Patch cargo toolchain for noble

.github/workflows/build.yaml

@@ -11,6 +11,7 @@ jobs:
   test:
     runs-on: ubuntu-latest
     strategy:
+      fail-fast: false
       matrix:
         docker_image: ['ros:iron-ros-base', 'ros:rolling-ros-base']
     container:
@@ -21,7 +22,7 @@ jobs:
       run: |
         apt update && apt install -y curl
     - name: Setup Rust
-      uses: dtolnay/rust-toolchain@stable
+      uses: dtolnay/rust-toolchain@1.75.0
     - uses: actions/checkout@v2
     - name: rosdep
       run: |

.github/workflows/style.yaml

@@ -10,6 +10,7 @@ jobs:
   test:
     runs-on: ubuntu-latest
     strategy:
+      fail-fast: false
       matrix:
         docker_image: ['ros:iron-ros-base', 'ros:rolling-ros-base']
     container:

.github/workflows/tmp_build_noble.yaml

@@ -0,0 +1,36 @@
+name: build_noble
+on:
+  pull_request:
+  push:
+    branches: [ rolling ]
+  workflow_dispatch:
+defaults:
+  run:
+    shell: bash
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        docker_image: ['ubuntu:noble-20240225']
+    container:
+      image: ${{ matrix.docker_image }}
+    timeout-minutes: 30
+    steps:
+    - name: Setup rolling
+      run: |
+        apt update && apt install curl -y
+        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+        apt update && apt install ros-dev-tools -y
+        apt install ros-rolling-ros-base -y
+    - uses: actions/checkout@v2
+    - name: rosdep
+      run: |
+        rosdep init
+        rosdep update
+        rosdep install --from-paths . --rosdistro rolling -yir
+    - name: build
+      run: |
+        source /opt/ros/rolling/setup.bash
+        colcon build

README.md

@@ -15,10 +15,12 @@ For information about the Design please visit [design](docs/design.md) page.
 
 ## Setup
 
-Install latest rustc.
-> Note: The version of rustc that can be installed via apt is outdated.
+Install latest rustc via `rustup` if building on Ubuntu Jammy.
+Skip this step if building on Ubuntu Noble as `cargo` and `rustc` will be
+installed via `rosdep`.
 ```bash
 curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
+rustup install 1.75.0
 ```
 
 Build `rmw_zenoh_cpp`

zenoh_c_vendor/CMakeLists.txt

@@ -24,13 +24,29 @@ find_package(ament_cmake_vendor_package REQUIRED)
 # when expanded.
 set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/transport_tcp zenoh/shared-memory")
 
+# Always force rustc 1.75.0.
+# This this is default version of rustc available via apt in Ubuntu Noble.
+# We explictly use the +1.75.0 toolchain when building on Ubuntu Jammy.
+set(ZENOHC_CARGO_CHANNEL "1.75.0")
+
+# Apply the patch the zenoh-c CMakeLists.txt only if building an ROS 2 version
+# newer than Iron. The patch removes the ability to set ZENOHC_CARGO_CHANNEL
+# via cmake args
+set(pathces "")
+string(SUBSTRING "$ENV{ROS_DISTRO}" 0 1 first_char)
+if("${first_char}" STRGREATER "i")
+  set(patches "patches")
+endif()
+
 # Set VCS_VERSION to include changes from https://github.com/eclipse-zenoh/zenoh/pull/802
 # which was synced to zenoh-c in https://github.com/eclipse-zenoh/zenoh-c/pull/272.
 ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
   VCS_VERSION 10176b911096cb92b8ee46bc491b78079ee26c20
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
+    "-DZENOHC_CARGO_CHANNEL=${ZENOHC_CARGO_CHANNEL}"
+  PATCHES patches
 )
 
 # set(INSTALL_DIR "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-prefix/install")

zenoh_c_vendor/package.xml

@@ -12,7 +12,8 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
 
-  <!-- <build_depend>cargo</build_depend> -->
+  <!-- TODO(Yadunund) switch condition such that it checks if $ROS_DISTRO[0] > 'i' -->
+  <build_depend condition="$ROS_DISTRO == rolling">cargo</build_depend>
   <build_depend>clang</build_depend>
 
