feat: support iron (#175)

* added repos for iron

Signed-off-by: ymski <[email protected]>

* added installation files for iron

Signed-off-by: ymski <[email protected]>

* add setup shell for iron

Signed-off-by: ymski <[email protected]>

* update ros distribution

Signed-off-by: ymski <[email protected]>

* update ros distribution

Signed-off-by: ymski <[email protected]>

* update humble to iron

Signed-off-by: ymski <[email protected]>

* remove redundant setup files

Signed-off-by: ymski <[email protected]>

* install latest lttng to avoid version mispatching

Signed-off-by: ymski <[email protected]>

* install latest to avoid version mispatching

Signed-off-by: ymski <[email protected]>

* add -d option

Signed-off-by: ymski <[email protected]>

* ci(pre-commit): autofix

* integrate setup scripts

Signed-off-by: ymski <[email protected]>

* fix shell check

Signed-off-by: ymski <[email protected]>

* fix shell check

Signed-off-by: ymski <[email protected]>

* added lttng role to playbook for iron

Signed-off-by: ymski <[email protected]>

* fix condition

Signed-off-by: ymski <[email protected]>

* ci(pre-commit): autofix

* ignore nchd

Signed-off-by: ymski <[email protected]>

---------

Signed-off-by: ymski <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

ansible/playbook_iron.yml

@@ -0,0 +1,20 @@
+- hosts: localhost
+  connection: local
+  become: false
+  vars_prompt:
+    - name: package_install
+      prompt: Would you like to install the require packages[y/n]
+      default: y
+      private: false
+  pre_tasks:
+    - name: Verify OS
+      ansible.builtin.fail:
+        msg: Only Ubuntu 22.04 is supported for this branch. Please refer to https://tier4.github.io/caret_doc/latest/installation/installation/
+      when: ansible_distribution_version != '22.04'
+
+  roles:
+    - { role: lttng, tags: [lttng], when: package_install == 'y' }
+    - { role: ros-tracing, rosdistro: iron, tags: [ros-tracing], when: package_install == 'y' }
+    - { role: visualizer, tags: [visualizer], when: package_install == 'y' }
+    - { role: caret_iron, rosdistro: iron, tags: [caret] }
+    - { role: cyclonedds, rosdistro: iron, tags: [cyclonedds] }

ansible/roles/caret_iron/defaults/main.yml

@@ -0,0 +1,5 @@
+rosdistro: iron
+targeted_skip_keys: console_bridge fastcdr fastrtps rti-connext-dds-6.0.1 urdfdom_headers
+setenv_caret_script_template: setenv_caret.bash.jinja2
+caret_topic_filter_template: caret_topic_filter.bash.jinja2
+requirements_path: requirements.txt

ansible/roles/caret_iron/tasks/main.yml

@@ -0,0 +1,58 @@
+- name: ROS2 (check rosdep file)
+  stat:
+    path: /etc/ros/rosdep/sources.list.d/20-default.list
+  register: ros_repository
+
+- name: ROS2 (install rosdep)
+  apt:
+    name: python3-rosdep
+    state: latest
+    update_cache: true
+  become: true
+
+- name: ROS2 (initialize rosdep)
+  command: rosdep init
+  when: ros_repository.stat.exists == false
+  become: true
+
+- name: ROS2 (update rosdep)
+  command: rosdep update
+  become: false
+
+- name: caret (rosdep install dependencies)
+  shell: |
+    rosdep install -y --from-paths src --ignore-src --rosdistro {{ rosdistro }} -y --skip-keys "{{ targeted_skip_keys }}"
+  args:
+    chdir: "{{ WORKSPACE_ROOT }}"
+
+- name: caret (install some packages for build)
+  apt:
+    name:
+      - ros-{{ rosdistro }}-osrf-testing-tools-cpp
+      - ros-{{ rosdistro }}-performance-test-fixture
+      - ros-{{ rosdistro }}-mimick-vendor
+      - ros-{{ rosdistro }}-test-msgs
+      - ros-{{ rosdistro }}-cyclonedds
+  become: true
+
+- name: caret (install python module)
+  pip:
+    requirements: "{{ requirements_path }}"
+    executable: pip3
+  become: true
+  args:
+    chdir: "{{ WORKSPACE_ROOT }}"
+
+- name: caret (copy CARET setenv template as reference)
+  ansible.builtin.template:
+    src: "{{ setenv_caret_script_template }}"
+    dest: "{{ WORKSPACE_ROOT }}/setenv_caret.bash"
+    mode: 0755
+  become: false
+
+- name: caret (copy topic filter as reference)
+  ansible.builtin.template:
+    src: "{{ caret_topic_filter_template }}"
+    dest: "{{ WORKSPACE_ROOT }}/caret_topic_filter.bash"
+    mode: 0755
+  become: false

