Added vendor installation support for Jazzy and Rolling (#87)

Support for ROS 2 vendor packages installing Gazebo. --------- Signed-off-by: Saurabh Kamat <[email protected]> Co-authored-by: Jose Luis Rivero <[email protected]>
gazebo-tooling · Oct 10, 2024 · a30dfaf · a30dfaf
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diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
@@ -310,3 +310,31 @@ jobs:
           source /opt/ros/humble/setup.bash
           ros2 pkg list | grep ros_gz
           ign gazebo --version | grep 'version 6.*'
+
+  test_install_ros_gz_vendor:
+    name: 'Install Harmonic on Jazzy through vendor packages'
+    env:
+      ROS_DISTROS: 'jazzy'
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:noble
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/[email protected]
+        with:
+          node-version: '20.x'
+      - name: 'Install ROS 2 Jazzy'
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ env.ROS_DISTROS }}
+      - name: 'Install Gazebo with ros_gz'
+        uses: ./
+        with:
+          required-gazebo-distributions: 'harmonic'
+          install-ros-gz: ${{ env.ROS_DISTROS }}
+      - name: Test Jazzy ros_gz installation
+        run: |
+          source /opt/ros/jazzy/setup.bash
+          ! [ $(apt list --installed gz-harmonic) ]
+          ros2 pkg list | grep ros_gz
+          gz sim --version | grep 'version 8.[0-9*].[0-9*]'
diff --git a/README.md b/README.md
@@ -246,6 +246,8 @@ This workflow shows how to use binaries from [pre-release] or [nightly] Gazebo r
 
 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.
 
+Starting with ROS 2 Jazzy, Gazebo is also available to be installed from ROS packages via [vendor packages]. When using `install-ros-gz` this action will check for availability of these Gazebo vendor packages and install them if available for the specified ROS 2 distribution. Only the default (recommended) Gazebo release is currently available for the ROS 2 releases using the vendor packages (i.e if ROS 2 Jazzy is used, only Gazebo Harmonic is the valid option). More information on vendor packages can be found in the [official documentation].
+
 ```yaml
   jobs:
     test_gazebo:
@@ -282,19 +284,20 @@ This workflow shows how to install ROS 2 using the GitHub action `ros-tooling/se
 This workflow shows how to install Gazebo on a macOS worker using the Homebrew package manager which is installed by the action. To run, this action needs an input for `required-gazebo-distributions` parameter.
 
 ```yaml
-  test_gazebo:
-    runs-on: macos-13
-    steps:
-      - uses: actions/checkout@v4
-      - uses: actions/[email protected]
-        with:
-          node-version: '20.x'
-      - name: 'Check Gazebo installation on MacOS runner'
-        uses: gazebo-tooling/[email protected]
-        with:
-          required-gazebo-distributions: 'harmonic'
-      - name: 'Test Gazebo installation'
-        run: 'gz sim --versions'
+  jobs:
+    test_gazebo:
+      runs-on: macos-13
+      steps:
+        - uses: actions/checkout@v4
+        - uses: actions/[email protected]
+          with:
+            node-version: '20.x'
+        - name: 'Check Gazebo installation on MacOS runner'
+          uses: gazebo-tooling/[email protected]
+          with:
+            required-gazebo-distributions: 'harmonic'
+        - name: 'Test Gazebo installation'
+          run: 'gz sim --versions'
 ```
 
 ### Windows
@@ -304,23 +307,24 @@ This workflow shows how to install Gazebo on a Windows worker. The action requir
 #### Setting up worker to install Gazebo on Windows
 
 ```yaml
-  test_gazebo:
-    runs-on: windows-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: actions/[email protected]
