Add support for ROS Noetic (ros-tooling#319)

* add support for ROS Noetic * Use the same qemu binaries as the ones provided in https://github.com/osrf/multiarch-docker-image-generation In order to work around https://bugs.launchpad.net/qemu/+bug/1805913 and so qemu supports renameat2() syscall. Signed-off-by: TSC21 <[email protected]> Co-authored-by: Emerson Knapp <[email protected]>
hidmic · Jun 9, 2021 · fb84ad3 · fb84ad3
1 parent 383d6ca
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Showing 11 changed files with 37 additions and 12 deletions.
diff --git a/.github/workflows/e2e_test.yml b/.github/workflows/e2e_test.yml
@@ -16,7 +16,7 @@ jobs:
       matrix:
         target_arch: [aarch64, armhf, x86_64]
         target_os: [ubuntu, debian]
-        rosdistro: [dashing, foxy, galactic, rolling, melodic]
+        rosdistro: [melodic, noetic, dashing, foxy, galactic, rolling]
     env:
       METRICS_OUT_DIR: /tmp/collected_metrics
     steps:
@@ -51,12 +51,12 @@ jobs:
         aws-secret-access-key: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
         aws-region: ${{ secrets.AWS_REGION }}
     - uses: ros-tooling/[email protected]
-      if: ${{ always() && !github.event.repository.fork && !github.event.pull_request.head.repo.fork && ( matrix.target_arch != 'armhf' || matrix.rosdistro != 'foxy' ) && ( matrix.target_arch != 'armhf' || matrix.rosdistro != 'galactic' ) && ( matrix.target_arch != 'armhf' || matrix.rosdistro != 'rolling' ) }}
+      if: ${{ always() && !github.event.repository.fork && !github.event.pull_request.head.repo.fork && ( matrix.target_arch != 'armhf' || matrix.target_os != 'debian' || matrix.rosdistro != 'noetic' ) && ( matrix.target_arch != 'armhf' || matrix.rosdistro != 'foxy' ) && ( matrix.target_arch != 'armhf' || matrix.rosdistro != 'galactic' ) && ( matrix.target_arch != 'armhf' || matrix.rosdistro != 'rolling' ) }}
       with:
         metric-data: "${{ env.METRICS_OUT_DIR }}/${{ matrix.target_arch }}_${{ matrix.target_os }}_${{ matrix.rosdistro }}_a"
         namespace: "CrossCompileMetrics"
     - uses: ros-tooling/[email protected]
-      if: ${{ always() && !github.event.repository.fork && !github.event.pull_request.head.repo.fork && ( matrix.target_arch != 'armhf' || matrix.rosdistro != 'foxy' ) && ( matrix.target_arch != 'armhf' || matrix.rosdistro != 'galactic' ) && ( matrix.target_arch != 'armhf' || matrix.rosdistro != 'rolling' ) }}
+      if: ${{ always() && !github.event.repository.fork && !github.event.pull_request.head.repo.fork && ( matrix.target_arch != 'armhf' || matrix.target_os != 'debian' || matrix.rosdistro != 'noetic' ) && ( matrix.target_arch != 'armhf' || matrix.rosdistro != 'foxy' ) && ( matrix.target_arch != 'armhf' || matrix.rosdistro != 'galactic' ) && ( matrix.target_arch != 'armhf' || matrix.rosdistro != 'rolling' ) }}
       with:
         metric-data: "${{ env.METRICS_OUT_DIR }}/${{ matrix.target_arch }}_${{ matrix.target_os }}_${{ matrix.rosdistro }}_b"
         namespace: "CrossCompileMetrics"

diff --git a/.github/workflows/pip_e2e_test.yml b/.github/workflows/pip_e2e_test.yml
@@ -14,7 +14,7 @@ jobs:
       matrix:
         target_arch: [aarch64, armhf]
         target_os: [ubuntu]
-        rosdistro: [dashing]
+        rosdistro: [melodic, noetic, dashing, foxy]
         install_type:
           - test
           - prod

diff --git a/README.md b/README.md
@@ -15,7 +15,7 @@ This tool supports compiling a workspace for all combinations of the following:
 
