Optimize for ForteFibre

.github/workflows/ansible-test.yaml

@@ -2,6 +2,7 @@ name: setup-universe
 
 on:
   pull_request:
+    types: [opened, synchronize, reopened]
 
 jobs:
   setup-universe:

ansible/roles/cuda/vars/main.yaml

@@ -1,2 +1,2 @@
 ---
-cuda__dash_case_cuda_version: '{{ cuda_version | regex_replace("\\.", "-", count=1) }}'
+cuda__dash_case_cuda_version: '{{ cuda_version | regex_replace("\.", "-") }}'

ansible/roles/docker_engine/tasks/main.yaml

@@ -35,26 +35,11 @@
     url: https://download.docker.com/linux/ubuntu/gpg
     keyring: /etc/apt/keyrings/docker.gpg
 
-- name: Save result of 'dpkg --print-architecture'
-  ansible.builtin.command: dpkg --print-architecture
-  register: docker_engine__deb_architecture
-  changed_when: false
-
-- name: Save result of 'lsb_release -cs'
-  ansible.builtin.command: lsb_release -cs
-  register: docker_engine__lsb_release_cs
-  changed_when: false
-
-- name: Save result of 'lsb_release -is'
-  ansible.builtin.command: lsb_release -is
-  register: docker_engine__lsb_release_is
-  changed_when: false
-
 # echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/$(lsb_release -is | tr '[:upper:]' '[:lower:]') $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
 - name: Add Docker apt repository to source list
   become: true
   ansible.builtin.apt_repository:
-    repo: deb [arch={{ docker_engine__deb_architecture.stdout }} signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/{{ docker_engine__lsb_release_is.stdout | lower }} {{ docker_engine__lsb_release_cs.stdout }} stable
+    repo: deb [arch={{ 'arm64' if ansible_architecture == 'aarch64' else 'amd64' }} signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/{{ ansible_distribution | lower }} {{ ansible_distribution_release }} stable
     filename: docker
     state: present
     update_cache: true

ansible/roles/rmw_implementation/defaults/main.yaml

@@ -0,0 +1,2 @@
+---
+rmw_implementation: rmw_cyclonedds_cpp

ansible/roles/rmw_implementation/tasks/main.yaml

@@ -1,26 +1,21 @@
-- name: Get dash-case name of rmw_implementation
-  ansible.builtin.shell: bash -c 'sed -e "s/_/-/g" <<< $(echo {{ rmw_implementation }})'
-  register: rmw_implementation__dash_case_rmw_implementation
-  changed_when: false
-
-- name: Hold check of ros-{{ rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout }}
+- name: Hold check of {{ rmw_implementation__package_name }}
   ansible.builtin.command: apt-mark showhold
   register: held_ros_packages
   changed_when: false
 
-- name: Install ros-{{ rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout }}
+- name: Install {{ rmw_implementation__package_name }}
   become: true
   ansible.builtin.apt:
-    name: ros-{{ rosdistro }}-{{ rmw_implementation__dash_case_rmw_implementation.stdout }}
+    name: "{{ rmw_implementation__package_name }}"
     state: latest
     update_cache: true
-  when: "'ros-' + rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout not in held_ros_packages.stdout"
+  when: "rmw_implementation__package_name not in held_ros_packages.stdout"
   register: install_result
   failed_when: false
 
 - name: Display warning if ROS 2 RMW package is held
   ansible.builtin.debug:
-    msg: ROS 2 RMW package 'ros-{{ rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout }}' is apt-mark hold. Skipping installation.
+    msg: ROS 2 RMW package '{{ rmw_implementation__package_name }}' is apt-mark hold. Skipping installation.
   when: not install_result.changed
 
 - name: Add RMW_IMPLEMENTATION to .bashrc

ansible/roles/rmw_implementation/vars/main.yaml

@@ -0,0 +1,2 @@
+---
+rmw_implementation__package_name: 'ros-{{ rosdistro }}-{{ rmw_implementation | regex_replace("_", "-") }}'

ansible/roles/ros2/tasks/main.yaml

@@ -15,21 +15,11 @@
     dest: /usr/share/keyrings/ros-archive-keyring.gpg
     mode: 644
 
-- name: Save result of 'dpkg --print-architecture'
-  ansible.builtin.command: dpkg --print-architecture
-  register: ros2__deb_architecture
-  changed_when: false
-
-- name: Save result of 'source /etc/os-release && echo $UBUNTU_CODENAME'
-  ansible.builtin.shell: bash -c 'source /etc/os-release && echo $UBUNTU_CODENAME'
-  register: ros2__ubuntu_codename
-  changed_when: false
-
 # echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 - name: Add ROS 2 apt repository to source list
   become: true
   ansible.builtin.apt_repository:
-    repo: deb [arch={{ ros2__deb_architecture.stdout }} signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu {{ ros2__ubuntu_codename.stdout }} main
+    repo: deb [arch={{ 'arm64' if ansible_architecture == 'aarch64' else 'amd64' }} signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu {{ ansible_distribution_release }} main
     filename: ros2
     state: present
     update_cache: true