def test_colcon_defaults(tmpdir):
ws = Path(str(tmpdir))
this_dir = Path(__file__).parent
src = ws / 'src'
src.mkdir()
shutil.copytree(str(this_dir / 'dummy_pkg_ros2_cpp'),
str(src / 'dummy_pkg_ros2_cpp'))
shutil.copytree(str(this_dir / 'dummy_pkg_ros2_py'),
str(src / 'dummy_pkg_ros2_py'))
client = DockerClient()
platform = Platform(arch='aarch64', os_name='ubuntu', ros_distro='dashing')
out_script = ws / rosdep_install_script(platform)
# no defaults file should get everything
gather_rosdeps(client, platform, workspace=ws)
result = out_script.read_text()
assert 'ros-dashing-ament-cmake' in result
assert 'ros-dashing-rclcpp' in result
assert 'ros-dashing-rclpy' in result
# write defaults file and expect selective dependency output
(ws / 'defaults.yaml').write_text("""
list:
packages-select: [dummy_pkg_ros2_py]
""")
gather_rosdeps(client, platform, workspace=ws)
result = out_script.read_text()
assert 'ros-dashing-ament-cmake' not in result
assert 'ros-dashing-rclcpp' not in result
assert 'ros-dashing-rclpy' in result
def cross_compile_pipeline(args: argparse.Namespace, ):
platform = Platform(args.arch, args.os, args.rosdistro,
args.sysroot_base_image)
ros_workspace_dir = Path(args.ros_workspace)
skip_rosdep_keys = args.skip_rosdep_keys
custom_data_dir = _path_if(args.custom_data_dir)
custom_rosdep_script = _path_if(args.custom_rosdep_script)
custom_setup_script = _path_if(args.custom_setup_script)
sysroot_build_context = prepare_docker_build_environment(
platform=platform,
ros_workspace=ros_workspace_dir,
custom_setup_script=custom_setup_script,
custom_data_dir=custom_data_dir)
docker_client = DockerClient(args.sysroot_nocache,
default_docker_dir=sysroot_build_context,
colcon_defaults_file=args.colcon_defaults)
if not args.skip_rosdep_collection:
gather_rosdeps(docker_client=docker_client,
platform=platform,
workspace=ros_workspace_dir,
skip_rosdep_keys=skip_rosdep_keys,
custom_script=custom_rosdep_script,
custom_data_dir=custom_data_dir)
assert_install_rosdep_script_exists(ros_workspace_dir, platform)
create_workspace_sysroot_image(docker_client, platform)
run_emulated_docker_build(docker_client, platform, ros_workspace_dir)
def test_custom_rosdep_no_data_dir(tmpdir):
script_contents = """
cat > /test_rules.yaml <<EOF
definitely_does_not_exist:
ubuntu:
bionic: [successful_test]
EOF
echo "yaml file:/test_rules.yaml" > /etc/ros/rosdep/sources.list.d/22-test-rules.list
"""
ws = Path(str(tmpdir))
pkg_xml = Path(ws) / 'src' / 'dummy' / 'package.xml'
pkg_xml.parent.mkdir(parents=True)
pkg_xml.write_text(CUSTOM_KEY_PKG_XML)
client = DockerClient()
platform = Platform(arch='aarch64', os_name='ubuntu', ros_distro='dashing')
rosdep_setup = ws / 'rosdep_setup.sh'
rosdep_setup.write_text(script_contents)
gather_rosdeps(client, platform, workspace=ws, custom_script=rosdep_setup)
out_script = ws / rosdep_install_script(platform)
result = out_script.read_text().splitlines()
expected = [
'#!/bin/bash',
'set -euxo pipefail',
'#[apt] Installation commands:',
' apt-get install -y successful_test',
]
assert result == expected, 'Rosdep output did not meet expectations.'
