Fixes

husarion · Nov 29, 2024 · 901ff91 · 901ff91
1 parent 40afbf6
commit 901ff91
Show file tree

Hide file tree

Showing 5 changed files with 64 additions and 64 deletions.
diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
@@ -1,55 +1,56 @@
 ---
-name: Run Tests
+  name: Run Tests
 
-on:
-  workflow_call:
-  workflow_dispatch:
+  on:
+    workflow_call:
+    workflow_dispatch:
 
-jobs:
-  black:
-    name: Black
-    runs-on: ubuntu-24.04
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-      - name: Black
-        uses: psf/[email protected]
-        with:
-          options: --line-length=99
+  jobs:
+    black:
+      name: Black
+      runs-on: ubuntu-24.04
+      steps:
+        - name: Checkout
+          uses: actions/checkout@v3
+        - name: Black
+          uses: psf/[email protected]
+          with:
+            options: --line-length=99
 
-  industrial_ci:
-    name: Industrial CI
-    runs-on: ubuntu-24.04
-    timeout-minutes: 30
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [jazzy]
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
+    industrial_ci:
+      name: Industrial CI
+      runs-on: ubuntu-24.04
+      timeout-minutes: 30
+      strategy:
+        fail-fast: false
+        matrix:
+          ROS_DISTRO: [jazzy]
+      steps:
+        - name: Checkout
+          uses: actions/checkout@v3
 
-      - name: Setup ROS2 Workspace and Clone Repositories
-        run: |
-          mkdir -p src
-          find . -maxdepth 1 -not -name src -not -name . -exec mv {} src/ \;
-          python3 -m pip install -U vcstool
-          vcs import src < src/rosbot/rosbot_hardware.repos
-          vcs import src < src/rosbot/rosbot_simulation.repos
-          cp -r src/ros2_controllers/imu_sensor_broadcaster src/
-          rm -rf src/ros2_controllers
+        - name: Setup ROS2 Workspace and Clone Repositories
+          run: |
+            mkdir -p src
+            find . -maxdepth 1 -not -name src -not -name . -exec mv {} src/ \;
+            python3 -m pip install -U vcstool
+            vcs import src < src/rosbot/rosbot_hardware.repos
+            vcs import src < src/rosbot/rosbot_simulation.repos
+            cp -r src/ros2_controllers/imu_sensor_broadcaster src/
+            rm -rf src/ros2_controllers
 
-        # Package micro_ros_msgs does not have industrial ci and tests does not pass.
-        # For more information see https://github.com/micro-ROS/micro_ros_msgs/issues/7
-      - name: Leave only ROSbot tests
-        shell: bash
-        run: |
-          sed '/if(BUILD_TESTING)/,/endif()/d' src/imu_sensor_broadcaster/CMakeLists.txt -i
-          sed '/if(BUILD_TESTING)/,/endif()/d' src/micro_ros_msgs/CMakeLists.txt -i
+          # Package micro_ros_msgs does not have industrial ci and tests does not pass.
+          # For more information see https://github.com/micro-ROS/micro_ros_msgs/issues/7
+        - name: Leave only ROSbot tests
+          shell: bash
+          run: |
+            sed '/if(BUILD_TESTING)/,/endif()/d' src/imu_sensor_broadcaster/CMakeLists.txt -i
+            sed '/if(BUILD_TESTING)/,/endif()/d' src/micro_ros_msgs/CMakeLists.txt -i
 
-      - name: Running ROS Industrial CI
-        uses: ros-industrial/industrial_ci@master
-        env:
-          ROS_DISTRO: ${{matrix.ROS_DISTRO}}
-          DOCKER_IMAGE: ros:${{matrix.ROS_DISTRO}}-ros-base
-          IMMEDIATE_TEST_OUTPUT: true
+        - name: Running ROS Industrial CI
+          uses: ros-industrial/industrial_ci@master
+          env:
+            PIP_BREAK_SYSTEM_PACKAGES: 1
+            ROS_DISTRO: ${{matrix.ROS_DISTRO}}
+            DOCKER_IMAGE: ros:${{matrix.ROS_DISTRO}}-ros-base
+            IMMEDIATE_TEST_OUTPUT: true
diff --git a/docker/Dockerfile.hardware b/docker/Dockerfile.hardware
@@ -5,6 +5,7 @@ FROM husarnet/ros:${ROS_DISTRO}-ros-core
 WORKDIR /ros2_ws
 
 ENV HUSARION_ROS_BUILD_TYPE=hardware
+ENV PIP_BREAK_SYSTEM_PACKAGES=1
 
 COPY .. src/rosbot_ros
 

diff --git a/docker/Dockerfile.simulation b/docker/Dockerfile.simulation
@@ -5,6 +5,7 @@ FROM husarnet/ros:${ROS_DISTRO}-ros-core
 WORKDIR /ros2_ws
 
