Merge pull request #111 from tiiuae/build6.1

Build 6.1
tiiuae · Mar 25, 2022 · 6badfdd · 6badfdd
2 parents 3360644 + f18198b
commit 6badfdd
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Showing 16 changed files with 108 additions and 12 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -88,3 +88,21 @@
 [submodule "ros2_ws/src/mission-data-recorder"]
 	path = ros2_ws/src/mission-data-recorder
 	url = ../mission-data-recorder.git
+[submodule "ros2_ws/src/proxyapp_sros"]
+	path = ros2_ws/src/proxyapp_sros
+	url = ../proxyapp_sros.git
+[submodule "ros2_ws/src/Fast-CDR"]
+	path = ros2_ws/src/Fast-CDR
+	url = ../Fast-CDR.git
+[submodule "ros2_ws/src/Fast-DDS"]
+	path = ros2_ws/src/Fast-DDS
+	url = ../Fast-DDS.git
+[submodule "ros2_ws/src/foonathan_memory_vendor"]
+	path = ros2_ws/src/foonathan_memory_vendor
+	url = ../foonathan_memory_vendor.git
+[submodule "ros2_ws/src/rosidl_typesupport_fastrtps"]
+	path = ros2_ws/src/rosidl_typesupport_fastrtps
+	url = ../rosidl_typesupport_fastrtps.git
+[submodule "ros2_ws/src/rmw_fastrtps"]
+	path = ros2_ws/src/rmw_fastrtps
+	url = ../rmw_fastrtps.git
diff --git a/fogsw_configs b/fogsw_configs
diff --git a/packaging/package_ros.sh b/packaging/package_ros.sh
@@ -184,3 +184,54 @@ popd
 pushd ../ros2_ws/src/mocap_pose
   _make_ros_deb "mocap-pose"
 popd
+
+pushd ../ros2_ws/src/foonathan_memory_vendor
+  _make_ros_deb "foonathan-memory-vendor"
+popd
+
+pushd ../ros2_ws/src/Fast-CDR
+  _make_ros_deb "fastcdr"
+  rm -rf debian obj-x86_64-linux-gnu
+popd
+
+pushd ../ros2_ws/src/Fast-DDS
+  _make_ros_deb "fastrtps"
+  rm -rf debian obj-x86_64-linux-gnu
+popd
+
+pushd ../ros2_ws/src/rmw_fastrtps/rmw_fastrtps_cpp
+  _make_ros_deb "rmw-fastrtps-cpp"
+  rm -rf debian obj-x86_64-linux-gnu
+popd
+
+pushd ../ros2_ws/src/rmw_fastrtps/rmw_fastrtps_dynamic_cpp
+  _make_ros_deb "rmw-fastrtps-dynamic-cpp"
+  rm -rf debian obj-x86_64-linux-gnu
+popd
+
+pushd ../ros2_ws/src/rmw_fastrtps/rmw_fastrtps_shared_cpp
+  _make_ros_deb "rmw-fastrtps-shared-cpp"
+  rm -rf debian obj-x86_64-linux-gnu
+popd
+
+pushd ../ros2_ws/src/rosidl_typesupport_fastrtps/fastrtps_cmake_module
+  _make_ros_deb "fastrtps-cmake-module"
+  rm -rf debian obj-x86_64-linux-gnu
+popd
+
+pushd ../ros2_ws/src/rosidl_typesupport_fastrtps/rosidl_typesupport_fastrtps_c
+  _make_ros_deb "rosidl-typesupport-fastrtps-c"
+  rm -rf debian obj-x86_64-linux-gnu
+popd
+
+pushd ../ros2_ws/src/rosidl_typesupport_fastrtps/rosidl_typesupport_fastrtps_cpp
+  _make_ros_deb "rosidl-typesupport-fastrtps-cpp"
+  rm -rf debian obj-x86_64-linux-gnu
+popd
+
+pushd ../ros2_ws/src/proxyapp_sros
+  _make_ros_deb "proxyapp"
+  rm -rf debian obj-x86_64-linux-gnu
+popd
+
+exit 0
diff --git a/provisioning-agent b/provisioning-agent
diff --git a/ros2_ws/src/Fast-CDR b/ros2_ws/src/Fast-CDR
diff --git a/ros2_ws/src/Fast-DDS b/ros2_ws/src/Fast-DDS
diff --git a/ros2_ws/src/depthai_ctrl b/ros2_ws/src/depthai_ctrl
diff --git a/ros2_ws/src/foonathan_memory_vendor b/ros2_ws/src/foonathan_memory_vendor
diff --git a/ros2_ws/src/mocap_pose b/ros2_ws/src/mocap_pose
diff --git a/ros2_ws/src/proxyapp_sros b/ros2_ws/src/proxyapp_sros
diff --git a/ros2_ws/src/px4_ros_com b/ros2_ws/src/px4_ros_com
diff --git a/ros2_ws/src/rmw_fastrtps b/ros2_ws/src/rmw_fastrtps
diff --git a/ros2_ws/src/rosidl_typesupport_fastrtps b/ros2_ws/src/rosidl_typesupport_fastrtps
diff --git a/ros2_ws/src/update-agent b/ros2_ws/src/update-agent
diff --git a/systemd b/systemd
diff --git a/update_dependencies.sh b/update_dependencies.sh
@@ -71,11 +71,10 @@ sudo apt install -y \
     ros-${ROS_DISTRO_}-dynamic-edt-3d \
     ros-${ROS_DISTRO_}-gazebo-ros \
     ros-${ROS_DISTRO_}-rmw-dds-common \
-    ros-${ROS_DISTRO_}-rmw-fastrtps-cpp \
-    ros-${ROS_DISTRO_}-rmw-fastrtps-shared-cpp \
     ros-${ROS_DISTRO_}-rmw-implementation \
-    ros-${ROS_DISTRO_}-rosidl-typesupport-fastrtps-cpp \
-    ros-${ROS_DISTRO_}-rosidl-typesupport-fastrtps-c \
+    ros-${ROS_DISTRO_}-osrf-testing-tools-cpp \
+    ros-${ROS_DISTRO_}-test-msgs \
+    ros-${ROS_DISTRO_}-performance-test-fixture \
     kernel-package \
     libncurses-dev \
     gawk \
@@ -94,7 +93,12 @@ sudo apt install -y \
     libpcsclite-dev \
     libnl-genl-3-dev \
     libreadline-dev \
-    docbook-to-man
+    docbook-to-man \
+    libasio-dev \
+    libengine-pkcs11-openssl \
+    libp11-dev \
+    libssl-dev \
+    libtinyxml2-dev
 
