building for humble/jazzy and for amd64/arm64

.github/workflows/publish.yaml

@@ -16,7 +16,13 @@ jobs:
       matrix:
         include:
           - ros_distro: humble
+            runner: ubuntu-latest
           - ros_distro: jazzy
+            runner: ubuntu-latest
+          - ros_distro: humble
+            runner: ubuntu-24.04-arm64
+          - ros_distro: jazzy
+            runner: ubuntu-24.04-arm64
 
     steps:
 
@@ -27,7 +33,8 @@ jobs:
 
     - name: Render snapcraft.yaml
       run: |
-        pip install jinja2
+        sudo apt update 
+        sudo apt install python3-jinja2
         export ROS_DISTRO=${{ matrix.ros_distro }}
         ./render_template.py ./snapcraft_template.yaml.jinja2 snap/snapcraft.yaml
 

justfile

@@ -60,7 +60,9 @@ iterate target="humble":
     fi
 
     snapcraft clean
+    sudo rm -rf snap/snapcraft.yaml
     ./render_template.py ./snapcraft_template.yaml.jinja2 snap/snapcraft.yaml
+    chmod 444 snap/snapcraft.yaml
     snapcraft
 
     unsquashfs husarion-depthai*.snap

snap/snapcraft.yaml

@@ -40,7 +40,7 @@ description: |
 
 grade: stable
 confinement: strict
-base: core22
+base: core24
 
 contact: https://github.com/husarion/depthai-snap/issues
 issues: https://github.com/husarion/depthai-snap/issues
@@ -50,23 +50,13 @@ slots:
   shm-slot:
     interface: shared-memory
     write: ['*'] # paths are relative to /dev/shm
-  # c189-slot:
-  #   interface: custom-device
-  #   custom-device: c189
-  #   files:
-  #     write:
-  #       - /run/udev/data/c189:*
 
 plugs:
   shm-plug:
     interface: shared-memory
     shared-memory: shm-slot
     private: false
 
-  # c189-plug:
-  #   interface: custom-device
-  #   custom-device: c189
-
 apps:
 
   daemon:
@@ -76,7 +66,7 @@ apps:
     install-mode: enable
     plugs: [network, network-bind, shm-plug, raw-usb]
     slots: [shm-slot]
-    extensions: [ros2-humble-ros-base]
+    extensions: [ros2-jazzy-ros-base]
 
   husarion-depthai:
     command: usr/bin/launcher.sh
@@ -85,7 +75,7 @@ apps:
     # plugs: [network, network-bind, shm-plug, raw-usb, system-observe, hardware-observe, network-control, network-observe, camera, browser-support]
     # block-devices, 
     slots: [shm-slot]
-    extensions: [ros2-humble-ros-base]
+    extensions: [ros2-jazzy-ros-base]
 
   start:
     command: usr/bin/start_launcher.sh
@@ -99,24 +89,35 @@ apps:
 parts:
 
   husarion-depthai:
-    plugin: nil
-    stage-packages:
-      - ros-humble-depthai-ros
-      - ros-humble-image-transport
-      - ros-humble-image-transport-plugins
+    plugin: colcon
+    source: https://github.com/luxonis/depthai-ros.git
+    source-branch: jazzy
+    build-packages: 
+      - python3-vcstool
+    stage-packages: 
+      - ros-jazzy-image-transport
+      - ros-jazzy-image-transport-plugins
       # https://index.ros.org/p/ffmpeg_image_transport/github-ros-misc-utilities-ffmpeg_image_transport/#humble
-      - ros-humble-ffmpeg-image-transport
+      - ros-jazzy-ffmpeg-image-transport
       - ffmpeg
-      - ros-humble-cv-bridge
+      - ros-jazzy-cv-bridge
       # needed to run ffmpeg without errors:
       - libpulse-dev
       - libblas3
       - libjpeg-turbo8-dev
-    override-stage: |
+      - ros-jazzy-rmw-cyclonedds-cpp
+    override-pull: |
       craftctl default
-      version="$(apt-cache policy ros-humble-depthai-ros-driver | grep Candidate | awk '{print $2}')"
+
+      # Set the snap version from the git tag
+      # The grade is set to 'stable' if the latest entry in the git history
+      # is the tag itself, otherwise set to devel
+      version="$(git describe --always --tags| sed -e 's/^v//;s/-/+git/;y/-/./')"
+      [ -n "$(echo $version | grep "+git")" ] && grade=devel || grade=stable
       craftctl set version="$version"
-      craftctl set grade="stable"
+      craftctl set grade="$grade"
+
+  
 
   local-files:
     plugin: dump

snapcraft_template.yaml.jinja2

@@ -50,23 +50,13 @@ slots:
   shm-slot:
     interface: shared-memory
     write: ['*'] # paths are relative to /dev/shm
-  # c189-slot:
-  #   interface: custom-device
-  #   custom-device: c189
-  #   files:
-  #     write:
-  #       - /run/udev/data/c189:*
 
 plugs:
   shm-plug:
     interface: shared-memory
     shared-memory: shm-slot
     private: false
 
-  # c189-plug:
-  #   interface: custom-device
-  #   custom-device: c189
-
 apps:
 
   daemon:
@@ -99,6 +89,37 @@ apps:
 parts:
 
   husarion-depthai:
+    plugin: colcon
+    source: https://github.com/luxonis/depthai-ros.git
+    source-branch: {{ ros_distro }}
+    build-packages: 
+      - python3-vcstool
+    stage-packages: 
+      - ros-{{ ros_distro }}-image-transport
+      - ros-{{ ros_distro }}-image-transport-plugins
+      # https://index.ros.org/p/ffmpeg_image_transport/github-ros-misc-utilities-ffmpeg_image_transport/#humble
+      - ros-{{ ros_distro }}-ffmpeg-image-transport
+      - ffmpeg
+      - ros-{{ ros_distro }}-cv-bridge
+      # needed to run ffmpeg without errors:
+      - libpulse-dev
+      - libblas3
+      - libjpeg-turbo8-dev
+      - ros-{{ ros_distro }}-rmw-cyclonedds-cpp
+    override-pull: |
+      craftctl default
+
+      # Set the snap version from the git tag
+      # The grade is set to 'stable' if the latest entry in the git history
+      # is the tag itself, otherwise set to devel
+      version="$(git describe --always --tags| sed -e 's/^v//;s/-/+git/;y/-/./')"
+      [ -n "$(echo $version | grep "+git")" ] && grade=devel || grade=stable
+      craftctl set version="$version"
+      craftctl set grade="$grade"
+
+  {#
+    # uncomment when depthai-ros package for jazzy is available here: https://index.ros.org/search/?term=depthai
+    husarion-depthai:
     plugin: nil
     stage-packages:
       - ros-{{ ros_distro }}-depthai-ros
@@ -116,7 +137,7 @@ parts:
       craftctl default
       version="$(apt-cache policy ros-{{ ros_distro }}-depthai-ros-driver | grep Candidate | awk '{print $2}')"
       craftctl set version="$version"
-      craftctl set grade="stable"
+      craftctl set grade="stable" #}
 
   local-files:
     plugin: dump