 * Architecture: `armhf`, `aarch64`, `x86_64`
 * ROS Distro
-  * ROS: `kinetic`, `melodic`
+  * ROS: `kinetic`, `melodic`, `noetic`
   * ROS 2: `dashing`, `foxy`, `galactic`, `rolling`
 * OS: `Ubuntu`, `Debian`
 
@@ -307,7 +307,7 @@ Here is a detailed look at the arguments passed to the script (`ros_cross_compil
 * `.`
   * The first argument to `ros_cross_compile` is the directory of the workspace to be built. This could be any relative or absolute path, in this case it's just `.`, the current working directory.
 * `--rosdistro foxy`
-  * You may specify either a ROS and ROS 2 distribution by name, for example `melodic` (ROS) or `galactic` (ROS 2).
+  * You may specify either a ROS and ROS 2 distribution by name, for example `noetic` (ROS) or `galactic` (ROS 2).
 * `--arch aarch64`
   * Target the ARMv8 / ARM64 / aarch64 architecture (which are different names for effectively the same thing).
 * `--os ubuntu`

diff --git a/ros_cross_compile/platform.py b/ros_cross_compile/platform.py
@@ -27,7 +27,7 @@
 SUPPORTED_ARCHITECTURES = tuple(ARCHITECTURE_NAME_MAP.keys())
 
 SUPPORTED_ROS2_DISTROS = ('dashing', 'foxy', 'galactic', 'rolling')
-SUPPORTED_ROS_DISTROS = ('kinetic', 'melodic')
+SUPPORTED_ROS_DISTROS = ('kinetic', 'melodic', 'noetic')
 
 ROSDISTRO_OS_MAP = {
     'kinetic': {
@@ -38,6 +38,10 @@
         'ubuntu': 'bionic',
         'debian': 'stretch',
     },
+    'noetic': {
+        'ubuntu': 'focal',
+        'debian': 'buster',
+    },
     'dashing': {
         'ubuntu': 'bionic',
         'debian': 'stretch',

diff --git a/ros_cross_compile/qemu/qemu-aarch64-static b/ros_cross_compile/qemu/qemu-aarch64-static
diff --git a/ros_cross_compile/qemu/qemu-arm-static b/ros_cross_compile/qemu/qemu-arm-static
diff --git a/ros_cross_compile/sysroot_creator.py b/ros_cross_compile/sysroot_creator.py
@@ -64,7 +64,13 @@ def setup_emulator(arch: str, output_dir: Path) -> None:
     bin_dir.mkdir(parents=True, exist_ok=True)
     needs_emulator = (py_platform.system() != 'Darwin') and (py_platform.machine() != arch)
     if needs_emulator:
-        emulator_path = Path('/') / 'usr' / 'bin' / emulator_name
+        """
+        Using the same qemu binaries as the ones provided in
+        https://github.com/osrf/multiarch-docker-image-generation in order to
+        work around https://bugs.launchpad.net/qemu/+bug/1805913 and so qemu
+        supports renameat2() syscall.
+        """
+        emulator_path = Path(__file__).parent / 'qemu' / emulator_name
         if not emulator_path.is_file():
             raise RuntimeError('Could not find the expected QEmu emulator binary "{}"'.format(
                 emulator_path))

diff --git a/setup.py b/setup.py
@@ -41,14 +41,15 @@
         'Programming Language :: Python :: 3.5',
         'Programming Language :: Python :: 3.6',
         'Programming Language :: Python :: 3.7',
+        'Programming Language :: Python :: 3.8',
         'Topic :: Software Development',
     ],
     description='A tool to build ROS workspaces for various target architectures and platforms.',
     long_description=long_description,
     long_description_content_type='text/markdown',
     license='Apache License, Version 2.0',
     package_data={
-        package_name: ['docker/*.*', 'mixins/*.*'],
+        package_name: ['docker/*.*', 'mixins/*.*', 'qemu/*.*'],
     },
     install_requires=[
         'docker>=2,<3',

