Add support for ROS-O (ROS One) distribution#854
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ROS-O is a community-supported ROS 1 distribution that works on Ubuntu 20.04 and newer versions. This change adds support for installing ROS-O alongside ROS 2 distributions. Changes: - Add ROS-O repository configuration and GPG key handling - Support mixed ROS 1 and ROS 2 repository installation - Add ROS-O test cases to CI workflow - Fix SSL certificate handling for ROS-O repository - Ensure correct repository selection based on Ubuntu version - Pin meson version to avoid colcon-meson compatibility issues The implementation allows installing multiple ROS distributions simultaneously, such as 'noetic rolling' on Ubuntu 20.04 or 'one humble' on Ubuntu 22.04. Technical notes: - Meson is constrained to >=0.60.0,<0.64.0 for colcon-meson 0.4.2 compatibility, avoiding IntrospectionInterpreter API breakage Signed-off-by: Iori Yanokura <ab.ioryz@gmail.com>
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Like I said in ros-tooling/action-ros-ci#1008 (review), I'm 💯 on board with this if it is maintained by ROS-O users/maintainers. |
Can you explain this? Rolling isn't officially supported on Ubuntu 20.04. |
| schedule: | ||
| # Run the CI automatically twice per day to look for flakyness. | ||
| - cron: "0 */12 * * *" | ||
| workflow_dispatch: |
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What's the intent behind this?
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It just lets us trigger the test workflow manually, which was handy for checking the ROS-O matrix. Happy to drop it if you'd prefer to keep it out of this PR.
| await utils.exec("sudo", [ | ||
| "bash", | ||
| "-c", | ||
| "curl -sSL https://ros.packages.techfak.net/gpg.key -o /etc/apt/keyrings/ros-one-keyring.gpg", |
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who is behind this key and the repo?
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Packages for this specific repository are build through https://github.com/ubi-agni/ros-builder-action/ and owned by @rhaschke at CITEC Bielefeld. It is pretty much the go-to repository for anyone to "just install ROS-O" these days.
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Thanks for the info!
I would just mention this in the README so that people know that ROS-O debs are downloaded from a separate apt repo and not the usual Open Robotics apt repo. @iory can you add that?
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Done — added a note to the README in the latest commit.
22b0ef7
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Note: #873 removed |
I do think that would make sense, yes. |
Yes, I'd like to get this in. I've added a note to the README about the separate ROS-O APT repo as requested, and cleaned up the PR description. Let me know if anything else is needed.
You're right, that was misleading — Rolling isn't supported on 20.04 and the CI doesn't test that combo (it runs Rolling on Noble/AlmaLinux only). I've removed it from the PR description. |
Signed-off-by: Iori Yanokura <ab.ioryz@gmail.com>
Signed-off-by: Iori Yanokura <ab.ioryz@gmail.com>
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Summary
This PR adds support for ROS-O (ROS One), a community-supported ROS 1 distribution that works on Ubuntu 20.04 and newer versions.
Changes
Core functionality
Bug fixes
Testing
Use cases
This enables several useful combinations:
Example usage:
Technical details
The implementation handles backward compatibility by:
Testing
All CI tests pass with these changes. The implementation has been tested with:
Breaking changes
None. This is fully backward compatible with existing configurations.