   <export>

zenoh_c_vendor/patches/cargo_toolchain.patch

@@ -0,0 +1,56 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 00aa5ca..eacd7d6 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -27,7 +27,6 @@ declare_cache_var_true_if_vscode(ZENOHC_BUILD_IN_SOURCE_TREE "Do build inside so
+ declare_cache_var(ZENOHC_BUILD_WITH_LOGGER_AUTOINIT TRUE BOOL "Enable logger-autoinit zenoh-c feature")
+ declare_cache_var(ZENOHC_BUILD_WITH_SHARED_MEMORY TRUE BOOL "Enable shared-memory zenoh-c feature")
+ declare_cache_var(ZENOHC_CUSTOM_TARGET "" STRING "Rust target for cross compilation, 'aarch64-unknown-linux-gnu' for example")
+-declare_cache_var(ZENOHC_CARGO_CHANNEL "stable" STRING "Cargo channel selected: stable or nightly")
+ declare_cache_var(ZENOHC_CARGO_FLAGS "" STRING "Additional cargo flags")
+ declare_cache_var(ZENOHC_LIB_STATIC FALSE BOOL "Alias zenohc::lib target to zenohc::static if TRUE, to zenohc::shared if FALSE")
+
+@@ -47,9 +46,9 @@ status_print(project_version)
+ #
+ # There are 3 possible variants of placement generated Cargo.toml files:
+ # 1. Build in source tree (in IDE usually), using single config generator (Ninja, Makefiles)
+-#    
++#
+ #    In this case Cargo.toml is placed at the root of source tree to make it visible for rust-analyzer. When release or debug
+-#    configuration is selected, Cargo.toml is updated accordingly 
++#    configuration is selected, Cargo.toml is updated accordingly
+ #
+ # 2. Build in source tree (in IDE usually), using multi config generator (Visual Studio, Ninja Multi-Config)
+ #
+@@ -112,7 +111,7 @@ function(configure_cargo_toml cargo_toml_dir CARGO_PROJECT_VERSION CARGO_LIB_NAM
+ 			${CMAKE_CURRENT_SOURCE_DIR}/Cargo.lock
+ 			${CMAKE_CURRENT_SOURCE_DIR}/rust-toolchain.toml
+ 			DESTINATION ${cargo_toml_dir})
+-	endif()	
++	endif()
+ 	configure_file("${CMAKE_CURRENT_SOURCE_DIR}/Cargo.toml.in" "${cargo_toml_dir}/Cargo.toml" @ONLY)
+ endfunction()
+
+@@ -173,9 +172,9 @@ set_genexpr_condition(libs DEBUG $<CONFIG:Debug> "${libsd}" "${libsr}")
+ #
+
+ # Combine "--release" and "--manifest-path" options under DEBUG condition to avoid passing empty parameter to cargo command line in `add_custom_command`, causing build failure
+-# This empty item ($<IF:$<CONFIG:Debug>;,--release>) can't be filtered out by `list(FILTER ...)` because it becomes empty only on 
++# This empty item ($<IF:$<CONFIG:Debug>;,--release>) can't be filtered out by `list(FILTER ...)` because it becomes empty only on
+ # build stage when generator expressions are evaluated.
+-set_genexpr_condition(cargo_flags DEBUG $<CONFIG:Debug> 
++set_genexpr_condition(cargo_flags DEBUG $<CONFIG:Debug>
+ 	"--manifest-path=${cargo_toml_dir_debug}/Cargo.toml"
+ 	"--release;--manifest-path=${cargo_toml_dir_release}/Cargo.toml")
+ set(cargo_flags ${cargo_flags} ${ZENOHC_CARGO_FLAGS})
+@@ -198,8 +197,8 @@ file(GLOB_RECURSE rust_sources "Cargo.toml.in" "src/*.rs" "build.rs" "splitguide
+ add_custom_command(
+ 	OUTPUT ${libs}
+ 	COMMAND ${CMAKE_COMMAND} -E echo \"RUSTFLAGS = $$RUSTFLAGS\"
+-	COMMAND ${CMAKE_COMMAND} -E echo \"cargo +${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}\"
+-	COMMAND cargo +${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}
++	COMMAND ${CMAKE_COMMAND} -E echo \"cargo build ${cargo_flags}\"
++	COMMAND cargo build ${cargo_flags}
+ 	VERBATIM
+ 	COMMAND_EXPAND_LISTS
+ 	DEPENDS "${rust_sources}"