add support for ROS Noetic

Co-authored-by: Emerson Knapp <[email protected]> Signed-off-by: TSC21 <[email protected]>
ros-tooling · Jun 5, 2021 · 08e72e3 · 08e72e3
1 parent 86fc2bb
commit 08e72e3
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Showing 6 changed files with 20 additions and 8 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:

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: `melodic`
+  * ROS: `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
@@ -27,13 +27,17 @@
 SUPPORTED_ARCHITECTURES = tuple(ARCHITECTURE_NAME_MAP.keys())
 
 SUPPORTED_ROS2_DISTROS = ('dashing', 'foxy', 'galactic', 'rolling')
-SUPPORTED_ROS_DISTROS = ('melodic',)
+SUPPORTED_ROS_DISTROS = ('melodic', 'noetic')
 
 ROSDISTRO_OS_MAP = {
     'melodic': {
         'ubuntu': 'bionic',
         'debian': 'stretch',
     },
+    'noetic': {
+        'ubuntu': 'focal',
+        'debian': 'buster',
+    },
     'dashing': {
         'ubuntu': 'bionic',
         'debian': 'stretch',

diff --git a/test/test_platform.py b/test/test_platform.py
@@ -71,15 +71,19 @@ def test_get_docker_base_image():
     """Test that the correct base docker image is used for all arguments."""
     verify_base_docker_images('aarch64', 'ubuntu', 'dashing', 'arm64v8/ubuntu:bionic')
     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', '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', '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', 'melodic', 'arm32v7/debian:stretch')
+    verify_base_docker_images('armhf', 'debian', 'noetic', 'arm32v7/debian:buster')
 
 
 def test_docker_py_version():
@@ -94,9 +98,13 @@ 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', 'melodic')
+    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', 'melodic')
+    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)