add Ubuntu Jammy (#474)

Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
ros-tooling · Mar 4, 2022 · 19d11b7 · 19d11b7
1 parent cedd5a2
commit 19d11b7
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Showing 5 changed files with 88 additions and 61 deletions.
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
@@ -42,6 +42,7 @@ jobs:
         docker_image:
           - "ubuntu:bionic"
           - "ubuntu:focal"
+          - "ubuntu:jammy"
     container:
       image: ${{ matrix.docker_image }}
     steps:

diff --git a/dist/index.js b/dist/index.js
@@ -6019,6 +6019,27 @@ function validateDistro(requiredRosDistributionsList) {
     }
     return true;
 }
+/**
+ * Determines the Ubuntu distribution codename.
+ *
+ * This function directly source /etc/lsb-release instead of invoking
+ * lsb-release as the package may not be installed.
+ *
+ * @returns Promise<string> Ubuntu distribution codename (e.g. "focal")
+ */
+function determineDistribCodename() {
+    return __awaiter(this, void 0, void 0, function* () {
+        let distribCodename = "";
+        const options = {};
+        options.listeners = {
+            stdout: (data) => {
+                distribCodename += data.toString();
+            },
+        };
+        yield utils_exec("bash", ["-c", 'source /etc/lsb-release ; echo -n "$DISTRIB_CODENAME"'], options);
+        return distribCodename;
+    });
+}
 
 ;// CONCATENATED MODULE: ./src/package_manager/apt.ts
 var apt_awaiter = (undefined && undefined.__awaiter) || function (thisArg, _arguments, P, generator) {
@@ -6051,7 +6072,6 @@ const aptDependencies = [
     "lcov",
     "libc++-dev",
     "libc++abi-dev",
-    "python",
     "python3-catkin-pkg-modules",
     "python3-pip",
     "python3-vcstool",
@@ -6067,11 +6087,20 @@ const distributionSpecificAptDependencies = {
         // python3-rosdep is conflicting with ros-melodic-desktop-full,
         // and should not be used here. See ros-tooling/setup-ros#74
         "python-rosdep",
+        // python required for sourcing setup.sh
+        "python",
     ],
     focal: [
         // python-rosdep does not exist on Focal, so python3-rosdep is used.
         // The issue with ros-melodic-desktop-full is also non-applicable.
         "python3-rosdep",
+        // python required for sourcing setup.sh
+        "python",
+    ],
+    jammy: [
+        // python-rosdep does not exist on Jammy, so python3-rosdep is used.
+        // The issue with ros-melodic-desktop-full is also non-applicable.
+        "python3-rosdep",
     ],
 };
 /**
@@ -6092,27 +6121,6 @@ function runAptGetInstall(packages) {
         return utils_exec("sudo", aptCommandLine.concat(packages));
     });
 }
-/**
- * Determines the Ubuntu distribution codename.
- *
- * This function directly source /etc/lsb-release instead of invoking
- * lsb-release as the package may not be installed.
- *
- * @returns Promise<string> Ubuntu distribution codename (e.g. "focal")
- */
-function determineDistribCodename() {
-    return apt_awaiter(this, void 0, void 0, function* () {
-        let distribCodename = "";
-        const options = {};
-        options.listeners = {
-            stdout: (data) => {
-                distribCodename += data.toString();
-            },
-        };
-        yield utils_exec("bash", ["-c", 'source /etc/lsb-release ; echo -n "$DISTRIB_CODENAME"'], options);
-        return distribCodename;
-    });
-}
 /**
  * Run ROS 2 APT dependencies.
  *
@@ -6297,6 +6305,8 @@ WE+F5FaIKwb72PL4rLi4
 =i0tj
 -----END PGP PUBLIC KEY BLOCK-----
 `;
+// List of linux distributions that need http://packages.ros.org/ros/ubuntu APT repo
+const distrosRequiringRosUbuntu = ["bionic", "focal"];
 /**
  * Install ROS 2 on a Linux worker.
  */
@@ -6343,15 +6353,18 @@ function runLinux() {
         const keyFilePath = external_path_.join(workspace, "ros.key");
         external_fs_default().writeFileSync(keyFilePath, openRoboticsAptPublicGpgKey);
         yield utils_exec("sudo", ["apt-key", "add", keyFilePath]);
+        const distribCodename = yield determineDistribCodename();
+        if (distrosRequiringRosUbuntu.includes(distribCodename)) {
+            yield utils_exec("sudo", [
+                "bash",
+                "-c",
+                `echo "deb http://packages.ros.org/ros/ubuntu ${distribCodename} main" > /etc/apt/sources.list.d/ros-latest.list`,
+            ]);
+        }
         yield utils_exec("sudo", [
             "bash",
             "-c",
-            `echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list`,
-        ]);
-        yield utils_exec("sudo", [
-            "bash",
-            "-c",
-            `echo "deb http://packages.ros.org/ros2${use_ros2_testing ? "-testing" : ""}/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros2-latest.list`,
+            `echo "deb http://packages.ros.org/ros2${use_ros2_testing ? "-testing" : ""}/ubuntu ${distribCodename} main" > /etc/apt/sources.list.d/ros2-latest.list`,
         ]);
         yield utils_exec("sudo", ["apt-get", "update"]);
         // Install rosdep and vcs, as well as FastRTPS dependencies, OpenSplice, and

