Whitelist packages #6
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* Adds cmake file that parses package include resp. exclude list * Filtering cmake dependencies based on include/exclude list ros2#284 Signed-off-by: norro <[email protected]> Co-authored-by: James Prestwood <[email protected]>
* CMake passes package include/ignore lists to python scripts generating the bridge c++ code * Generation of factories and mappings restricted to packages filtered by include/ignore lists ros2#284 Signed-off-by: norro <[email protected]> Co-authored-by: James Prestwood <[email protected]>
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Based on ros2#294 but applied to our local branch |
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So at the moment the only open issue here is how exactly we provide the list of packages. At the moment I'm doing this very crudely with an ansible task: But we need a better option for building the bundle. Open to any ideas. |
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Gonna let the experts review this one. I'm not clear on how this package finds all the relevant message packages and does its job, so I don't want to give an inaccurate review. |
I think the best way is to list them as in package.xml (which you will need regardless, for colcon/tailor to work properly), and then scrape the package xml using the catkin_pkg library (which supports ROS2 package.xmls as well :) during the build. single source of truth! |
My concern with this is we would then be adding (potentially) both ROS1 and ROS2 packages to package.xml. I'm not sure what the implications of that are? I would think rosdep isn't going to be happy if a package exists in ROS1 but not ROS2. |
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Sorry didn't see your comment @jprestwo, but yeah, ROS1 packages are effectively 'invisible' to the ROS2 dependency tree in package.xml |
| pkg = parse_package("package.xml") | ||
| packages = [] | ||
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| for depend in pkg["build_depends"]: |
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so, package.xml here still has a group_depends, for CI purposes could you replace it with a dependency on the message packages you want?
the only ros1_bridge config we have in devel right now i'm aware of are:
https://github.com/locusrobotics/locus_bots/blob/67717d6ec10ebf71c9e015b0585185e43fe7a9cc/origin_common/origin_autonomy/config/ros1_bridge.yaml#L11
https://github.com/locusrobotics/locus_bots/blob/67717d6ec10ebf71c9e015b0585185e43fe7a9cc/omni_common/omni_autonomy/config/ros1_bridge.yaml#L19
though @ayrton04 might have more he wants to bridge over.
Also I think group_depends decodes to a not a <build_depends>, but I can't think of a reason why ros1_bridge would need to on message packages. This may have just been a question of convenience in not have to create <group_build_depends> and etc.
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GS and wifi data topics should be all I need for now.
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@paulbovbel yeah I just left package.xml as-is for the context of this PR. But where are groups even defined? I don't really have a preference if we do it via <build_depends> or <group_depends>, but I just don't know where to add packages to the latter (group).
The prior mechanism to generate an ignore/include list was to use a static file at the workspace root. This doesn't play very well with our build system so instead use package.xml. Any <build_depend> package will now be included in the ros1_bridge build. This is done using a simple python script to parse package.xml which is then called by cmake (stdout of the script is the list). We then feed that list into a modified filter_packages() function that takes a list of include/ignore packages rather than using the static list.
The former is deprecated and the build was warning of this.
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* Introduces package include and exclude lists * Adds cmake file that parses package include resp. exclude list * Filtering cmake dependencies based on include/exclude list ros2#284 Signed-off-by: norro <[email protected]> Co-authored-by: James Prestwood <[email protected]> * Passes package incl./excl. to bridge generation * CMake passes package include/ignore lists to python scripts generating the bridge c++ code * Generation of factories and mappings restricted to packages filtered by include/ignore lists ros2#284 Signed-off-by: norro <[email protected]> Co-authored-by: James Prestwood <[email protected]> * Create package whitelist from package.xml The prior mechanism to generate an ignore/include list was to use a static file at the workspace root. This doesn't play very well with our build system so instead use package.xml. Any <build_depend> package will now be included in the ros1_bridge build. This is done using a simple python script to parse package.xml which is then called by cmake (stdout of the script is the list). We then feed that list into a modified filter_packages() function that takes a list of include/ignore packages rather than using the static list. * Replace rosidl_cmake with rosidl_common The former is deprecated and the build was warning of this. --------- Signed-off-by: norro <[email protected]> Co-authored-by: norro <[email protected]>
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