ansible/roles/caret_iron/templates/caret_topic_filter.bash.jinja2

@@ -0,0 +1,25 @@
+#!/bin/bash
+
+export CARET_IGNORE_NODES=\
+"\
+/rviz*\
+"
+
+export CARET_IGNORE_TOPICS=\
+"\
+/clock:\
+/parameter_events\
+"
+
+# if you want to select nodes or topics,
+# please remove comment out of the followings.
+# export CARET_SELECT_NODES=\
+# "\
+# /rviz*\
+# "
+
+# export CARET_SELECT_TOPICS=\
+# "\
+# /clock:\
+# /parameter_events\
+# "

ansible/roles/caret_iron/templates/setenv_caret.bash.jinja2

@@ -0,0 +1,22 @@
+#!/bin/bash
+
+source /opt/ros/{{ rosdistro }}/setup.bash
+source {{ WORKSPACE_ROOT }}/install/local_setup.bash
+source {{ WORKSPACE_ROOT }}/caret_topic_filter.bash
+
+export LD_PRELOAD=$(readlink -f {{ WORKSPACE_ROOT}}/install/caret_trace/lib/libcaret.so)
+
+USERNAME=$(whoami)
+ps -axo user:32,command | grep lttng-sessiond | grep $USERNAME | grep -v grep > /dev/null
+if [ $? -ne 0 ]; then
+  lttng-sessiond --daemonize
+fi
+
+# If you want to apply CARET to a large application,
+# it is recommended to increase the maximum number of
+# file descriptors to avoid data loss.
+# Execute ulimit command as below.
+# ulimit -n 16384
+
+# Add user application built with caret/rclcpp
+# source /path/to/your/application/install/setup.bash

ansible/roles/lttng/tasks/main.yml

@@ -9,11 +9,13 @@
     name:
       - lttng-tools
       - liblttng-ust-dev
+    state: latest
   become: true
 
 - name: LTTng (install babeltrace)
   apt:
     name:
       - python3-babeltrace
       - python3-lttng
+    state: latest
   become: true

caret_iron.repos

@@ -0,0 +1,26 @@
+repositories:
+  CARET/caret_trace:
+    type: git
+    url: https://github.com/tier4/caret_trace.git
+    version: main
+  CARET/caret_analyze:
+    type: git
+    url: https://github.com/tier4/caret_analyze.git
+    version: main
+  CARET/caret_analyze_cpp_impl:
+    type: git
+    url: https://github.com/tier4/caret_analyze_cpp_impl.git
+    version: main
+  CARET/ros2caret:
+    type: git
+    url: https://github.com/tier4/ros2caret.git
+    version: main
+  # Dependency for CI/CD
+  CARET/caret_common:
+    type: git
+    url: https://github.com/tier4/caret_common.git
+    version: main
+  eclipse-cyclonedds/cyclonedds:
+    type: git
+    url: https://github.com/eclipse-cyclonedds/cyclonedds.git
+    version: releases/0.10.x

setup_caret.sh

@@ -10,17 +10,29 @@ function show_usage() {
     echo "    -h or --help: show help message"
     echo "    -c or --no-interactive"
     echo "    -n or --no-package-install"
+    echo "    -d or --ros-distro"
     exit 0
 }
 
+ALLOWED_ROS_DISTRO=("humble" "iron")
+
+function validate_ros_distro() {
+    if [[ " ${ALLOWED_ROS_DISTRO[*]} " != *" $1 "* ]]; then
+        echo "error: $1 is not supported ROS Distribution." >&2
+        echo "Supported ROS Distributions are ${ALLOWED_ROS_DISTRO[*]}" >&2
+        exit 1
+    fi
+}
+
 # parse command options.
-OPT=$(getopt -o nch -l no-interactive,no-package-install,help -- "$@")
+OPT=$(getopt -o nchd: -l no-interactive,no-package-install,help,ros-distro: -- "$@") # cSpell:ignore nchd
 
 eval set -- "$OPT"
 
 # Parse args
 noninteractive=0
 package_install=1
+ros_distro=humble
 
 while true; do
     case $1 in
@@ -35,13 +47,21 @@ while true; do
         package_install=0
         shift
         ;;
+    -d | --ros-distro)
+        shift
+        ros_distro=$1
+        shift
+        ;;
     --)
         shift
         break
         ;;
     esac
 done
 
+# Check ROS Distribution
+validate_ros_distro "$ros_distro"
+
 # Confirm whether to start installation
 if [ $noninteractive -eq 0 ]; then
     # Prevent root execution in interactive mode
@@ -93,8 +113,14 @@ if [ $package_install -eq 0 ]; then
     options=("--extra-vars" "package_install=n")
 fi
 
+# Select playbook
+PLAYBOOK="playbook.yml"
+if [ "$ros_distro" = "iron" ]; then
+    PLAYBOOK="playbook_iron.yml"
+fi
+
 # Run ansible
-if ansible-playbook "$SCRIPT_DIR/ansible/playbook.yml" -e WORKSPACE_ROOT="$SCRIPT_DIR" "${options[@]}"; then
+if ansible-playbook "$SCRIPT_DIR/ansible/$PLAYBOOK" -e WORKSPACE_ROOT="$SCRIPT_DIR" "${options[@]}"; then
     echo -e "\e[32mCompleted.\e[0m"
     exit 0
 else