 curl -L https://go.dev/dl/go${GO_VERSION}.linux-amd64.tar.gz \
 | tar -xzC /usr/local
@@ -104,6 +108,23 @@ pip3 install --user pyros-genmsg
 curl -LO https://ssrc.jfrog.io/artifactory/ssrc-debian-release-remote/mavsdk_0.42.0_ubuntu20.04_amd64.deb
 sudo dpkg -i mavsdk_0.42.0_ubuntu20.04_amd64.deb
 
+# Packages needed in SROS + PKCS#11.
+SROS_PKCS11_PKGS=(
+  ros-${ROS_DISTRO_}-foonathan-memory-vendor_1.1.0-4~git20220310.bbb8a5c_amd64.deb
+  ros-${ROS_DISTRO_}-fastcdr_1.0.20-5~git20220310.f65f034_amd64.deb
+  ros-${ROS_DISTRO_}-fastrtps_2.5.0-7~git20220310.4ca1f95_amd64.deb
+  ros-${ROS_DISTRO_}-fastrtps-cmake-module_1.2.1-6~git20220310.67ed436_amd64.deb
+  ros-${ROS_DISTRO_}-rmw-fastrtps-shared-cpp_5.0.0-7~git20220310.8684e20_amd64.deb
+  ros-${ROS_DISTRO_}-rosidl-typesupport-fastrtps-cpp_1.2.1-6~git20220310.67ed436_amd64.deb
+  ros-${ROS_DISTRO_}-rosidl-typesupport-fastrtps-c_1.2.1-6~git20220310.67ed436_amd64.deb
+  ros-${ROS_DISTRO_}-px4-msgs_3.0.0-15~git20220104.c12fcdf_amd64.deb
+  ros-${ROS_DISTRO_}-fog-msgs_0.0.8-42~git20220104.1d2cf3f_amd64.deb
+)
+for PKG in "${SROS_PKCS11_PKGS[@]}"; do
+  curl -LO https://ssrc.jfrog.io/artifactory/ssrc-debian-public-remote/$PKG
+  sudo dpkg -i $PKG
+done
+
 # The following lines will make the substitution of ROS_DISTRO_ variable in rosdep_template.yaml.
 rm -rf rosdep.yaml tmp.yaml
 ( echo "cat <<EOF >rosdep.yaml";
+5 −14		.github/workflows/main.yaml
+76 −0		.github/workflows/tii-depthai-ctrl.yaml
+2 −0		Dockerfile
+1 −0		Dockerfile.build_env
+4 −4		README.md
+1 −1		entrypoint.sh
+1 −1		host/debian/control
+1 −1		host/package.sh
+4 −2		include/depthai_camera.h
+1 −1		package.xml
+9 −1		src/depthai_camera.cpp
+1 −1		src/depthai_gstreamer.cpp
+3 −3		tasks.py
+9 −29		.github/workflows/main.yaml
+2 −2		.github/workflows/tii-micrortps-agent.yaml
+53 −0		DEFAULT_FASTRTPS_PROFILES.xml
+1 −0		Dockerfile
+4 −0		Dockerfile.build_env
+1 −1		build.sh
+1 −1		entrypoint.sh
+3 −3		tasks.py
+7 −16		.github/workflows/main.yaml
+1 −1		system/depthai_ctrl.service
+1 −1		system/depthai_gstreamer_node.service