diff --git a/.github/workflows/ros2-ci.yml b/.github/workflows/ros2-ci.yml index 9b1d93a0..7f3bf55e 100644 --- a/.github/workflows/ros2-ci.yml +++ b/.github/workflows/ros2-ci.yml @@ -12,12 +12,9 @@ jobs: - docker-image: "ubuntu:20.04" ignition-version: "edifice" ros-distro: "galactic" - - docker-image: "ubuntu:20.04" - ignition-version: "edifice" - ros-distro: "rolling" - docker-image: "ubuntu:20.04" ignition-version: "fortress" - ros-distro: "rolling" + ros-distro: "galactic" container: image: ${{ matrix.docker-image }} steps: diff --git a/README.md b/README.md index 9aa5f59e..e162141a 100644 --- a/README.md +++ b/README.md @@ -6,12 +6,13 @@ Melodic | Citadel | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | on Melodic | Fortress | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | only from source Noetic | Citadel | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | https://packages.ros.org Noetic | Edifice | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source -Noetic | Fortress (not released) | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source +Noetic | Fortress | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source Foxy | Citadel | [foxy](https://github.com/osrf/ros_ign/tree/foxy) | https://packages.ros.org Foxy | Edifice | [foxy](https://github.com/osrf/ros_ign/tree/foxy) | only from source -Galactic | Edifice | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | https://packages.ros.org +Galactic | Edifice | [galactic](https://github.com/osrf/ros_ign/tree/galactic) | https://packages.ros.org +Galactic | Fortress | [galactic](https://github.com/osrf/ros_ign/tree/galactic) | only from source Rolling | Edifice | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | https://packages.ros.org -Rolling | Fortress (not released) | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | only from source +Rolling | Fortress | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | only from source > Please [ticket an issue](https://github.com/ignitionrobotics/ros_ign/issues/) if you'd like support to be added for some combination. @@ -45,11 +46,11 @@ This repository holds packages that provide integration between ## Install -This branch supports ROS Galactic and Rolling. See above for other ROS versions. +This branch supports ROS Galactic. See above for other ROS versions. ### Binaries -Galactic and Rolling binaries are available for Edifice. +Galactic binaries are available for Edifice. They are hosted at https://packages.ros.org. 1. Add https://packages.ros.org @@ -60,16 +61,14 @@ They are hosted at https://packages.ros.org. 1. Install `ros_ign` - sudo apt install ros--ros-ign - - Where `` can be `galactic` or `rolling`. + sudo apt install ros-galactic-ros-ign ### From source #### ROS Be sure you've installed -[ROS Galactic or Rolling](https://index.ros.org/doc/ros2/Installation/) +[ROS Galactic](https://index.ros.org/doc/ros2/Installation/) (at least ROS-Base). More ROS dependencies will be installed below. #### Ignition @@ -102,18 +101,16 @@ The following steps are for Linux and OSX. ``` cd ~/ws - rosdep install -r --from-paths src -i -y --rosdistro + rosdep install -r --from-paths src -i -y --rosdistro galactic ``` - Where `` can be `galactic` or `rolling`. - > If `rosdep` fails to install Ignition libraries and you have not installed them before, please follow [Ignition installation instructions](https://ignitionrobotics.org/docs/latest/install). 