Add support for ROS-O (ROS One) distribution

.github/workflows/check-ros-distribution.sh

@@ -0,0 +1,12 @@
+#!/usr/bin/env bash
+#
+# ./check-ros-distribution.sh <ROS distribution>
+# ROS distribution must match the directory name for this distribution
+# in /opt. E.g. melodic.
+
+readonly ROS_DISTRIBUTION="$1"
+
+# GitHub Action is erroneously setting PYTHONHOME to C:\python37
+unset PYTHONHOME
+source "/opt/ros/${ROS_DISTRIBUTION}/setup.bash"
+rosstack list

.github/workflows/test.yml

@@ -8,6 +8,7 @@ on:
   schedule:
     # Run the CI automatically twice per day to look for flakyness.
     - cron: "0 */12 * * *"
+  workflow_dispatch:
 
 defaults:
   run:
@@ -114,6 +115,15 @@ jobs:
         # Platforms are defined in REP 3: https://ros.org/reps/rep-0003.html
         include:
 
+          # ROS-O (ROS One) - ROS 1 for Ubuntu 20.04+
+          - docker_image: ubuntu:jammy
+            ros_distribution: one
+            ros_version: 1
+
+          - docker_image: ubuntu:noble
+            ros_distribution: one
+            ros_version: 1
+
           # Humble Hawksbill (May 2022 - May 2027)
           - docker_image: ubuntu:jammy
             ros_distribution: humble

README.md

@@ -64,6 +64,9 @@ It also performs the following actions:
   - Setting the locale to `en_US.UTF-8` and, the timezone to UTC
   - GCC and clang default APT packages
   - Registering the Open Robotics APT repository
+    - For ROS-O (`one`), packages are installed from a separate APT repository
+      (`ros.packages.techfak.net`) maintained by the ROS-O community at CITEC
+      Bielefeld, not from the Open Robotics APT repository.
   - Installing ROS and ROS 2 system dependencies using APT
 - On macOS:
   - Installing ROS and ROS 2 system dependencies using [Homebrew] and [pip]

__test__/main.test.ts

@@ -64,6 +64,7 @@ describe("required-ros-distributions/noetic workflow tests", () => {
 describe("validate distribution test", () => {
 	it("test valid", async () => {
 		await expect(utils.validateDistro(["noetic"])).toBe(true);
+		await expect(utils.validateDistro(["one"])).toBe(true);
 		await expect(utils.validateDistro(["humble"])).toBe(true);
 		await expect(utils.validateDistro(["iron"])).toBe(true);
 		await expect(utils.validateDistro(["jazzy"])).toBe(true);

