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build: fix Ros2 humble build #36

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merged 13 commits into from
Jun 12, 2024
Merged

build: fix Ros2 humble build #36

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6349e6d
build: fix build script for humble
tfoldi Nov 30, 2023
228a015
ci: add basic github CI/CD action
tfoldi Nov 30, 2023
5cabb64
ci: add Iron to the build matrix
tfoldi Nov 30, 2023
c779c02
ci: fix `ros_distribution` for Iron
tfoldi Nov 30, 2023
eb13aee
ci: add boost dependency
tfoldi Nov 30, 2023
c6a5ca0
ci: add dependencies
tfoldi Nov 30, 2023
07359ca
ci: move all dependencies to package.xml from github action
tfoldi Nov 30, 2023
a9ffcc2
ci: remove tf2_geometry_msgs as it was added twice
tfoldi Nov 30, 2023
432fb76
ci: add back Qt5base install
tfoldi Nov 30, 2023
d3e46eb
build: add nav_msgs as dependency
tfoldi Nov 30, 2023
966a273
build: add ament_cmake_auto as dependency
tfoldi Nov 30, 2023
23f53e9
build: add libqt5-serialport as dependency
tfoldi Nov 30, 2023
76ca478
Merge branch 'ros2' into ros2_humble_build_fix
twdragon Jun 12, 2024
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47 changes: 47 additions & 0 deletions .github/workflows/build_test.yml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,47 @@
name: ROS2 CI

on:
pull_request:
branches:
- 'develop'
- 'ros2'
push:
branches:
- 'ros2'

jobs:
test_environment:
runs-on: [ubuntu-latest]
strategy:
fail-fast: false
matrix:
ros_distribution:
- humble
- iron
- rolling
include:
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Add CI/CD build test for humble, iron and rolling

# Humble Hawksbill (May 2022 - May 2027)
- docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
ros_distribution: humble
ros_version: 2
# Iron Irwini (May 2023 - May 2028)
- docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
ros_distribution: iron
ros_version: 2
# Rolling Ridley (June 2020 - Present)
- docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
ros_distribution: rolling
ros_version: 2
container:
image: ${{ matrix.docker_image }}
steps:
- name: checkout
uses: actions/checkout@v2
- name: install deps
run: sudo apt-get -y install qtbase5-dev libqt5serialport5-dev
- name: build and test
uses: ros-tooling/action-ros-ci@master
with:
target-ros2-distro: ${{ matrix.ros_distribution }}
vcs-repo-file-url: ""
skip-tests: true
37 changes: 18 additions & 19 deletions CMakeLists.txt
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Expand Up @@ -19,12 +19,8 @@ endif()

add_subdirectory(witmotion-uart-qt)

#set(CMAKE_AUTOMOC ON)
#qt5_wrap_cpp(MOC_SOURCES include/witmotion_ros.h)
include_directories(include)
include_directories(/opt/ros/humble/include/tf2_geometry_msgs)
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Removed any hardcoded path to ensure it will compile on all ROS2 deployments like robostack, source builds, etc.

include_directories(witmotion-uart-qt/include)
#add_library(witmotion_ros src/witmotion_ros.cpp include/witmotion_ros.h)


find_package(ament_cmake REQUIRED)
Expand Down Expand Up @@ -54,27 +50,30 @@ add_library(witmotion_ros

message(WARNING "tf2_geometry_msgs include dir: ${tf2_geometry_msgs_INCLUDE_DIRS} ")

#find_package(Qt5 REQUIRED COMPONENTS Core SerialPort)
set(INCLUDE_DIRS ${ament_cmake_INCLUDE_DIRS} ${tf2_INCLUDE_DIRS}
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change CMAKE style dependency management to more idiomatic ament_target_dependencies

${tf2_geometry_msgs_INCLUDE_DIRS} ${rclcpp_INCLUDE_DIRS}
${std_srvs_INCLUDE_DIRS} ${sensor_msgs_INCLUDE_DIRS}
${geometry_msgs_INCLUDE_DIRS} ${nav_msgs_INCLUDE_DIRS}
${rosgraph_msgs_INCLUDE_DIRS} ${std_msgs_INCLUDE_DIRS} ${Qt5Core_INCLUDE_DIRS} ${Qt5SerialPort_INCLUDE_DIRS} ${rcl_interfaces_INCLUDE_DIRS}
${rclcpp_lifecycle_INCLUDE_DIRS} ${lifecycle_msgs_INCLUDE_DIRS})
include_directories(${INCLUDE_DIRS})

set(dependencies
tf2
tf2_geometry_msgs
rclcpp
std_srvs
sensor_msgs
std_msgs
rcl_interfaces
rclcpp_lifecycle
lifecycle_msgs
)
ament_target_dependencies(witmotion_ros ${dependencies})

find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()


set(LIBRARY_DIRS ${ament_cmake_LIBRARIES} ${tf2_LIBRARIES}
${tf2_geometry_msgs_LIBRARIES} ${rclcpp_LIBRARIES} ${std_srvs_LIBRARIES}
${sensor_msgs_LIBRARIES} ${geometry_msgs_LIBRARIES}
${nav_msgs_LIBRARIES} ${rosgraph_msgs_LIBRARIES}
${std_msgs_LIBRARIES} ${Qt5Core_LIBRARIES} ${Qt5SerialPort_LIBRARIES} ${rcl_interfaces_LIBRARIES} ${rclcpp_lifecycle_LIBRARIES} ${lifecycle_msgs_LIBRARIES})

#target_link_libraries(another PUBLIC one)
set(LIBS ${ament_cmake_LIBRARIES} ${tf2_LIBRARIES}
${tf2_geometry_msgs_LIBRARIES} ${rclcpp_LIBRARIES} ${std_srvs_LIBRARIES}
${sensor_msgs_LIBRARIES} ${geometry_msgs_LIBRARIES}
${nav_msgs_LIBRARIES} ${rosgraph_msgs_LIBRARIES}
${std_msgs_LIBRARIES} ${Qt5Core_LIBRARIES} ${Qt5SerialPort_LIBRARIES} ${rcl_interfaces_LIBRARIES} ${rclcpp_lifecycle_LIBRARIES} ${lifecycle_msgs_LIBRARIES})

target_link_libraries(witmotion_ros ${LIBRARY_DIRS} witmotion-uart Qt5::Core Qt5::SerialPort)


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18 changes: 16 additions & 2 deletions package.xml
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Expand Up @@ -3,11 +3,25 @@
<package format="3">
<name>witmotion_ros</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<description>Witmotion IMU sensor driver for ROS</description>
<maintainer email="[email protected]">pi</maintainer>
<license>TODO: License declaration</license>
<license>MIT</license>

<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>ament_cmake_auto</buildtool_depend>

<depend>tf2_geometry_msgs</depend>
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add depend to ensure rosdep can install all required dependencies

<depend>rclcpp</depend>
<depend>std_srvs</depend>
<depend>rcl_interfaces</depend>
<depend>rclcpp_lifecycle</depend>
<depend>lifecycle_msgs</depend>
<depend>qtbase5-dev</depend>
<depend>libqt5-serialport</depend>
<depend>boost</depend>
<depend>nav_msgs</depend>
<depend>std_msgs</depend>
<depend>tf2</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
Expand Down
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