jazzy support

ansible/playbook_jazzy.yml

@@ -0,0 +1,20 @@
+- hosts: localhost
+  connection: local
+  become: false
+  vars_prompt:
+    - name: package_install
+      prompt: Would you like to install the require packages[y/n]
+      default: y
+      private: false
+  pre_tasks:
+    - name: Verify OS
+      ansible.builtin.fail:
+        msg: Only Ubuntu 22.04 is supported for this branch. Please refer to https://tier4.github.io/caret_doc/latest/installation/installation/
+      when: ansible_distribution_version != '22.04'
+
+  roles:
+    - { role: lttng, tags: [lttng], when: package_install == 'y' }
+    - { role: ros-tracing, rosdistro: jazzy, tags: [ros-tracing], when: package_install == 'y' }
+    - { role: visualizer, tags: [visualizer], when: package_install == 'y' }
+    - { role: caret_jazzy, rosdistro: jazzy, tags: [caret] }
+    - { role: cyclonedds, rosdistro: jazzy, tags: [cyclonedds] }

ansible/roles/caret_jazzy/defaults/main.yml

@@ -0,0 +1,5 @@
+rosdistro: jazzy
+targeted_skip_keys: console_bridge fastcdr fastrtps rti-connext-dds-6.0.1 urdfdom_headers
+setenv_caret_script_template: setenv_caret.bash.jinja2
+caret_topic_filter_template: caret_topic_filter.bash.jinja2
+requirements_path: requirements.txt

ansible/roles/caret_jazzy/tasks/main.yml

@@ -0,0 +1,58 @@
+- name: ROS2 (check rosdep file)
+  stat:
+    path: /etc/ros/rosdep/sources.list.d/20-default.list
+  register: ros_repository
+
+- name: ROS2 (install rosdep)
+  apt:
+    name: python3-rosdep
+    state: latest
+    update_cache: true
+  become: true
+
+- name: ROS2 (initialize rosdep)
+  command: rosdep init
+  when: ros_repository.stat.exists == false
+  become: true
+
+- name: ROS2 (update rosdep)
+  command: rosdep update
+  become: false
+
+- name: caret (rosdep install dependencies)
+  shell: |
+    rosdep install -y --from-paths src --ignore-src --rosdistro {{ rosdistro }} -y --skip-keys "{{ targeted_skip_keys }}"
+  args:
+    chdir: "{{ WORKSPACE_ROOT }}"
+
+- name: caret (install some packages for build)
+  apt:
+    name:
+      - ros-{{ rosdistro }}-osrf-testing-tools-cpp
+      - ros-{{ rosdistro }}-performance-test-fixture
+      - ros-{{ rosdistro }}-mimick-vendor
+      - ros-{{ rosdistro }}-test-msgs
+      - ros-{{ rosdistro }}-cyclonedds
+  become: true
+
+- name: caret (install python module)
+  pip:
+    requirements: "{{ requirements_path }}"
+    executable: pip3
+  become: false
+  args:
+    chdir: "{{ WORKSPACE_ROOT }}"
+
+- name: caret (copy CARET setenv template as reference)
+  ansible.builtin.template:
+    src: "{{ setenv_caret_script_template }}"
+    dest: "{{ WORKSPACE_ROOT }}/setenv_caret.bash"
+    mode: 0755
+  become: false
+
+- name: caret (copy topic filter as reference)
+  ansible.builtin.template:
+    src: "{{ caret_topic_filter_template }}"
+    dest: "{{ WORKSPACE_ROOT }}/caret_topic_filter.bash"
+    mode: 0755
+  become: false

ansible/roles/caret_jazzy/templates/caret_topic_filter.bash.jinja2

@@ -0,0 +1,25 @@
+#!/bin/bash
+
+export CARET_IGNORE_NODES=\
+"\
+/rviz*\
+"
+
+export CARET_IGNORE_TOPICS=\
+"\
+/clock:\
+/parameter_events\
+"
+
+# if you want to select nodes or topics,
+# please remove comment out of the followings.
+# export CARET_SELECT_NODES=\
+# "\
+# /rviz*\
+# "
+
+# export CARET_SELECT_TOPICS=\
+# "\
+# /clock:\
+# /parameter_events\
+# "

ansible/roles/caret_jazzy/templates/setenv_caret.bash.jinja2

@@ -0,0 +1,22 @@
+#!/bin/bash
+
+source /opt/ros/{{ rosdistro }}/setup.bash
+source {{ WORKSPACE_ROOT }}/install/local_setup.bash
+source {{ WORKSPACE_ROOT }}/caret_topic_filter.bash
+
+export LD_PRELOAD=$(readlink -f {{ WORKSPACE_ROOT}}/install/caret_trace/lib/libcaret.so):$LD_PRELOAD
+
+USERNAME=$(whoami)
+ps -axo user:32,command | grep lttng-sessiond | grep $USERNAME | grep -v grep > /dev/null
+if [ $? -ne 0 ]; then
+  lttng-sessiond --daemonize
+fi
+
+# If you want to apply CARET to a large application,
+# it is recommended to increase the maximum number of
+# file descriptors to avoid data loss.
+# Execute ulimit command as below.
+# ulimit -n 16384
+
+# Add user application built with caret/rclcpp
+# source /path/to/your/application/install/setup.bash

ansible/roles/visualizer/tasks/main.yml

@@ -4,7 +4,7 @@
       - graphviz
       - graphviz-dev
     update_cache: true
-  become: true
+  become: false
 
 - name: Install caret dependent packages
   pip:

caret_jazzy.repos

@@ -0,0 +1,26 @@
+repositories:
+  CARET/caret_trace:
+    type: git
+    url: https://github.com/tier4/caret_trace.git
+    version: main
+  CARET/caret_analyze:
+    type: git
+    url: https://github.com/tier4/caret_analyze.git
+    version: main
+  CARET/caret_analyze_cpp_impl:
+    type: git
+    url: https://github.com/tier4/caret_analyze_cpp_impl.git
+    version: main
+  CARET/ros2caret:
+    type: git
+    url: https://github.com/tier4/ros2caret.git
+    version: main
+  # Dependency for CI/CD
+  CARET/caret_common:
+    type: git
+    url: https://github.com/tier4/caret_common.git
+    version: main
+  eclipse-cyclonedds/cyclonedds:
+    type: git
+    url: https://github.com/eclipse-cyclonedds/cyclonedds.git
+    version: releases/0.10.x

setup_caret.sh

@@ -14,7 +14,7 @@ function show_usage() {
     exit 0
 }
 
-ALLOWED_ROS_DISTRO=("humble" "iron")
+ALLOWED_ROS_DISTRO=("humble" "iron", "jazzy")
 
 function validate_ros_distro() {
     if [[ " ${ALLOWED_ROS_DISTRO[*]} " != *" $1 "* ]]; then
@@ -116,6 +116,8 @@ fi
 PLAYBOOK="playbook.yml"
 if [ "$ros_distro" = "iron" ]; then
     PLAYBOOK="playbook_iron.yml"
+elif [ "$ros_distro" = "jazzy" ]; then
+    PLAYBOOK="playbook_jazzy.yml"
 fi
 
 # Run ansible