Merge branch 'master' into ros-o

.github/workflows/config.yml

@@ -40,7 +40,11 @@ jobs:
             BEFORE_SCRIPT : "find $GITHUB_WORKSPACE -iname image_view2 -exec touch {}/CATKIN_IGNORE \\;"
 
 
-    container: ${{ matrix.CONTAINER }}
+    container:
+      image: ${{ matrix.CONTAINER }}
+      volumes:
+        - /tmp/node20:/__e/node20
+
     steps:
       - name: Install latest git ( use sudo for ros-ubuntu )
         run: |
@@ -63,6 +67,21 @@ jobs:
              git config --global --add safe.directory $GITHUB_WORKSPACE
           fi
 
+      - name: Try to replace `node` with an glibc 2.17
+        shell: bash
+        run: |
+          if [ "${{ matrix.CONTAINER }}" = "jskrobotics/ros-ubuntu:14.04" ]; then
+             export USER=$(whoami)
+             sudo chmod 777 -R /__e/node20
+             sudo chown -R $USER /__e/node20
+          fi
+          ls -lar /__e/node20 &&
+          sudo apt-get install -y curl &&
+          curl -Lo /tmp/node.tar.gz https://unofficial-builds.nodejs.org/download/release/v20.17.0/node-v20.17.0-linux-x64-glibc-217.tar.gz &&
+          cd /__e/node20 &&
+          tar -x --strip-components=1 -f /tmp/node.tar.gz &&
+          ls -lar /__e/node20/bin/
+
       - name: Chcekout
         uses: actions/[email protected]
 
@@ -170,3 +189,61 @@ jobs:
           source ~/ws_depend/devel_isolated/setup.bash
           catkin_make_isolated ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
         shell: bash
+
+  # ROS-O setup https://github.com/v4hn/ros-o-builder/blob/jammy-one/README.md#install-instructions
+  ros-o:
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - DISTRO: ubuntu:22.04
+            ROS_REPOSITORY_URL: https://raw.githubusercontent.com/v4hn/ros-o-builder/jammy-one/repository
+
+    container: ${{ matrix.DISTRO }}
+
+    env:
+      DEBIAN_FRONTEND : noninteractive
+
+    steps:
+      - name: Chcekout Source
+        uses: actions/[email protected]
+
+      - name: Setup ROS-O deb repository
+        run: |
+          set -x
+          apt update && apt install -qq -y ca-certificates
+          echo "deb [trusted=yes] ${{ matrix.ROS_REPOSITORY_URL }}/ ./" | tee /etc/apt/sources.list.d/ros-o-builder.list
+          apt update
+          apt install -qq -y python3-rosdep2
+          echo "yaml ${{ matrix.ROS_REPOSITORY_URL }}/local.yaml debian" | tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
+          rosdep update
+
+      - name: Setup catkin-tools
+        run: |
+          set -x
+          # setup catkin tools
+          apt install -qq -y python3-pip
+          pip3 install catkin-tools
+          # setup build tools
+          apt install -qq -y cmake build-essential catkin ros-one-rosbash
+
+      - name: Setup Workspace
+        run: |
+          source /opt/ros/one/setup.bash
+          set -x
+          # setup workspace
+          mkdir -p ~/ws/src
+          cd ~/ws/src
+          ln -sf $GITHUB_WORKSPACE .
+          rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
+        shell: bash
+
+      - name: Compile Packages
+        run: |
+          source /opt/ros/one/setup.bash
+          set -x
+          cd ~/ws/
+          catkin build --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
+        shell: bash

jsk_data/src/jsk_data/download_data.py

@@ -150,6 +150,21 @@ def _get_package_source_path(pkg_name):
     return pkg_path
 
 
+def _get_colcon_package_share_path(pkg_name):
+    """
+    Return package share path when colcon build.
+    NOTE: The install/share or install/$pkg_name/share/$pkg_name directories is not created
+    until colcon build finished. So this functions returns the path whether the directory
+    is exists or not.
+    """
+    current_colcon_prefix_path = os.getenv("COLCON_PREFIX_PATH").split(":")[0]
+    if os.path.exists(os.path.join(current_colcon_prefix_path, "share")):  # if merge install
+        share_path = os.path.join(current_colcon_prefix_path, "share", pkg_name)
+    else:  # if default install
+        share_path = os.path.join(current_colcon_prefix_path, pkg_name, "share", pkg_name)
+    return share_path
+
+
 def download_data(pkg_name, path, url, md5, download_client=None,
                   extract=False, compressed_bags=None, quiet=True, chmod=True,
                   n_times=2):
@@ -172,7 +187,10 @@ def download_data(pkg_name, path, url, md5, download_client=None,
     if compressed_bags is None:
         compressed_bags = []
     if not osp.isabs(path):
-        pkg_path = _get_package_source_path(pkg_name)
+        if os.getenv("COLCON_PREFIX_PATH"):
+            pkg_path = _get_colcon_package_share_path(pkg_name)
+        else:
+            pkg_path = _get_package_source_path(pkg_name)
         if not pkg_path:
             print('\033[31mPackage [%s] is not found in current workspace. Skipping download\033[0m' % pkg_name,
                   file=sys.stderr)

jsk_rosbag_tools/CMakeLists.txt

@@ -18,7 +18,7 @@ catkin_package(
   CATKIN_DEPENDS
 )
 
-if("$ENV{ROS_DISTRO}" STRGREATER "noetic" OR "$ENV{ROS_DISTRO}" STREQUAL "Debian")
+if(("$ENV{ROS_DISTRO}" STREQUAL "noetic") OR ("$ENV{ROS_DISTRO}" STREQUAL "Debian") OR ("$ENV{ROS_DISTRO}" STREQUAL "debian"))
   catkin_generate_virtualenv(
     INPUT_REQUIREMENTS requirements.in
     PYTHON_INTERPRETER python3