def test_rosdep_bad_key(tmpdir):
ws = Path(str(tmpdir))
pkg_xml = Path(ws) / 'src' / 'dummy' / 'package.xml'
pkg_xml.parent.mkdir(parents=True)
pkg_xml.write_text(CUSTOM_KEY_PKG_XML)
client = DockerClient()
platform = Platform(arch='aarch64', os_name='ubuntu', ros_distro='dashing')
with pytest.raises(docker.errors.ContainerError):
gather_rosdeps(client, platform, workspace=ws)
def test_dummy_skip_rosdep_multiple_keys_pkg(tmpdir):
ws = Path(str(tmpdir))
pkg_xml = ws / 'src' / 'dummy' / 'package.xml'
pkg_xml.parent.mkdir(parents=True)
pkg_xml.write_text(RCLCPP_PKG_XML)
client = DockerClient()
platform = Platform(arch='aarch64', os_name='ubuntu', ros_distro='dashing')
out_script = ws / rosdep_install_script(platform)
skip_keys = ['ament_cmake', 'rclcpp']
gather_rosdeps(client, platform, workspace=ws, skip_rosdep_keys=skip_keys)
result = out_script.read_text()
assert 'ros-dashing-ament-cmake' not in result
assert 'ros-dashing-rclcpp' not in result
def test_dummy_skip_rosdep_keys_doesnt_exist_pkg(tmpdir):
ws = Path(str(tmpdir))
pkg_xml = Path(ws) / 'src' / 'dummy' / 'package.xml'
pkg_xml.parent.mkdir(parents=True)
pkg_xml.write_text(CUSTOM_KEY_PKG_XML)
client = DockerClient()
platform = Platform(arch='aarch64', os_name='ubuntu', ros_distro='dashing')
skip_keys = ['definitely_does_not_exist']
try:
gather_rosdeps(client,
platform,
workspace=ws,
skip_rosdep_keys=skip_keys)
except docker.errors.ContainerError:
assert False
def test_dummy_ros2_pkg(tmpdir):
ws = Path(str(tmpdir))
pkg_xml = ws / 'src' / 'dummy' / 'package.xml'
pkg_xml.parent.mkdir(parents=True)
pkg_xml.write_text(RCLCPP_PKG_XML)
client = DockerClient()
platform = Platform(arch='aarch64', os_name='ubuntu', ros_distro='dashing')
out_script = ws / rosdep_install_script(platform)
gather_rosdeps(client, platform, workspace=ws)
result = out_script.read_text().splitlines()
expected = [
'#!/bin/bash',
'set -euxo pipefail',
'#[apt] Installation commands:',
' apt-get install -y ros-dashing-ament-cmake',
' apt-get install -y ros-dashing-rclcpp',
]
assert result == expected, 'Rosdep output did not meet expectations.'
def test_custom_rosdep_no_data_dir(tmpdir):
script_contents = """
cat > /test_rules.yaml <<EOF
definitely_does_not_exist:
ubuntu:
bionic: [successful_test]
EOF
echo "yaml file:/test_rules.yaml" > /etc/ros/rosdep/sources.list.d/22-test-rules.list
"""
ws = Path(str(tmpdir))
pkg_xml = Path(ws) / 'src' / 'dummy' / 'package.xml'
pkg_xml.parent.mkdir(parents=True)
pkg_xml.write_text(CUSTOM_KEY_PKG_XML)
client = DockerClient()
platform = Platform(arch='aarch64', os_name='ubuntu', ros_distro='dashing')
rosdep_setup = ws / 'rosdep_setup.sh'
rosdep_setup.write_text(script_contents)
gather_rosdeps(client, platform, workspace=ws, custom_script=rosdep_setup)
out_script = ws / rosdep_install_script(platform)
result = out_script.read_text()
assert 'successful_test' in result
def cross_compile_pipeline(
args: argparse.Namespace,
):
platform = Platform(args.arch, args.os, args.rosdistro, args.sysroot_base_image)
ros_workspace_dir = Path(args.ros_workspace).resolve()
if not (ros_workspace_dir / 'src').is_dir():
raise ValueError(
'Specified workspace "{}" does not look like a colcon workspace '
'(there is no "src/" directory). Cannot continue'.format(ros_workspace_dir))
skip_rosdep_keys = args.skip_rosdep_keys
custom_data_dir = _path_if(args.custom_data_dir)
custom_rosdep_script = _path_if(args.custom_rosdep_script)
custom_setup_script = _path_if(args.custom_setup_script)
sysroot_build_context = prepare_docker_build_environment(
platform=platform,
ros_workspace=ros_workspace_dir,
custom_setup_script=custom_setup_script,
custom_data_dir=custom_data_dir)
docker_client = DockerClient(
args.sysroot_nocache,
default_docker_dir=sysroot_build_context,
colcon_defaults_file=args.colcon_defaults)
if not args.skip_rosdep_collection:
gather_rosdeps(
docker_client=docker_client,
platform=platform,
workspace=ros_workspace_dir,
skip_rosdep_keys=skip_rosdep_keys,
custom_script=custom_rosdep_script,
custom_data_dir=custom_data_dir)
assert_install_rosdep_script_exists(ros_workspace_dir, platform)
create_workspace_sysroot_image(docker_client, platform)
run_emulated_docker_build(docker_client, platform, ros_workspace_dir)
