exec, "exec").mockImplementation(jest.fn());
 		jest.spyOn(core, "getInput").mockReturnValue("harmonic");
+		jest.spyOn(utils, "checkForROSGz").mockReturnValue([]);
 		jest
 			.spyOn(utils, "determineDistribCodename")
 			.mockReturnValue(Promise.resolve("focal"));
@@ -130,6 +151,7 @@ describe("check for unstable repositories input", () => {
 			.spyOn(utils, "checkForUnstableAptRepos")
 			.mockReturnValueOnce(["prerelease", "nightly"]);
 		jest.spyOn(core, "getInput").mockReturnValue("harmonic");
+		jest.spyOn(utils, "checkForROSGz").mockReturnValue([]);
 		jest
 			.spyOn(utils, "determineDistribCodename")
 			.mockReturnValue(Promise.resolve("jammy"));
@@ -151,3 +173,17 @@ describe("check for unstable repositories input", () => {
 		await expect(linux.runLinux()).resolves.not.toThrow();
 	});
 });
+
+describe("generate APT package names for ros_gz", () => {
+	it("test ros_gz output package names list", async () => {
+		await expect(
+			utils.generateROSAptPackageNames(["humble", "iron"], ["harmonic"]),
+		).toEqual(["ros-humble-ros-gzharmonic", "ros-iron-ros-gzharmonic"]);
+		await expect(
+			utils.generateROSAptPackageNames(["humble"], ["fortress"]),
+		).toEqual(["ros-humble-ros-gz"]);
+		await expect(
+			utils.generateROSAptPackageNames(["iron"], ["fortress", "garden"]),
+		).toEqual(["ros-iron-ros-gz", "ros-iron-ros-gzgarden"]);
+	});
+});
diff --git a/action.yml b/action.yml
@@ -29,6 +29,18 @@ inputs:
       Use nightly binaries from OSRF repository
     required: false
     default: 'false'
+  install-ros-gz:
+    description: |
+      Install the ROS 2 Gazebo bridge (ros_gz)
+
+      Allowed ROS 2 distributions
+      - humble
+      - iron
+
+      Multiple values can be passed using a whitespace delimited list
+      "humble iron".
+    required: false
+    default: ''
 runs:
   using: node20
   main: dist/index.js
diff --git a/dist/index.js b/dist/index.js
@@ -26492,6 +26492,11 @@ function runLinux() {
         for (const gazeboDistro of gazeboDistros) {
             yield apt.runAptGetInstall([`gz-${gazeboDistro}`]);
         }
+        const rosGzDistros = utils.checkForROSGz();
+        if (rosGzDistros.length > 0) {
+            const rosAptPackageNames = utils.generateROSAptPackageNames(rosGzDistros, gazeboDistros);
+            yield apt.runAptGetInstall(rosAptPackageNames);
+        }
     });
 }
 