dist/index.js

@@ -34607,6 +34607,7 @@ const pip3Packages = [
     "colcon-recursive-crawl==0.2.1",
     "colcon-ros==0.3.23",
     "colcon-test-result==0.3.8",
+    "meson>=0.60.0,<0.64.0",
     "coverage",
     "cryptography",
     "empy<4",
@@ -35073,6 +35074,23 @@ function installRosAptSourcePackageIfNeeded(ubuntuCodename, use_ros2_testing) {
         }
     });
 }
+/**
+ * Add ROS-O (ROS One) APT repository key.
+ *
+ * Downloads and installs the GPG key for the ROS-O repository.
+ */
+function addRosOneAptRepoKey() {
+    return __awaiter(this, void 0, void 0, function* () {
+        // Ensure the keyrings directory exists and ca-certificates is up to date
+        yield utils.exec("sudo", ["mkdir", "-p", "/etc/apt/keyrings"]);
+        yield utils.exec("sudo", ["update-ca-certificates"]);
+        yield utils.exec("sudo", [
+            "bash",
+            "-c",
+            "curl -sSL https://ros.packages.techfak.net/gpg.key -o /etc/apt/keyrings/ros-one-keyring.gpg",
+        ]);
+    });
+}
 // Ubuntu distribution for ROS 1
 const ros1UbuntuVersion = "focal";
 /**
@@ -35087,6 +35105,24 @@ function determineAptSourcePackageName(ubuntuCodename, use_ros2_testing) {
     }
     return `ros2${use_ros2_testing ? "-testing" : ""}-apt-source`;
 }
+/**
+ * Add ROS-O (ROS One) APT repository.
+ *
+ * @param ubuntuCodename the Ubuntu version codename
+ * @param use_testing whether to use the testing repository
+ */
+function addRosOneAptRepo(ubuntuCodename, use_testing) {
+    return __awaiter(this, void 0, void 0, function* () {
+        const arch = yield utils.getArch();
+        const repo = use_testing ? `${ubuntuCodename}-testing` : ubuntuCodename;
+        yield utils.exec("sudo", [
+            "bash",
+            "-c",
+            `echo "deb [arch=${arch} signed-by=/etc/apt/keyrings/ros-one-keyring.gpg] https://ros.packages.techfak.net ${repo} main" > /etc/apt/sources.list.d/ros-one.list`,
+        ]);
+        yield utils.exec("sudo", ["apt-get", "update"]);
+    });
+}
 /**
  * Initialize rosdep.
  */
@@ -35104,6 +35140,20 @@ function rosdepInit() {
         yield utils.exec("sudo", ["rosdep", "init"]);
     });
 }
+/**
+ * Configure rosdep for ROS-O (ROS One).
+ *
+ * Adds custom rosdep source for ROS-O packages.
+ */
+function configureRosOneRosdep() {
+    return __awaiter(this, void 0, void 0, function* () {
+        yield utils.exec("sudo", [
+            "bash",
+            "-c",
+            'echo "yaml https://ros.packages.techfak.net/ros-one.yaml one" > /etc/ros/rosdep/sources.list.d/1-ros-one.list',
+        ]);
+    });
+}
 /**
  * Install ROS 1 or 2 (development packages and/or ROS binaries) on a Linux worker.
  */
@@ -35112,9 +35162,17 @@ function runLinux() {
         // Get user input & validate
         const use_ros2_testing = core.getInput("use-ros2-testing") === "true";
         const installConnext = core.getInput("install-connext") === "true";
+        const requiredDistros = utils.getRequiredRosDistributions();
+        // ROS-O "one" uses a separate repository (ros.packages.techfak.net).
+        const needsRosOne = requiredDistros.includes("one");
         yield configOs();
         const ubuntuCodename = yield utils.determineDistribCodename();
         yield installRosAptSourcePackageIfNeeded(ubuntuCodename, use_ros2_testing);
+        // Add ROS-O repository if needed
+        if (needsRosOne) {
+            yield addRosOneAptRepoKey();
+            yield addRosOneAptRepo(ubuntuCodename, use_ros2_testing);
+        }
         if ("noble" !== ubuntuCodename && "resolute" !== ubuntuCodename) {
             // Temporary fix to avoid error mount: /var/lib/grub/esp: special device (...) does not exist.
             const arch = yield utils.getArch();
@@ -35131,7 +35189,11 @@ function runLinux() {
             yield pip.installPython3Dependencies();
         }
         yield rosdepInit();
-        for (const rosDistro of utils.getRequiredRosDistributions()) {
+        // Configure rosdep for ROS-O if needed
+        if (needsRosOne) {
+            yield configureRosOneRosdep();
+        }
+        for (const rosDistro of requiredDistros) {
             yield apt.runAptGetInstall([`ros-${rosDistro}-desktop`]);
         }
     });
@@ -35463,6 +35525,7 @@ function getRequiredRosDistributions() {
 //list of valid linux distributions
 const validDistro = [
     "noetic",
+    "one",
     "humble",
     "iron",
     "jazzy",

src/package_manager/pip.ts

@@ -27,6 +27,7 @@ const pip3Packages: string[] = [
 	"colcon-recursive-crawl==0.2.1",
 	"colcon-ros==0.3.23",
 	"colcon-test-result==0.3.8",
+	"meson>=0.60.0,<0.64.0",
 	"coverage",
 	"cryptography",
 	"empy<4",

src/setup-ros-ubuntu.ts

@@ -101,6 +101,22 @@ async function installRosAptSourcePackageIfNeeded(
 	}
 }
 
+/**
+ * Add ROS-O (ROS One) APT repository key.
+ *
+ * Downloads and installs the GPG key for the ROS-O repository.
+ */
+async function addRosOneAptRepoKey(): Promise<void> {
+	// Ensure the keyrings directory exists and ca-certificates is up to date
+	await utils.exec("sudo", ["mkdir", "-p", "/etc/apt/keyrings"]);
+	await utils.exec("sudo", ["update-ca-certificates"]);
+	await utils.exec("sudo", [
+		"bash",
+		"-c",
+		"curl -sSL https://ros.packages.techfak.net/gpg.key -o /etc/apt/keyrings/ros-one-keyring.gpg",
+	]);
+}
+
 // Ubuntu distribution for ROS 1
 const ros1UbuntuVersion = "focal";
 
