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Patches and doc for GzHarmonic ros_gz creation #1003

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merged 4 commits into from
Oct 2, 2023
Merged

Patches and doc for GzHarmonic ros_gz creation #1003

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def8aa1
WIP in conflicting versions
j-rivero Aug 31, 2023
1f06752
Complete README with custom RELEASE_REPO_URL
j-rivero Aug 31, 2023
b0e7884
Fix problems with renaming different Gazebo distros
j-rivero Aug 31, 2023
c258350
Add the list of active releases
j-rivero Sep 18, 2023
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8 changes: 4 additions & 4 deletions bloom/ros_gz/Dockerfile
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Expand Up @@ -17,11 +17,11 @@ RUN apt-get update && apt-get install -y \
wget \
&& rm -rf /var/lib/apt/lists/*

# Install osrf-rosdep for Gazebo distributions not in ROS
# Install osrf-rosdep for Gazebo distributions not in ROS.
# Note that 01 is important to give priority to the replace list below
RUN sudo bash -c \
'wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list -O /etc/ros/rosdep/sources.list.d/00-gazebo.list'
# Replace url
# since it does not support arbitrary environment variables
'wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list -O /etc/ros/rosdep/sources.list.d/01-gazebo.list'
# Bloom does not support environment vars, use the trick or replacing one rosdep keys by others
RUN sudo bash -c \
"wget $URL_OSRF_ROSDEP_REPLACE -O /etc/ros/rosdep/sources.list.d/00-replace-gz.list"

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22 changes: 22 additions & 0 deletions bloom/ros_gz/README.md
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Expand Up @@ -27,6 +27,14 @@ Although using the officially supported version is the recommended way
specially for non experienced users, some use cases might need to use a
newer version of Gazebo than the one selected in REP-2000.

### List of active relases

| Gazebo Release | ROS / ROS 2 Release | status | ros_gz branch | -release repository |
| ---------------|---------------------|------------|---------------|---------------------|
| Garden | Humble | stable | humble | https://github.com/gazebo-release/ros_ign-release |
| Garden | Iron | prerelease | iron | https://github.com/gazebo-release/ros_ign-release |
| Harmonic | Iron | prerelease | ros2 | https://github.com/j-rivero/ros_ign-gzharmonic-release |

### Upstream versions released using this tutorial

The `gbp -release repository` hosts the latest version released by the
Expand All @@ -35,6 +43,7 @@ version the version of `ros_gz` released will be the latest one existing in the
official `gbp -release repository`. The version would be the same but the
release number will start on 1000.


## 2. Initial setup

To release a modified version of `ros_gz` which supports a different major
Expand All @@ -55,6 +64,19 @@ package name.
- Usage: `$ rename-ros_gz-pkgs.bash <desired_gz_version> <space separted list of rosdistros to release>`
- Example: `$ rename-ros_gz-pkgs.bash garden humble`

The script supports to inject a custom RELEASE_REPO_URL that points to a bloom gbp
repository different than https://github.com/gazebo-release/ros_ign-release.
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This is just an example right? The repo is not supposed to exist already

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The repo exists and host humble metadata for Garden. See the tabel in line 30 in this same document.


```
i.e use a https://github.com/gazebo-testing/ros_ign-gzharmonic-release as gbp testing repository

RELEASE_REPO_URL=https://github.com/gazebo-testing/ros_ign-gzharmonic-release \
./bloom_from_special_env.bash \
humble \
garden \
https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/replace_fortress_with_garden/00-replace-gz-fortress-with-garden.list
```


### 2.2 Create a custom track in tracks.yml

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4 changes: 3 additions & 1 deletion bloom/ros_gz/rename-ros_gz-pkgs.bash
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Expand Up @@ -47,7 +47,9 @@ for pkg in ${PKGS}; do
git commit debian/control.em debian/changelog.em -m "Patch name to release ${GZ_RELEASE} version"
# Include conflict with initial package name in ROS
sed -i -e '/^Depends/a\Conflicts: \@(Package)' debian/control.em

if [[ -n ${GZ_RELEASE_TO_CONFLICT} ]]; then
sed -i -e "s/Conflicts: @(Package)/Conflicts: @(Package.replace('-gz','-gz${GZ_RELEASE_TO_CONFLICT}'))/" debian/control.em
fi
git commit debian/control.em -m "Set up a conflict with official ROS packages"
git push origin "debian/$distro/$pkg"
done
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