@@ -26789,14 +26794,32 @@ Object.defineProperty(exports, "__esModule", ({ value: true }));
 exports.exec = exec;
 exports.determineDistribCodename = determineDistribCodename;
 exports.validateDistro = validateDistro;
+exports.validateROSDistro = validateROSDistro;
 exports.getRequiredGazeboDistributions = getRequiredGazeboDistributions;
 exports.checkUbuntuCompatibility = checkUbuntuCompatibility;
 exports.checkForUnstableAptRepos = checkForUnstableAptRepos;
+exports.checkForROSGz = checkForROSGz;
+exports.generateROSAptPackageNames = generateROSAptPackageNames;
 const actions_exec = __importStar(__nccwpck_require__(1514));
 const core = __importStar(__nccwpck_require__(2186));
 const yaml_1 = __nccwpck_require__(4083);
 // Collections file that contains all the valid Gazebo distributions along all compatiblity information
 const collections_url = "https://raw.githubusercontent.com/gazebo-tooling/release-tools/master/jenkins-scripts/dsl/gz-collections.yaml";
+// List of valid ROS 2 distributions and compatible Gazebo mapping
+// For more information check the following link
+// https://gazebosim.org/docs/latest/ros_installation/#summary-of-compatible-ros-and-gazebo-combinations
+const validROSGzDistrosList = [
+    {
+        rosDistro: "humble",
+        officialROSGzWrappers: ["fortress"],
+        unofficialROSGzWrappers: ["garden", "harmonic"],
+    },
+    {
+        rosDistro: "iron",
+        officialROSGzWrappers: ["fortress"],
+        unofficialROSGzWrappers: ["garden", "harmonic"],
+    },
+];
 /**
  * Execute a command and wrap the output in a log group.
  *
@@ -26858,6 +26881,23 @@ function validateDistro(requiredGazeboDistributionsList) {
         });
     });
 }
+/**
+ * Validate all ROS distribution names
+ *
+ * @param rosGzDistrosList
+ * @returns boolean Validaity of the ROS distribution
+ */
+function validateROSDistro(rosGzDistrosList) {
+    if (rosGzDistrosList.length > 0) {
+        const validDistro = validROSGzDistrosList.map((obj) => obj.rosDistro);
+        for (const rosDistro of rosGzDistrosList) {
+            if (validDistro.indexOf(rosDistro) <= -1) {
+                return false;
+            }
+        }
+    }
+    return true;
+}
 /**
  * Gets the input of the Gazebo distributions to be installed and
  * validates them
@@ -26937,6 +26977,49 @@ function checkForUnstableAptRepos() {
     }
     return unstableRepos;
 }
+/**
+ * Check for inputs to install ros-gz
+ *
+ * @returns requiredROSDistroList list of valid ROS 2 distributions
+ */
+function checkForROSGz() {
+    let requiredROSDistroList = [];
+    const installROSGz = core.getInput("install-ros-gz");
+    if (installROSGz) {
+        requiredROSDistroList = installROSGz.split(RegExp("\\s"));
+        if (!validateROSDistro(requiredROSDistroList)) {
+            throw new Error("Input has invalid ROS 2 distribution names.");
+        }
+    }
+    return requiredROSDistroList;
+}
+/**
+ * Generate APT package name from ROS 2 and Gazebo distribution names
+ *
+ * @param rosGzDistrosList ROS 2 distro ros_gz packages to be installed
+ * @param requiredGazeboDistributionsList Installed Gazebo distributions
+ * @returns string [] List of APT package names
+ */
+function generateROSAptPackageNames(rosGzDistrosList, requiredGazeboDistributionsList) {
+    const rosAptPackageNames = [];
+    for (const rosDistro of rosGzDistrosList) {
+        const distroInfo = validROSGzDistrosList.find((distro) => distro.rosDistro === rosDistro);
+        for (const gazeboDistro of requiredGazeboDistributionsList) {
+            if (distroInfo.officialROSGzWrappers.indexOf(gazeboDistro) > -1) {
+                rosAptPackageNames.push(`ros-${rosDistro}-ros-gz`);
+            }
+            else if (distroInfo.unofficialROSGzWrappers.indexOf(gazeboDistro) > -1) {
+                rosAptPackageNames.push(`ros-${rosDistro}-ros-gz${gazeboDistro}`);
+            }
+            else {
+                throw new Error("Impossible ROS 2 and Gazebo combination requested. \
+          Please check the list of compatible combinations at \
+          https://gazebosim.org/docs/latest/ros_installation/#summary-of-compatible-ros-and-gazebo-combinations");
+            }
+        }
+    }
+    return rosAptPackageNames;
+}
 
 
 /***/ }),

diff --git a/src/setup-gazebo-linux.ts b/src/setup-gazebo-linux.ts
@@ -1,5 +1,7 @@
 import * as core from "@actions/core";
 import * as io from "@actions/io";
+import * as actions_exec from "@actions/exec";
+import * as im from "@actions/exec/lib/interfaces";
 
 import * as apt from "./package_manager/apt";
 import * as utils from "./utils";
@@ -110,4 +112,13 @@ export async function runLinux(): Promise<void> {
 	for (const gazeboDistro of gazeboDistros) {
 		await apt.runAptGetInstall([`gz-${gazeboDistro}`]);
 	}
+
+	const rosGzDistros = utils.checkForROSGz();
+	if (rosGzDistros.length > 0) {
+		const rosAptPackageNames = utils.generateROSAptPackageNames(
+			rosGzDistros,
+			gazeboDistros,
+		);
+		await apt.runAptGetInstall(rosAptPackageNames);
+	}
 }