[debian] Implement ROS2 packaging

.github/workflows/package.yml

@@ -24,9 +24,10 @@ jobs:
     uses: jrl-umi3218/github-actions/.github/workflows/package-project.yml@master
     with:
       with-ros: true
+      latest-cmake: true
       matrix: |
           {
-            "dist": ["bionic", "focal"],
+            "dist": ["bionic", "focal", "jammy"],
             "arch": ["amd64"]
           }
     secrets:

debian/control

@@ -8,9 +8,12 @@ Vcs-git: https://github.com/jrl-umi3218/mc_rtc_msgs
 Vcs-Browser: https://github.com/jrl-umi3218/mc_rtc_msgs
 Build-Depends: debhelper (>= 9),
                cmake,
-               qt5-default,
+               qtbase5-dev | qt5-default,
                libqwt-qt5-dev,
 # ros-@ROS_DISTRO@-mc-rtc-plugin,
-# ros-@ROS_DISTRO@-rviz,
-# ros-@ROS_DISTRO@-tf,
+#ROS1  ros-@ROS_DISTRO@-rviz,
+#ROS1  ros-@ROS_DISTRO@-tf,
+#ROS2  ros-@ROS_DISTRO@-rviz2,
+#ROS2  ros-@ROS_DISTRO@-tf2,
+#ROS2  ros-@ROS_DISTRO@-visualization-msgs,
                libmc-rtc-dev

debian/control.ros

@@ -4,7 +4,8 @@ Architecture: any
 Section: science
 Depends: ${mic:Depends},
          ${shlibs:Depends},
-         ros-@ROS_DISTRO@-rviz
+#ROS1         ros-@ROS_DISTRO@-rviz
+#ROS2         ros-@ROS_DISTRO@-rviz2
 Description: mc-rtc - RViZ panel
  RViZ plugin implementing mc_rtc GUI
 
@@ -16,15 +17,6 @@ Depends: ${misc:Depends},
 Description: mc-rtc - ROS ticker
  mc_rtc interface implementation using ROS for kinematic simulations
 
-Package: ros-@ROS_DISTRO@-mc-surfaces-visualization
-Architecture: any
-Section: science
-Depends: ${misc:Depends},
-         ${shlibs:Depends},
-         ros-@ROS_DISTRO@-rviz
-Description: mc-rtc - Surfaces visualization
- RViZ based tools to visualize surfaces
-
 Package: ros-@ROS_DISTRO@-mc-rtc-tools
 Architecture: any
 Section: science

debian/ros-ROS_DISTRO-mc-rtc-rviz-panel.install

@@ -1,4 +1,9 @@
 opt/ros/@ROS_DISTRO@/lib/libmc_rtc_rviz_panel.so
-opt/ros/@ROS_DISTRO@/lib/mc_rtc_rviz_panel/mc_rtc_gui
-opt/ros/@ROS_DISTRO@/lib/pkgconfig/mc_rtc_rviz_panel.pc
+#ROS1 opt/ros/@ROS_DISTRO@/lib/mc_rtc_rviz_panel/mc_rtc_gui
+#ROS1 opt/ros/@ROS_DISTRO@/lib/pkgconfig/mc_rtc_rviz_panel.pc
+#ROS2 opt/ros/@ROS_DISTRO@/bin/mc_rtc_gui
+#ROS2 opt/ros/@ROS_DISTRO@/share/ament_index/resource_index/package_run_dependencies/mc_rtc_rviz_panel
+#ROS2 opt/ros/@ROS_DISTRO@/share/ament_index/resource_index/packages/mc_rtc_rviz_panel
+#ROS2 opt/ros/@ROS_DISTRO@/share/ament_index/resource_index/parent_prefix_path/mc_rtc_rviz_panel
+#ROS2 opt/ros/@ROS_DISTRO@/share/ament_index/resource_index/rviz_common__pluginlib__plugin/mc_rtc_rviz_panel
 opt/ros/@ROS_DISTRO@/share/mc_rtc_rviz_panel/*

debian/ros-ROS_DISTRO-mc-rtc-ticker.install

@@ -1,2 +1,5 @@
-opt/ros/@ROS_DISTRO@/lib/pkgconfig/mc_rtc_ticker.pc
+#ROS1 opt/ros/@ROS_DISTRO@/lib/pkgconfig/mc_rtc_ticker.pc
+#ROS2 opt/ros/@ROS_DISTRO@/share/ament_index/resource_index/package_run_dependencies/mc_rtc_ticker
+#ROS2 opt/ros/@ROS_DISTRO@/share/ament_index/resource_index/packages/mc_rtc_ticker
+#ROS2 opt/ros/@ROS_DISTRO@/share/ament_index/resource_index/parent_prefix_path/mc_rtc_ticker
 opt/ros/@ROS_DISTRO@/share/mc_rtc_ticker/*