diff --git a/test/run_e2e_test.sh b/test/run_e2e_test.sh
@@ -91,6 +91,12 @@ setup(){
       error "Foxy, Galactic and Rolling do not have armhf binaries available"
       exit 0
     fi
+    if [ "$os" == "debian" ]; then
+      if [ "$distro" == "noetic" ]; then
+        error "Noetic does not have armhf binaries available to debian"
+        exit 0
+      fi
+    fi
   fi
 }
 

diff --git a/test/test_platform.py b/test/test_platform.py
@@ -72,18 +72,22 @@ def test_get_docker_base_image():
     verify_base_docker_images('aarch64', 'ubuntu', 'dashing', 'arm64v8/ubuntu:bionic')
     verify_base_docker_images('aarch64', 'ubuntu', 'kinetic', 'arm64v8/ubuntu:xenial')
     verify_base_docker_images('aarch64', 'ubuntu', 'melodic', 'arm64v8/ubuntu:bionic')
+    verify_base_docker_images('aarch64', 'ubuntu', 'noetic', 'arm64v8/ubuntu:focal')
 
     verify_base_docker_images('aarch64', 'debian', 'dashing', 'arm64v8/debian:stretch')
     verify_base_docker_images('aarch64', 'debian', 'kinetic', 'arm64v8/debian:jessie')
     verify_base_docker_images('aarch64', 'debian', 'melodic', 'arm64v8/debian:stretch')
+    verify_base_docker_images('aarch64', 'debian', 'noetic', 'arm64v8/debian:buster')
 
     verify_base_docker_images('armhf', 'ubuntu', 'dashing', 'arm32v7/ubuntu:bionic')
     verify_base_docker_images('armhf', 'ubuntu', 'kinetic', 'arm32v7/ubuntu:xenial')
     verify_base_docker_images('armhf', 'ubuntu', 'melodic', 'arm32v7/ubuntu:bionic')
+    verify_base_docker_images('armhf', 'ubuntu', 'noetic', 'arm32v7/ubuntu:focal')
 
     verify_base_docker_images('armhf', 'debian', 'dashing', 'arm32v7/debian:stretch')
     verify_base_docker_images('armhf', 'debian', 'kinetic', 'arm32v7/debian:jessie')
     verify_base_docker_images('armhf', 'debian', 'melodic', 'arm32v7/debian:stretch')
+    verify_base_docker_images('armhf', 'debian', 'noetic', 'arm32v7/debian:buster')
 
 
 def test_docker_py_version():
@@ -98,9 +102,13 @@ def test_docker_py_version():
 
 
 def test_ros_version_map():
-    platform = Platform('aarch64', 'ubuntu', 'dashing')
+    platform = Platform('armhf', 'ubuntu', 'dashing')
     assert platform.ros_version == 'ros2'
-    platform = Platform('aarch64', 'ubuntu', 'kinetic')
+    platform = Platform('x86_64', 'ubuntu', 'foxy')
+    assert platform.ros_version == 'ros2'
+    platform = Platform('armhf', 'ubuntu', 'melodic')
+    assert platform.ros_version == 'ros'
+    platform = Platform('aarch64', 'ubuntu', 'noetic')
     assert platform.ros_version == 'ros'
 
 

diff --git a/test/test_sysroot_creator.py b/test/test_sysroot_creator.py
@@ -57,7 +57,7 @@ def test_prepare_docker_build_basic(tmpdir):
 
 def test_run_twice(tmpdir):
     # The test is that this doesn't throw an exception for already existing paths
-    platform = Platform('armhf', 'debian', 'kinetic')
+    platform = Platform('armhf', 'debian', 'noetic')
     tmp = Path(str(tmpdir))
     prepare_docker_build_environment(platform, tmp, None, None)
     prepare_docker_build_environment(platform, tmp, None, None)