-        with:
-          node-version: '20.x'
-      - uses: conda-incubator/setup-miniconda@v3
-      - name: 'Check Gazebo installation on Windows runner'
-        uses: gazebo-tooling/[email protected]
-        with:
-          required-gazebo-distributions: 'harmonic'
-      - name: 'Test Gazebo installation'
-        shell: pwsh
-        run: |
-          conda activate
-          gz sim --versions
+  jobs:
+    test_gazebo:
+      runs-on: windows-latest
+      steps:
+        - uses: actions/checkout@v4
+        - uses: actions/[email protected]
+          with:
+            node-version: '20.x'
+        - uses: conda-incubator/setup-miniconda@v3
+        - name: 'Check Gazebo installation on Windows runner'
+          uses: gazebo-tooling/[email protected]
+          with:
+            required-gazebo-distributions: 'harmonic'
+        - name: 'Test Gazebo installation'
+          shell: pwsh
+          run: |
+            conda activate
+            gz sim --versions
 ```
 
 ## License
@@ -332,3 +336,5 @@ The scripts and documentation in this project are released under the [Apache 2](
 [best-effort]: https://gazebosim.org/docs/harmonic/releases#supported-platforms
 [pre-release]: https://packages.osrfoundation.org/gazebo/ubuntu-prerelease/
 [nightly]: https://packages.osrfoundation.org/gazebo/ubuntu-nightly/
+[vendor packages]: https://gazebosim.org/docs/ionic/ros_installation/#ros-2-gazebo-vendor-packages
+[official documentation]: https://gazebosim.org/docs/ionic/ros2_gz_vendor_pkgs/
diff --git a/__test__/main.test.ts b/__test__/main.test.ts
@@ -106,6 +106,8 @@ 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(["jazzy"])).toBe(true);
+		await expect(utils.validateROSDistro(["rolling"])).toBe(true);
 		await expect(utils.validateROSDistro(["humble", "iron"])).toBe(true);
 	});
 	it("test invalid distro", async () => {
@@ -177,13 +179,28 @@ describe("check for unstable repositories input", () => {
 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"]);
+			utils.generateROSGzAptPackageNames(["humble", "iron"], ["harmonic"]),
+		).toEqual([
+			"gz-harmonic",
+			"ros-humble-ros-gzharmonic",
+			"ros-iron-ros-gzharmonic",
+		]);
 		await expect(
-			utils.generateROSAptPackageNames(["humble"], ["fortress"]),
-		).toEqual(["ros-humble-ros-gz"]);
+			utils.generateROSGzAptPackageNames(["humble"], ["fortress"]),
+		).toEqual(["gz-fortress", "ros-humble-ros-gz"]);
 		await expect(
-			utils.generateROSAptPackageNames(["iron"], ["fortress", "garden"]),
-		).toEqual(["ros-iron-ros-gz", "ros-iron-ros-gzgarden"]);
+			utils.generateROSGzAptPackageNames(["iron"], ["fortress", "garden"]),
+		).toEqual([
+			"gz-fortress",
+			"ros-iron-ros-gz",
+			"gz-garden",
+			"ros-iron-ros-gzgarden",
+		]);
+		await expect(
+			utils.generateROSGzAptPackageNames(["jazzy"], ["harmonic"]),
+		).toEqual(["ros-jazzy-ros-gz"]);
+		await expect(
+			utils.generateROSGzAptPackageNames(["rolling"], ["harmonic"]),
+		).toEqual(["ros-rolling-ros-gz"]);
 	});
 });
diff --git a/dist/index.js b/dist/index.js
@@ -26487,16 +26487,23 @@ function runLinux() {
         // Add repo according to Ubuntu version
         const ubuntuCodename = yield utils.determineDistribCodename();
         yield addAptRepo(ubuntuCodename);
+        // Get list of Gazebo distributions
         const gazeboDistros = yield utils.getRequiredGazeboDistributions();
+        // Check compatibility with Ubuntu version
         yield utils.checkUbuntuCompatibility(gazeboDistros, ubuntuCodename);
-        for (const gazeboDistro of gazeboDistros) {
-            yield apt.runAptGetInstall([`gz-${gazeboDistro}`]);
-        }
+        // Look for ROS 2 distributions for installing ros_gz