@@ -121,6 +137,26 @@ function determineAptSourcePackageName(
 	return `ros2${use_ros2_testing ? "-testing" : ""}-apt-source`;
 }
 
+/**
+ * Add ROS-O (ROS One) APT repository.
+ *
+ * @param ubuntuCodename the Ubuntu version codename
+ * @param use_testing whether to use the testing repository
+ */
+async function addRosOneAptRepo(
+	ubuntuCodename: string,
+	use_testing: boolean,
+): Promise<void> {
+	const arch = await utils.getArch();
+	const repo = use_testing ? `${ubuntuCodename}-testing` : ubuntuCodename;
+	await utils.exec("sudo", [
+		"bash",
+		"-c",
+		`echo "deb [arch=${arch} signed-by=/etc/apt/keyrings/ros-one-keyring.gpg] https://ros.packages.techfak.net ${repo} main" > /etc/apt/sources.list.d/ros-one.list`,
+	]);
+	await utils.exec("sudo", ["apt-get", "update"]);
+}
+
 /**
  * Initialize rosdep.
  */
@@ -137,6 +173,19 @@ async function rosdepInit(): Promise<void> {
 	await utils.exec("sudo", ["rosdep", "init"]);
 }
 
+/**
+ * Configure rosdep for ROS-O (ROS One).
+ *
+ * Adds custom rosdep source for ROS-O packages.
+ */
+async function configureRosOneRosdep(): Promise<void> {
+	await utils.exec("sudo", [
+		"bash",
+		"-c",
+		'echo "yaml https://ros.packages.techfak.net/ros-one.yaml one" > /etc/ros/rosdep/sources.list.d/1-ros-one.list',
+	]);
+}
+
 /**
  * Install ROS 1 or 2 (development packages and/or ROS binaries) on a Linux worker.
  */
@@ -145,11 +194,21 @@ export async function runLinux(): Promise<void> {
 	const use_ros2_testing = core.getInput("use-ros2-testing") === "true";
 	const installConnext = core.getInput("install-connext") === "true";
 
+	const requiredDistros = utils.getRequiredRosDistributions();
+	// ROS-O "one" uses a separate repository (ros.packages.techfak.net).
+	const needsRosOne = requiredDistros.includes("one");
+
 	await configOs();
 
 	const ubuntuCodename = await utils.determineDistribCodename();
 	await installRosAptSourcePackageIfNeeded(ubuntuCodename, use_ros2_testing);
 
+	// Add ROS-O repository if needed
+	if (needsRosOne) {
+		await addRosOneAptRepoKey();
+		await addRosOneAptRepo(ubuntuCodename, use_ros2_testing);
+	}
+
 	if ("noble" !== ubuntuCodename && "resolute" !== ubuntuCodename) {
 		// Temporary fix to avoid error mount: /var/lib/grub/esp: special device (...) does not exist.
 		const arch = await utils.getArch();
@@ -170,7 +229,12 @@ export async function runLinux(): Promise<void> {
 
 	await rosdepInit();
 
-	for (const rosDistro of utils.getRequiredRosDistributions()) {
+	// Configure rosdep for ROS-O if needed
+	if (needsRosOne) {
+		await configureRosOneRosdep();
+	}
+
+	for (const rosDistro of requiredDistros) {
 		await apt.runAptGetInstall([`ros-${rosDistro}-desktop`]);
 	}
 }

src/utils.ts

@@ -43,6 +43,7 @@ export function getRequiredRosDistributions(): string[] {
 //list of valid linux distributions
 const validDistro: string[] = [
 	"noetic",
+	"one",
 	"humble",
 	"iron",
 	"jazzy",