[META] Maliput repos in the ROS build farm

[francocipollone]

Introduction

This issue's goal is to track the inclusion of the maliput repos into the ros build farm.

Ros build farm info

• Jobs are run at https://build.ros2.org/
• Everything there comes from the index: https://github.com/ros/rosdistro
  • For foxy: https://github.com/ros/rosdistro/blob/master/foxy/distribution.yaml
• Example with ament_cmake
  • 1. doc: It will generate the documentation jobs: Resultant doc job
  • 2. release. That comes from running bloom
  • 3. source By default Dev jobs are enabled testing changes to main. and test_pull_requests enables PR testing.
    • For PRs: This job is the Fpr https://build.ros2.org/job/Fpr__ament_cmake__ubuntu_focal_amd64/
    • Dev jobs: https://build.ros2.org/job/Fdev__ament_cmake__ubuntu_focal_amd64/
      • It tests the distro default branch on commit.
• How to enable PR testing on a repo: http://wiki.ros.org/buildfarm/Pull%20request%20testing

To be ros-build-farm compatible

• Switch to use standard rosdoc2 instead of custom ament_cmake_doxygen #265
  Use rosdoc2 instead of custom ament_cmake_doxygen
  While migrating to rosdoc2, as a workaround:
  • Change ament_cmake_doxygen dep to doc_depend to avoid ros build to fail #273
• Move package to repository root for all the repos #270
• License file should be local to the package (../LICENSE won't work) #271
• Root include/CMakeList file is being installed #275
• Use system pybind11 instead of custom version. #225
• Suppress old-rule-api-related deprecation warnings #276
• Solve drake_vendor issue: Nowadays this package needs to manually run a bash script.
  Marked as solved as there are ongoing efforts for releasing drake.

Summary

The following table shows which are the packages where drake_vendor and pybind11 are blockers (with a ❌) for the build farm.

Repository	Drake vendor	Custom Pybind11	In ROSBuildFarm?
maliput	✔️	✔️	✔️
maliput_py	✔️	❌ --> ✔️	✔️
maliput_drake	✔️	✔️	✔️
maliput_dragway	✔️	❌ --> ✔️	✔️
maliput_multilane	✔️	✔️	✔️
maliput_malidrive	✔️	✔️	✔️
maliput_object	✔️	✔️	✔️
maliput_object_py	✔️	❌ --> ✔️	✔️
maliput_integration	✔️	❌ --> ✔️	✔️
maliput_integration_tests	✔️	❌ --> ✔️	✔️(Just source)
delphyne	❌	❌
delphyne_gui	❌	❌
delphyne_demos	❌	❌

[francocipollone]

Does it make sense to add maliput_integration_tests to the build farm?
@tfoote @agalbachicar

[tfoote]

If it's just tests it doesn't make sense to release. As the tests won't be installed usually because they are designed to work in the source tree. But you could add the source entry to the rosdistro and enable pull request testing on it to get ci from the farm.

[francocipollone]

If it's just tests it doesn't make sense to release. As the tests won't be installed usually because they are designed to work in the source tree. But you could add the source entry to the rosdistro and enable pull request testing on it to get ci from the farm.

Agree! For doing so, should I manually create PR in rosdistro for adding something like:

  maliput_integration_tests:
    source:
      test_pull_requests: true
      type: git
      url: https://github.com/maliput/maliput_integration_tests.git
      version: main

or can I use the bloom-release tool, avoiding all the steps related to the release repository and docs?

[tfoote]

A manual PR with the above content is the easiest way. Bloom is really for the release tags. and does the other ones for convenience. There's no need to use it if not making the release.

[francocipollone]

A manual PR with the above content is the easiest way. Bloom is really for the release tags. and does the other ones for convenience. There's no need to use it if not making the release.

Thanks for the clarification: Done -> ros/rosdistro#33677

[francocipollone]

I tried installing them via apt. While they aren't part in main in the ros2 repository, we can use the ros-testing branch for try them out. See testing

The only conflict I found is related to environment variables after doing source /opt/ros/foxy/setup.bash:
maliput-related environment variables aren't pointing correctly to the path:

franco@aerilon $ env | grep maliput
MALIPUT_PLUGIN_PATH=/maliput_malidrive/lib/plugins:/maliput_multilane/lib/plugins:/maliput_dragway/lib/plugins
MALIPUT_MALIDRIVE_RESOURCE_ROOT=/maliput_malidrive/share/maliput_malidrive
MULTILANE_RESOURCE_ROOT=/maliput_multilane/share/maliput_multilane

We are using MALIPUT_MALIDRIVE_RESOURCE_ROOT $COLCON_PREFIX_PATH/maliput_malidrive/share/maliput_malidrive when adding the env var. See maliput_malidrive/setup.sh.in

but I think we should use AMENT_CURRENT_PREFIX instead.

[francocipollone]

Closing this meta issue and leaving the pendings at: #291