debian/rules

@@ -1,39 +1,43 @@
 #!/usr/bin/make -f
 # -*- makefile -*-
 
+SRC:=$(CURDIR)
 TMP:=$(CURDIR)/debian/tmp
 
-export ROS_DISTRO=@ROS_DISTRO@
-ifeq (${ROS_DISTRO},)
-	export CMAKE_OPTIONS=
-	export EXTRA_STEPS=
+export ROS_DISTRO:=@ROS_DISTRO@
+export ROS_VERSION:=$(shell . /opt/ros/${ROS_DISTRO}/setup.sh && echo $$ROS_VERSION)
+export ROS_PYTHON_VERSION:=$(shell . /opt/ros/${ROS_DISTRO}/setup.sh && echo $$ROS_PYTHON_VERSION)
+ifeq (${ROS_PYTHON_VERSION}, 3)
+	export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/lib/python3/dist-packages:${PYTHONPATH}
+	export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/lib/python$(shell python3 -c "import sys; print(f'{sys.version_info.major}.{sys.version_info.minor}');")/site-packages:${PYTHONPATH}
+	export PYTHON_EXECUTABLE:=/usr/bin/python3
 else
-	export ROS_VERSION:=$(shell . /opt/ros/${ROS_DISTRO}/setup.sh && echo $$ROS_VERSION)
-	export ROS_PYTHON_VERSION:=$(shell . /opt/ros/${ROS_DISTRO}/setup.sh && echo $$ROS_PYTHON_VERSION)
-	ifeq (${ROS_PYTHON_VERSION}, 3)
-		export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/lib/python3/dist-packages:${PYTHONPATH}
-		export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/lib/python$(shell python3 -c "import sys; print(f'{sys.version_info.major}.{sys.version_info.minor}');")/site-packages:${PYTHONPATH}
-		export PYTHON_EXECUTABLE=/usr/bin/python3
-	else
-		export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/lib/python2.7/dist-packages:${PYTHONPATH}
-		export PYTHON_EXECUTABLE=/usr/bin/python
-	endif
-	export PKG_CONFIG_PATH=/opt/ros/${ROS_DISTRO}/lib/pkgconfig:$PKG_CONFIG_PATH
-	export ROS_MASTER_URI=http://localhost:11311
-	export ROS_PACKAGE_PATH=/opt/ros/${ROS_DISTRO}/share
-	export LD_LIBRARY_PATH:=/opt/ros/${ROS_DISTRO}/lib:$LD_LIBRARY_PATH
-	export CMAKE_PREFIX_PATH=/opt/ros/${ROS_DISTRO}:$CMAKE_PREFIX_PATH
-	export CMAKE_OPTIONS=-DCMAKE_INSTALL_PREFIX=/opt/ros/${ROS_DISTRO} -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/lib/python2.7/dist-packages:${PYTHONPATH}
+	export PYTHON_EXECUTABLE:=/usr/bin/python
 endif
+export PKG_CONFIG_PATH:=/opt/ros/${ROS_DISTRO}/lib/pkgconfig:$PKG_CONFIG_PATH
+export ROS_MASTER_URI:=http://localhost:11311
+export ROS_PACKAGE_PATH:=/opt/ros/${ROS_DISTRO}/share
+export LD_LIBRARY_PATH:=/opt/ros/${ROS_DISTRO}/lib:$LD_LIBRARY_PATH
+export CMAKE_PREFIX_PATH:=/opt/ros/${ROS_DISTRO}:$CMAKE_PREFIX_PATH
+# Default CMake options for Debian packaging
+export CMAKE_OPTIONS:=-DCMAKE_BUILD_TYPE=None -DCMAKE_EXPORT_NO_PACKAGE_REGISTRY=ON -DCMAKE_FIND_PACKAGE_NO_PACKAGE_REGISTRY=ON "-GUnix Makefiles" -DCMAKE_VERBOSE_MAKEFILE=ON -DCMAKE_AUTOGEN_VERBOSE=ON
+export CMAKE_OPTIONS:=${CMAKE_OPTIONS} -DCMAKE_INSTALL_PREFIX=/opt/ros/${ROS_DISTRO} -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 
 
 %:
 	dh $@
 
 override_dh_auto_configure:
-	cp $(CURDIR)/debian/CMakeLists.txt $(CURDIR)/
-	dh_auto_configure -- ${CMAKE_OPTIONS}
+	cmake -S $(SRC)/mc_rtc_ticker -B $(SRC)/build/mc_rtc_ticker ${CMAKE_OPTIONS}
+	cmake -S $(SRC)/mc_rtc_rviz_panel -B $(SRC)/build/mc_rtc_rviz_panel ${CMAKE_OPTIONS}
+
+override_dh_auto_build:
+	cmake --build $(SRC)/build/mc_rtc_ticker
+	cmake --build $(SRC)/build/mc_rtc_rviz_panel
 
 override_dh_auto_install:
-	dh_auto_install --destdir=$(TMP)
-	${EXTRA_STEPS}
+	cd $(SRC)/build/mc_rtc_ticker && make -j1 install DESTDIR=$(TMP) AM_UPDATE_INFO_DIR=no
+	cd $(SRC)/build/mc_rtc_rviz_panel && make -j1 install DESTDIR=$(TMP) AM_UPDATE_INFO_DIR=no
+
+override_dh_auto_test: