Support for python3 with ROS1

industrial_ci/src/docker.env

@@ -27,6 +27,7 @@ PYTHONUNBUFFERED
 ROSDEP_SKIP_KEYS
 ROSINSTALL_FILENAME
 ROS_DISTRO
+ROS_FROM_SCRATCH
 ROS_PYTHON_VERSION
 TARGET_CMAKE_ARGS
 TARGET_REPO_NAME

industrial_ci/src/env.sh

@@ -106,8 +106,19 @@ function set_ros_variables {
         ROS_VERSION_EOL=true
         ;;
     "melodic")
+        if [ "$ROS_PYTHON_VERSION" = 3 ]; then
+          BUILDER=${BUILDER:-colcon}
+          export ROS_FROM_SCRATCH=true
+        fi
         ros1_defaults "bionic"
         ;;
+    "noetic")
+        ros1_defaults "buster"
+        OS_NAME=debian
+        DEFAULT_DOCKER_IMAGE=
+        export ROS_FROM_SCRATCH=true
+        ROS_PYTHON_VERSION=3
+        ;;
     "ardent")
         ros2_defaults "xenial"
         DEFAULT_DOCKER_IMAGE=

industrial_ci/src/tests/source_tests.sh

@@ -27,6 +27,13 @@ function install_catkin_lint {
     ici_asroot pip install catkin-lint
 }
 
+function install_catkin_from_source {
+    ici_prepare_sourcespace /tmp/bootstrap_ws/src "github:ros/catkin#HEAD"
+    ici_install_dependencies "" "" /tmp/bootstrap_ws/src
+    ici_exec_in_workspace "" /tmp/bootstrap_ws "python${ROS_PYTHON_VERSION}" ./src/catkin/bin/catkin_make -DCMAKE_INSTALL_PREFIX="/opt/ros/$ROS_DISTRO" install
+    rm -rf /tmp/bootstrap_ws
+}
+
 function run_source_tests {
     # shellcheck disable=SC1090
     source "${ICI_SRC_PATH}/builders/$BUILDER.sh" || ici_error "Builder '$BUILDER' not supported"
@@ -40,13 +47,32 @@ function run_source_tests {
         ici_run "setup_ccache" ici_asroot apt-get install -qq -y ccache
         export PATH="/usr/lib/ccache:$PATH"
     fi
-
-    ici_run "${BUILDER}_setup" ici_quiet builder_setup
-
     ici_run "setup_rosdep" ici_setup_rosdep
 
     extend="/opt/ros/$ROS_DISTRO"
 
+    if [ "$ROS_FROM_SCRATCH" = true ]; then
+        if [ "$ROS_VERSION" = "1" ]; then
+            ici_run "install_catkin_from_source" install_catkin_from_source
+        fi
+        ici_time_start "generate_rosinstall"
+        ici_install_pkgs_for_command rosinstall_generator "${PYTHON_VERSION_NAME}-rosinstall-generator"
+        local alldeps=("$ROSDEP_SKIP_KEYS")
+        local deps=(" ")
+        while [ ${#deps} -gt 0 ]; do
+          mapfile -t deps < <(ROS_DISTRO='' rosdep check -n -i --from-paths "$TARGET_REPO_PATH" "$extend" --skip-keys "${alldeps[*]}" |& grep -oP '(?<=rosdep key : ).*' | sort -u)
+          alldeps+=("${deps[@]}")
+        done
+        echo "${deps[@]}"
+        rosinstall_generator --rosdistro "$ROS_DISTRO" --deps "${alldeps[@]}" --exclude-path "$extend" > /tmp/target.rosinstall || [ -n "$UPSTREAM_WORKSPACE" ]
+        if [ -s /tmp/target.rosinstall ]; then
+            UPSTREAM_WORKSPACE="/tmp/target.rosinstall $UPSTREAM_WORKSPACE"
+        fi
+        ici_time_end
+    fi
+
+    ici_run "${BUILDER}_setup" ici_quiet builder_setup
+
     if [ -n "$UPSTREAM_WORKSPACE" ]; then
         ici_with_ws "$upstream_ws" ici_build_workspace "upstream" "$extend" "$upstream_ws"
         extend="$upstream_ws/install"

industrial_ci/src/workspace.sh

@@ -231,14 +231,20 @@ function ici_install_dependencies {
     local extend=$1; shift
     local skip_keys=$1; shift
     local cmake_prefix_path
+    local rosdep_install=()
     cmake_prefix_path="$(ici_exec_in_workspace "$extend" . env | grep -oP '^CMAKE_PREFIX_PATH=\K.*')" || true
 
-    rosdep_opts=(-q --from-paths "$@" --ignore-src -y)
+    if [ "$ROS_FROM_SCRATCH" = true ]; then
+      rosdep_install+=(env "ROS_DISTRO=")
+    fi
+
+    rosdep_install+=(rosdep install -q --from-paths "$@" --ignore-src -y)
     if [ -n "$skip_keys" ]; then
-      rosdep_opts+=(--skip-keys "$skip_keys")
+      rosdep_install+=(--skip-keys "$skip_keys")
     fi
+
     set -o pipefail # fail if rosdep install fails
-    ROS_PACKAGE_PATH=$cmake_prefix_path ici_exec_in_workspace "$extend" "." rosdep install "${rosdep_opts[@]}" | { grep "executing command" || true; }
+    ROS_PACKAGE_PATH=$cmake_prefix_path ici_exec_in_workspace "$extend" "." "${rosdep_install[@]}" | { grep "executing command" || true; }
     set +o pipefail
 }