         const rosGzDistros = utils.checkForROSGz();
         if (rosGzDistros.length > 0) {
-            const rosAptPackageNames = utils.generateROSAptPackageNames(rosGzDistros, gazeboDistros);
+            // Check for Gazebo vendor packages and generate appropriate package names
+            const rosAptPackageNames = utils.generateROSGzAptPackageNames(rosGzDistros, gazeboDistros);
             yield apt.runAptGetInstall(rosAptPackageNames);
         }
+        else {
+            // Install Gazebo as usual
+            for (const gazeboDistro of gazeboDistros) {
+                yield apt.runAptGetInstall([`gz-${gazeboDistro}`]);
+            }
+        }
     });
 }
 
@@ -26799,7 +26806,7 @@ exports.getRequiredGazeboDistributions = getRequiredGazeboDistributions;
 exports.checkUbuntuCompatibility = checkUbuntuCompatibility;
 exports.checkForUnstableAptRepos = checkForUnstableAptRepos;
 exports.checkForROSGz = checkForROSGz;
-exports.generateROSAptPackageNames = generateROSAptPackageNames;
+exports.generateROSGzAptPackageNames = generateROSGzAptPackageNames;
 const actions_exec = __importStar(__nccwpck_require__(1514));
 const core = __importStar(__nccwpck_require__(2186));
 const yaml_1 = __nccwpck_require__(4083);
@@ -26813,11 +26820,25 @@ const validROSGzDistrosList = [
         rosDistro: "humble",
         officialROSGzWrappers: ["fortress"],
         unofficialROSGzWrappers: ["garden", "harmonic"],
+        vendorPackagesAvailable: false,
     },
     {
         rosDistro: "iron",
         officialROSGzWrappers: ["fortress"],
         unofficialROSGzWrappers: ["garden", "harmonic"],
+        vendorPackagesAvailable: false,
+    },
+    {
+        rosDistro: "jazzy",
+        officialROSGzWrappers: ["harmonic"],
+        unofficialROSGzWrappers: [],
+        vendorPackagesAvailable: true,
+    },
+    {
+        rosDistro: "rolling",
+        officialROSGzWrappers: ["harmonic"],
+        unofficialROSGzWrappers: [],
+        vendorPackagesAvailable: true,
     },
 ];
 /**
@@ -26997,19 +27018,25 @@ function checkForROSGz() {
  * 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
+ * @param requiredGazeboDistributionsList Gazebo distributions to be installed
  * @returns string [] List of APT package names
  */
-function generateROSAptPackageNames(rosGzDistrosList, requiredGazeboDistributionsList) {
-    const rosAptPackageNames = [];
+function generateROSGzAptPackageNames(rosGzDistrosList, requiredGazeboDistributionsList) {
+    const rosGzAptPackageNames = [];
     for (const rosDistro of rosGzDistrosList) {
         const distroInfo = validROSGzDistrosList.find((distro) => distro.rosDistro === rosDistro);
         for (const gazeboDistro of requiredGazeboDistributionsList) {
+            if (!distroInfo.vendorPackagesAvailable) {
+                const gzPkgName = `gz-${gazeboDistro}`;
+                if (rosGzAptPackageNames.indexOf(gzPkgName) < 0) {
+                    rosGzAptPackageNames.push(gzPkgName);
+                }
+            }
             if (distroInfo.officialROSGzWrappers.indexOf(gazeboDistro) > -1) {
-                rosAptPackageNames.push(`ros-${rosDistro}-ros-gz`);
+                rosGzAptPackageNames.push(`ros-${rosDistro}-ros-gz`);
             }
             else if (distroInfo.unofficialROSGzWrappers.indexOf(gazeboDistro) > -1) {
-                rosAptPackageNames.push(`ros-${rosDistro}-ros-gz${gazeboDistro}`);
+                rosGzAptPackageNames.push(`ros-${rosDistro}-ros-gz${gazeboDistro}`);
             }
             else {
                 throw new Error("Impossible ROS 2 and Gazebo combination requested. \
@@ -27018,7 +27045,7 @@ function generateROSAptPackageNames(rosGzDistrosList, requiredGazeboDistribution