1. Build the workspace: ``` # Source ROS distro's setup.bash - source /opt/ros//setup.bash + source /opt/ros/galactic/setup.bash # Build and install into workspace cd ~/ws diff --git a/ros_ign_bridge/CMakeLists.txt b/ros_ign_bridge/CMakeLists.txt index 8fa89dd3..2e4da840 100644 --- a/ros_ign_bridge/CMakeLists.txt +++ b/ros_ign_bridge/CMakeLists.txt @@ -21,17 +21,8 @@ find_package(std_msgs REQUIRED) find_package(tf2_msgs REQUIRED) find_package(trajectory_msgs REQUIRED) -# Citadel -if("$ENV{IGNITION_VERSION}" STREQUAL "citadel") - find_package(ignition-transport8 REQUIRED) - set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR}) - - find_package(ignition-msgs5 REQUIRED) - set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR}) - - message(STATUS "Compiling against Ignition Citadel") # Fortress -elseif("$ENV{IGNITION_VERSION}" STREQUAL "fortress") +if("$ENV{IGNITION_VERSION}" STREQUAL "fortress") find_package(ignition-transport11 REQUIRED) set(IGN_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR}) diff --git a/ros_ign_bridge/package.xml b/ros_ign_bridge/package.xml index ee9a933a..9b821a64 100644 --- a/ros_ign_bridge/package.xml +++ b/ros_ign_bridge/package.xml @@ -31,9 +31,6 @@ ignition-transport10 ignition-msgs7 ignition-transport10 - - ignition-msgs5 - ignition-transport8 ament_cmake_gtest ament_lint_auto diff --git a/ros_ign_gazebo/CMakeLists.txt b/ros_ign_gazebo/CMakeLists.txt index a7130638..1c3ae56a 100644 --- a/ros_ign_gazebo/CMakeLists.txt +++ b/ros_ign_gazebo/CMakeLists.txt @@ -14,17 +14,8 @@ find_package(ament_cmake REQUIRED) find_package(ignition-math6 REQUIRED) find_package(rclcpp REQUIRED) -# Citadel -if("$ENV{IGNITION_VERSION}" STREQUAL "citadel") - find_package(ignition-transport8 REQUIRED) - set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR}) - - find_package(ignition-msgs5 REQUIRED) - set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR}) - - message(STATUS "Compiling against Ignition Citadel") # Fortress -elseif("$ENV{IGNITION_VERSION}" STREQUAL "fortress") +if("$ENV{IGNITION_VERSION}" STREQUAL "fortress") find_package(ignition-transport11 REQUIRED) set(IGN_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR}) diff --git a/ros_ign_gazebo/package.xml b/ros_ign_gazebo/package.xml index 8daf16a7..03842e98 100644 --- a/ros_ign_gazebo/package.xml +++ b/ros_ign_gazebo/package.xml @@ -22,8 +22,6 @@ ignition-gazebo5 ignition-gazebo5 - - ignition-gazebo3 ament_lint_auto ament_lint_common diff --git a/ros_ign_gazebo_demos/package.xml b/ros_ign_gazebo_demos/package.xml index 695b7e05..f0df07aa 100644 --- a/ros_ign_gazebo_demos/package.xml +++ b/ros_ign_gazebo_demos/package.xml @@ -12,8 +12,6 @@ ignition-gazebo5 ignition-gazebo5 - - ignition-gazebo3 image_transport_plugins robot_state_publisher diff --git a/ros_ign_image/CMakeLists.txt b/ros_ign_image/CMakeLists.txt index e6715be0..de3bb1a2 100644 --- a/ros_ign_image/CMakeLists.txt +++ b/ros_ign_image/CMakeLists.txt @@ -16,17 +16,8 @@ find_package(ros_ign_bridge REQUIRED) find_package(rclcpp REQUIRED) find_package(sensor_msgs REQUIRED) -# Citadel -if("$ENV{IGNITION_VERSION}" STREQUAL "citadel") - find_package(ignition-transport8 REQUIRED) - set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR}) - - find_package(ignition-msgs5 REQUIRED) - set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR}) - - message(STATUS "Compiling against Ignition Citadel") # Fortress -elseif("$ENV{IGNITION_VERSION}" STREQUAL "fortress") +if("$ENV{IGNITION_VERSION}" STREQUAL "fortress") find_package(ignition-transport11 REQUIRED) set(IGN_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR}) diff --git a/ros_ign_image/package.xml b/ros_ign_image/package.xml index 87974ca9..0227285b 100644 --- a/ros_ign_image/package.xml +++ b/ros_ign_image/package.xml @@ -21,9 +21,6 @@ ignition-transport10 ignition-msgs7 ignition-transport10 - - ignition-msgs5 - ignition-transport8 ament_lint_auto ament_lint_common