Add configurable ROS package naming

Author: baszalmstra

README.md

@@ -13,7 +13,23 @@ The tool generates `conda` rattler-build recipes to capture all the selected ROS
 
 The repo contains a `vinca` tool that reads a `vinca.yaml` file that contains all its metadata.
 
-For an up-to-date example of how to write a `vinca.yaml`, check the repos of the mantained RoboStack distros:
+For an up-to-date example of how to write a `vinca.yaml`, check the repos of the maintained RoboStack distros:
 * https://github.com/RoboStack/ros-noetic/
 * https://github.com/RoboStack/ros-humble
 * https://github.com/RoboStack/ros-jazzy/
+
+## Package naming
+
+The optional `package_name_mode` setting controls the transition from legacy distro-qualified names such as `ros-humble-rclcpp` to ROS-major-version names such as `ros2-rclcpp`:
+
+* `legacy` (default): generate only distro-qualified package names.
+* `both`: generate the new names and compatibility packages under the legacy names. Each compatibility package depends on the corresponding new package at the same version.
+* `new`: generate only the new names.
+
+Existing configurations remain on `legacy` when this setting is omitted. To start migrating a distribution to the new names, use:
+
+```yaml
+package_name_mode: both
+```
+
+Once users and downstream projects have migrated, switch to `new` to stop generating the compatibility packages. New ROS 1 package names use the `ros-` prefix; new ROS 2 package names use `ros2-`.

vinca/distro.py

@@ -181,6 +181,18 @@ def get_release_package_xml(self, pkg_name):
     def check_ros1(self):
         return self._distribution_type == "ros1"
 
+    def get_ros_version(self):
+        """Get ROS version number (1 or 2)"""
+        return "1" if self.check_ros1() else "2"
+
+    def get_package_prefix(self):
+        """Get the package name prefix (ros for ROS1, ros2 for ROS2)."""
+        return "ros" if self.check_ros1() else "ros2"
+
+    def get_legacy_package_prefix(self):
+        """Get the legacy distro-qualified package name prefix."""
+        return f"ros-{self.name}"
+
     def get_python_version(self):
         return self._python_version
 

vinca/generate_azure.py

@@ -10,7 +10,7 @@
 
 from rich import print
 
-from vinca.utils import get_repodata
+from vinca.utils import extract_dependency_names, get_repodata
 from vinca.utils import literal_unicode as lu
 from vinca.distro import Distro
 from vinca.main import (
@@ -452,11 +452,9 @@ def main():
                 "host", []
             ) + pkg["requirements"].get("run", [])
 
-        # sort out requirements that are not built in this run
+        # Normalize direct and conditional requirements to package names.
         for pkg_name, reqs in requirements.items():
-            requirements[pkg_name] = [
-                r.split()[0] for r in reqs if (isinstance(r, str) and r in reqs)
-            ]
+            requirements[pkg_name] = extract_dependency_names(reqs)
 
         G = nx.DiGraph()
         for pkg, reqs in requirements.items():

vinca/generate_gha.py

@@ -10,7 +10,7 @@
 
 from rich import print
 
-from vinca.utils import get_repodata, NoAliasDumper
+from vinca.utils import extract_dependency_names, get_repodata, NoAliasDumper
 from vinca.utils import literal_unicode as lu
 from vinca.distro import Distro
 from vinca.main import (
@@ -500,15 +500,9 @@ def main():
                 "host", []
             ) + req_section.get("run", [])
 
-        # sort out requirements that are not built in this run
+        # Normalize direct and conditional requirements to package names.
         for pkg_name, reqs in requirements.items():
-            requirements[pkg_name] = [
-                r.split()[0] for r in reqs if (isinstance(r, str) and r in reqs)
-            ]
-            if platform == "emscripten-wasm32":
-                # Hot fix to add the only ros package inside a if else statement
-                if "ros-humble-rmw-wasm-cpp" in str(reqs):
-                    requirements[pkg_name].append("ros-humble-rmw-wasm-cpp")
+            requirements[pkg_name] = extract_dependency_names(reqs)
 
         G = nx.DiGraph()
         for pkg, reqs in requirements.items():

vinca/generate_gitlab.py

@@ -4,6 +4,8 @@
 import sys
 import os
 
+from vinca.utils import extract_dependency_names
+
 try:
     from yaml import CLoader as Loader, CDumper as Dumper
 except ImportError:
@@ -41,26 +43,26 @@ def main():
     requirements = {}
 
     for pkg in metas:
-        requirements[pkg["package"]["name"]] = (
-            pkg["requirements"]["host"] + pkg["requirements"]["run"]
+        requirement_section = pkg.get("requirements", {})
+        requirements[pkg["package"]["name"]] = extract_dependency_names(
+            requirement_section.get("host", []) + requirement_section.get("run", [])
         )
 
     print(requirements)
 
     G = nx.DiGraph()
     for pkg, reqs in requirements.items():
         G.add_node(pkg)
-        for r in reqs:
-            if r.startswith("ros-"):
-                G.add_edge(pkg, r)
+        for requirement in reqs:
+            if requirement.startswith(("ros-", "ros2-")):
+                G.add_edge(pkg, requirement)
 
     # import matplotlib.pyplot as plt
     # nx.draw(G, with_labels=True, font_weight='bold')
     # plt.show()
 
     tg = list(reversed(list(nx.topological_sort(G))))
     print(tg)
-    print(requirements["ros-melodic-ros-core"])
 
     stages = []
     current_stage = []