             }
         }
     }
-    return rosAptPackageNames;
+    return rosGzAptPackageNames;
 }
 
 

diff --git a/src/setup-gazebo-linux.ts b/src/setup-gazebo-linux.ts
@@ -105,20 +105,26 @@ export async function runLinux(): Promise<void> {
 	const ubuntuCodename = await utils.determineDistribCodename();
 	await addAptRepo(ubuntuCodename);
 
+	// Get list of Gazebo distributions
 	const gazeboDistros = await utils.getRequiredGazeboDistributions();
 
+	// Check compatibility with Ubuntu version
 	await utils.checkUbuntuCompatibility(gazeboDistros, ubuntuCodename);
 
-	for (const gazeboDistro of gazeboDistros) {
-		await apt.runAptGetInstall([`gz-${gazeboDistro}`]);
-	}
-
+	// Look for ROS 2 distributions for installing ros_gz
 	const rosGzDistros = utils.checkForROSGz();
+
 	if (rosGzDistros.length > 0) {
-		const rosAptPackageNames = utils.generateROSAptPackageNames(
+		// Check for Gazebo vendor packages and generate appropriate package names
+		const rosAptPackageNames = utils.generateROSGzAptPackageNames(
 			rosGzDistros,
 			gazeboDistros,
 		);
 		await apt.runAptGetInstall(rosAptPackageNames);
+	} else {
+		// Install Gazebo as usual
+		for (const gazeboDistro of gazeboDistros) {
+			await apt.runAptGetInstall([`gz-${gazeboDistro}`]);
+		}
 	}
 }
diff --git a/src/utils.ts b/src/utils.ts
@@ -14,16 +14,31 @@ const validROSGzDistrosList: {
 	rosDistro: string;
 	officialROSGzWrappers: string[];
 	unofficialROSGzWrappers: string[];
+	vendorPackagesAvailable: boolean;
 }[] = [
 	{
 		rosDistro: "humble",
 		officialROSGzWrappers: ["fortress"],
 		unofficialROSGzWrappers: ["garden", "harmonic"],
+		vendorPackagesAvailable: false,
 	},
 	{
 		rosDistro: "iron",
 		officialROSGzWrappers: ["fortress"],
 		unofficialROSGzWrappers: ["garden", "harmonic"],
+		vendorPackagesAvailable: false,
+	},
+	{
+		rosDistro: "jazzy",
+		officialROSGzWrappers: ["harmonic"],
+		unofficialROSGzWrappers: [],
+		vendorPackagesAvailable: true,
+	},
+	{
+		rosDistro: "rolling",
+		officialROSGzWrappers: ["harmonic"],
+		unofficialROSGzWrappers: [],
+		vendorPackagesAvailable: true,
 	},
 ];
 
@@ -232,25 +247,31 @@ export function checkForROSGz(): string[] {
  * 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
+ * @param requiredGazeboDistributionsList Gazebo distributions to be installed
  * @returns string [] List of APT package names
  */
-export function generateROSAptPackageNames(
+export function generateROSGzAptPackageNames(
 	rosGzDistrosList: string[],
 	requiredGazeboDistributionsList: string[],
 ): string[] {
-	const rosAptPackageNames: string[] = [];
+	const rosGzAptPackageNames: string[] = [];
 	for (const rosDistro of rosGzDistrosList) {
 		const distroInfo = validROSGzDistrosList.find(
 			(distro) => distro.rosDistro === rosDistro,
 		);
 		for (const gazeboDistro of requiredGazeboDistributionsList) {
+			if (!distroInfo!.vendorPackagesAvailable) {
+				const gzPkgName = `gz-${gazeboDistro}`;
+				if (rosGzAptPackageNames.indexOf(gzPkgName) < 0) {
+					rosGzAptPackageNames.push(gzPkgName);
+				}
+			}
 			if (distroInfo!.officialROSGzWrappers.indexOf(gazeboDistro) > -1) {
-				rosAptPackageNames.push(`ros-${rosDistro}-ros-gz`);
+				rosGzAptPackageNames.push(`ros-${rosDistro}-ros-gz`);
 			} else if (
 				distroInfo!.unofficialROSGzWrappers.indexOf(gazeboDistro) > -1
 			) {
-				rosAptPackageNames.push(`ros-${rosDistro}-ros-gz${gazeboDistro}`);
+				rosGzAptPackageNames.push(`ros-${rosDistro}-ros-gz${gazeboDistro}`);
 			} else {
 				throw new Error(
 					"Impossible ROS 2 and Gazebo combination requested. \
@@ -260,5 +281,5 @@ export function generateROSAptPackageNames(
 			}
 		}
 	}
-	return rosAptPackageNames;
+	return rosGzAptPackageNames;
 }