diff --git a/src/package_manager/apt.ts b/src/package_manager/apt.ts
@@ -1,4 +1,3 @@
-import * as im from "@actions/exec/lib/interfaces";
 import * as utils from "../utils";
 
 const CONNEXT_APT_PACKAGE_NAME = "rti-connext-dds-5.3.1"; // RTI Connext
@@ -23,7 +22,6 @@ const aptDependencies: string[] = [
 	"lcov",
 	"libc++-dev",
 	"libc++abi-dev",
-	"python", // required for sourcing setup.sh
 	"python3-catkin-pkg-modules",
 	"python3-pip",
 	"python3-vcstool",
@@ -41,11 +39,20 @@ const distributionSpecificAptDependencies = {
 		// python3-rosdep is conflicting with ros-melodic-desktop-full,
 		// and should not be used here. See ros-tooling/setup-ros#74
 		"python-rosdep",
+		// python required for sourcing setup.sh
+		"python",
 	],
 	focal: [
 		// python-rosdep does not exist on Focal, so python3-rosdep is used.
 		// The issue with ros-melodic-desktop-full is also non-applicable.
 		"python3-rosdep",
+		// python required for sourcing setup.sh
+		"python",
+	],
+	jammy: [
+		// python-rosdep does not exist on Jammy, so python3-rosdep is used.
+		// The issue with ros-melodic-desktop-full is also non-applicable.
+		"python3-rosdep",
 	],
 };
 
@@ -66,30 +73,6 @@ export async function runAptGetInstall(packages: string[]): Promise<number> {
 	return utils.exec("sudo", aptCommandLine.concat(packages));
 }
 
-/**
- * Determines the Ubuntu distribution codename.
- *
- * This function directly source /etc/lsb-release instead of invoking
- * lsb-release as the package may not be installed.
- *
- * @returns Promise<string> Ubuntu distribution codename (e.g. "focal")
- */
-async function determineDistribCodename(): Promise<string> {
-	let distribCodename = "";
-	const options: im.ExecOptions = {};
-	options.listeners = {
-		stdout: (data: Buffer) => {
-			distribCodename += data.toString();
-		},
-	};
-	await utils.exec(
-		"bash",
-		["-c", 'source /etc/lsb-release ; echo -n "$DISTRIB_CODENAME"'],
-		options
-	);
-	return distribCodename;
-}
-
 /**
  * Run ROS 2 APT dependencies.
  *
@@ -101,7 +84,7 @@ export async function installAptDependencies(
 	let aptPackages: string[] = installConnext
 		? aptDependencies.concat(CONNEXT_APT_PACKAGE_NAME)
 		: aptDependencies;
-	const distribCodename = await determineDistribCodename();
+	const distribCodename = await utils.determineDistribCodename();
 	const additionalAptPackages =
 		distributionSpecificAptDependencies[distribCodename] || [];
 	aptPackages = aptPackages.concat(additionalAptPackages);

diff --git a/src/setup-ros-linux.ts b/src/setup-ros-linux.ts
@@ -50,6 +50,9 @@ WE+F5FaIKwb72PL4rLi4
 -----END PGP PUBLIC KEY BLOCK-----
 `;
 
+// List of linux distributions that need http://packages.ros.org/ros/ubuntu APT repo
+const distrosRequiringRosUbuntu = ["bionic", "focal"];
+
 /**
  * Install ROS 2 on a Linux worker.
  */
@@ -101,17 +104,20 @@ export async function runLinux() {
 	fs.writeFileSync(keyFilePath, openRoboticsAptPublicGpgKey);
 	await utils.exec("sudo", ["apt-key", "add", keyFilePath]);
 
-	await utils.exec("sudo", [
-		"bash",
-		"-c",
-		`echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list`,
-	]);
+	const distribCodename = await utils.determineDistribCodename();
+	if (distrosRequiringRosUbuntu.includes(distribCodename)) {
+		await utils.exec("sudo", [
+			"bash",
+			"-c",
+			`echo "deb http://packages.ros.org/ros/ubuntu ${distribCodename} main" > /etc/apt/sources.list.d/ros-latest.list`,
+		]);
+	}
 	await utils.exec("sudo", [
 		"bash",
 		"-c",
 		`echo "deb http://packages.ros.org/ros2${
 			use_ros2_testing ? "-testing" : ""
-		}/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros2-latest.list`,
+		}/ubuntu ${distribCodename} main" > /etc/apt/sources.list.d/ros2-latest.list`,
 	]);
 
 	await utils.exec("sudo", ["apt-get", "update"]);

diff --git a/src/utils.ts b/src/utils.ts
@@ -61,3 +61,27 @@ export function validateDistro(
 
 	return true;
 }
+
+/**
+ * Determines the Ubuntu distribution codename.
+ *
+ * This function directly source /etc/lsb-release instead of invoking
+ * lsb-release as the package may not be installed.
+ *
+ * @returns Promise<string> Ubuntu distribution codename (e.g. "focal")
+ */
+export async function determineDistribCodename(): Promise<string> {
+	let distribCodename = "";
+	const options: im.ExecOptions = {};
+	options.listeners = {
+		stdout: (data: Buffer) => {
+			distribCodename += data.toString();
+		},
+	};
+	await exec(
+		"bash",
+		["-c", 'source /etc/lsb-release ; echo -n "$DISTRIB_CODENAME"'],
+		options
+	);
+	return distribCodename;
+}