 ENV HUSARION_ROS_BUILD_TYPE=simulation
+ENV PIP_BREAK_SYSTEM_PACKAGES=1
 
 COPY .. src/rosbot_ros
 
@@ -16,7 +17,7 @@ RUN apt-get update && apt-get install -y \
     # Setup workspace
     vcs import src < src/rosbot_ros/rosbot/rosbot_hardware.repos && \
     vcs import src < src/rosbot_ros/rosbot/rosbot_simulation.repos && \
-    cp -r src/ros2_controllers/imu_sensor_broadcaster src && rm -rf src/ros2_controllers && \
+    rm -rf src/ros2_controllers && \
     # Install dependencies
     rosdep init && \
     rosdep update --rosdistro $ROS_DISTRO && \

diff --git a/rosbot_gazebo/config/gz_remappings.yaml b/rosbot_gazebo/config/gz_remappings.yaml
@@ -1,61 +1,61 @@
 ---
   - topic_name: /clock
     ros_type_name: rosgraph_msgs/msg/Clock
-    gz_type_name: ignition.msgs.Clock
+    gz_type_name: gz.msgs.Clock
     direction: GZ_TO_ROS
 
   - topic_name: <robot_namespace>/cmd_vel
     ros_type_name: geometry_msgs/msg/Twist
-    gz_type_name: ignition.msgs.Twist
+    gz_type_name: gz.msgs.Twist
     direction: GZ_TO_ROS
 
   - topic_name: <robot_namespace>/scan
     ros_type_name: sensor_msgs/msg/LaserScan
-    gz_type_name: ignition.msgs.LaserScan
+    gz_type_name: gz.msgs.LaserScan
     direction: GZ_TO_ROS
 
   - topic_name: <robot_namespace>/camera/color/camera_info
     ros_type_name: sensor_msgs/msg/CameraInfo
-    gz_type_name: ignition.msgs.CameraInfo
+    gz_type_name: gz.msgs.CameraInfo
     direction: GZ_TO_ROS
 
   - topic_name: <robot_namespace>/camera/color/image_raw
     ros_type_name: sensor_msgs/msg/Image
-    gz_type_name: ignition.msgs.Image
+    gz_type_name: gz.msgs.Image
     direction: GZ_TO_ROS
 
   - topic_name: <robot_namespace>/camera/depth/camera_info
     ros_type_name: sensor_msgs/msg/CameraInfo
-    gz_type_name: ignition.msgs.CameraInfo
+    gz_type_name: gz.msgs.CameraInfo
     direction: GZ_TO_ROS
 
   - topic_name: <robot_namespace>/camera/depth/image_raw
     ros_type_name: sensor_msgs/msg/Image
-    gz_type_name: ignition.msgs.Image
+    gz_type_name: gz.msgs.Image
     direction: GZ_TO_ROS
 
   - ros_topic_name: <robot_namespace>/camera/depth/points
     gz_topic_name: <robot_namespace>/camera/depth/image_raw/points
     ros_type_name: sensor_msgs/msg/PointCloud2
-    gz_type_name: ignition.msgs.PointCloudPacked
+    gz_type_name: gz.msgs.PointCloudPacked
     direction: GZ_TO_ROS
 
   - topic_name: <robot_namespace>/range/fl
     ros_type_name: sensor_msgs/msg/LaserScan
-    gz_type_name: ignition.msgs.LaserScan
+    gz_type_name: gz.msgs.LaserScan
     direction: GZ_TO_ROS
 
   - topic_name: <robot_namespace>/range/fr
     ros_type_name: sensor_msgs/msg/LaserScan
-    gz_type_name: ignition.msgs.LaserScan
+    gz_type_name: gz.msgs.LaserScan
     direction: GZ_TO_ROS
 
   - topic_name: <robot_namespace>/range/rl
     ros_type_name: sensor_msgs/msg/LaserScan
-    gz_type_name: ignition.msgs.LaserScan
+    gz_type_name: gz.msgs.LaserScan
     direction: GZ_TO_ROS
 
   - topic_name: <robot_namespace>/range/rr
     ros_type_name: sensor_msgs/msg/LaserScan
-    gz_type_name: ignition.msgs.LaserScan
+    gz_type_name: gz.msgs.LaserScan
     direction: GZ_TO_ROS
diff --git a/rosbot_gazebo/package.xml b/rosbot_gazebo/package.xml
@@ -24,9 +24,6 @@
 
   <exec_depend>husarion_gz_worlds</exec_depend>
   <exec_depend>ros_gz_sim</exec_depend>
-  <!-- Ignition dependency is specified in the ros_gz_sim package,
-    version can chosen using GZ_VERSION (or IGNITION_VERSION) env variable,
-    for details refer to the ros_gz_sim package -->
   <exec_depend>ros_gz_bridge</exec_depend>
   <exec_depend>gz_ros2_control</exec_depend>
   <exec_depend>nav2_common</exec_depend>