Support for releasing ros_gzharmonic unofficial packages for Humble/Iron

[j-rivero]

Motivation

Same as #895 but changing Garden by Harmonic and supporting ROS 2 Iron/Humble.

Roadmap:

• Support for rosdep to rename Gz Fortress to Gz Harmonic
  • Harmonic keys Add Gazebo Harmonic rosdep keys osrf/osrf-rosdep#15
  • For ROS 2 Humble/Iron Add rules to replace Gz Fortress with Gz Harmonic on Humble/Iron osrf/osrf-rosdep#16
• Check tooling in release-tools to support different Gz versions than Garden
  • Generalize ros_gz scripts to support other releases than Garden #999
  • Patches and doc for GzHarmonic ros_gz creation #1003
• Use j-rivero fork to generate metadata and to create the prerelease from it
  https://github.com/j-rivero/ros_ign-gzharmonic-release
  • For ROS 2 Humble not supported in ros2 branch
  • For ROS 2 Iron
• Release a test version into the prerelease repository using fork -release repo
  • need a new ros_gz release: done 0.246.0 on ros2 branch
  • For ROS 2 Humble not supported in ros2 branch
  • For ROS 2 Iron: ros-iron-ros-gzharmonic-* packages are ready in prerelease.
• Test in the buildfarm using the manual-any job
  • https://build.osrfoundation.org/job/ros_gz_bridge-install-pkg_unofficial-any-manual/55/

After stable release:

• Create an official ros_ign-gzharmonic-release repository
  • Created https://github.com/gazebo-release/ros_gz-gzharmonic-release
• Repeat the process
  • Clone branches and tags from a local ros2-gbp/ros_ign-release checkout
  • git remote add gzharmonic [email protected]:gazebo-release/ros_gz-gzharmonic-release.git && git push --all gzharmonic && git push --tags gzharmonic
  • Rename bloom metadata
    • GZ_RELEASE_TO_CONFLICT=garden ./release-tools/bloom/ros_gz/rename-ros_gz-pkgs.bash harmonic iron
  • Modify tracks gazebo-release/ros_gz-gzharmonic-release@6f7cd8d
• Release into stable

  •   ./bloom_from_special_env.bash \
         iron \
         harmonic \
      https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/replace_fortress_with_harmonic/00-replace-gz-fortress-with-harmonic.list```
    

  • ./ros_gz-release.py.bash 0.246.0 https://github.com/gazebo-release/ros_gz-gzharmonic-release iron <token> -r 1
• DSL support for testing Iron GzHarmonic
  • ros_gz Harmonic documentation and CI #1023

Testing:

Install the Gazebo prerelease repository
apt-get remove ros-iron-ros-gzgarden* # conflicting
apt-get update && apt-get install ros-iron-ros-gzharmonic

Known problems:

There could be conflicts with ros-iron-ros-gzgarden packages.

[azeey]

I've tested both ros-iron-ros-gzharmonic and ros-iron-ros-gzgarden and they both seem to work well. As you mentioned, they do have a conflict:

dpkg error

dpkg: error processing archive /tmp/apt-dpkg-install-XbnKhE/0-ros-iron-ros-gzgarden-interfaces_0.245.0-1003jammy_amd64.deb (--unpack):
 trying to overwrite '/opt/ros/iron/include/ros_gz_interfaces/ros_gz_interfaces/msg/contact.h', which is also in package ros-iron-ros-gzharmonic-interfaces 0.246.0-2jammy
dpkg-deb: error: paste subprocess was killed by signal (Broken pipe)
Selecting previously unselected package ros-iron-ros-gzgarden-bridge.
Preparing to unpack .../1-ros-iron-ros-gzgarden-bridge_0.245.0-1003jammy_amd64.deb ...
Unpacking ros-iron-ros-gzgarden-bridge (0.245.0-1003jammy) ...
dpkg: error processing archive /tmp/apt-dpkg-install-XbnKhE/1-ros-iron-ros-gzgarden-bridge_0.245.0-1003jammy_amd64.deb (--unpack):
 trying to overwrite '/opt/ros/iron/include/ros_gz_bridge/bridge_config.hpp', which is also in package ros-iron-ros-gzharmonic-bridge 0.246.0-2jammy
dpkg-deb: error: paste subprocess was killed by signal (Broken pipe)
Selecting previously unselected package ros-iron-ros-gzgarden-image.
Preparing to unpack .../2-ros-iron-ros-gzgarden-image_0.245.0-1003jammy_amd64.deb ...
Unpacking ros-iron-ros-gzgarden-image (0.245.0-1003jammy) ...
dpkg: error processing archive /tmp/apt-dpkg-install-XbnKhE/2-ros-iron-ros-gzgarden-image_0.245.0-1003jammy_amd64.deb (--unpack):
 trying to overwrite '/opt/ros/iron/lib/ros_gz_image/image_bridge', which is also in package ros-iron-ros-gzharmonic-image 0.246.0-2jammy
Selecting previously unselected package ros-iron-ros-gzgarden-sim.
Preparing to unpack .../3-ros-iron-ros-gzgarden-sim_0.245.0-1003jammy_amd64.deb ...
Unpacking ros-iron-ros-gzgarden-sim (0.245.0-1003jammy) ...
dpkg: error processing archive /tmp/apt-dpkg-install-XbnKhE/3-ros-iron-ros-gzgarden-sim_0.245.0-1003jammy_amd64.deb (--unpack):
 trying to overwrite '/opt/ros/iron/include/ros_gz_sim/Stopwatch.hpp', which is also in package ros-iron-ros-gzharmonic-sim 0.246.0-2jammy
dpkg-deb: error: paste subprocess was killed by signal (Broken pipe)
Selecting previously unselected package ros-iron-ros-gzgarden-sim-demos.
Preparing to unpack .../4-ros-iron-ros-gzgarden-sim-demos_0.245.0-1003jammy_amd64.deb ...
Unpacking ros-iron-ros-gzgarden-sim-demos (0.245.0-1003jammy) ...
dpkg: error processing archive /tmp/apt-dpkg-install-XbnKhE/4-ros-iron-ros-gzgarden-sim-demos_0.245.0-1003jammy_amd64.deb (--unpack):
 trying to overwrite '/opt/ros/iron/share/ament_index/resource_index/package_run_dependencies/ros_gz_sim_demos', which is also in package ros-iron-ros-gzharmonic-sim-demos 0.246.0-2jammy
Selecting previously unselected package ros-iron-ros-gzgarden.
Preparing to unpack .../5-ros-iron-ros-gzgarden_0.245.0-1003jammy_amd64.deb ...
Unpacking ros-iron-ros-gzgarden (0.245.0-1003jammy) ...
dpkg: error processing archive /tmp/apt-dpkg-install-XbnKhE/5-ros-iron-ros-gzgarden_0.245.0-1003jammy_amd64.deb (--unpack):
 trying to overwrite '/opt/ros/iron/share/ament_index/resource_index/package_run_dependencies/ros_gz', which is also in package ros-iron-ros-gzharmonic 0.246.0-2jammy
Errors were encountered while processing:
 /tmp/apt-dpkg-install-XbnKhE/0-ros-iron-ros-gzgarden-interfaces_0.245.0-1003jammy_amd64.deb
 /tmp/apt-dpkg-install-XbnKhE/1-ros-iron-ros-gzgarden-bridge_0.245.0-1003jammy_amd64.deb
 /tmp/apt-dpkg-install-XbnKhE/2-ros-iron-ros-gzgarden-image_0.245.0-1003jammy_amd64.deb
 /tmp/apt-dpkg-install-XbnKhE/3-ros-iron-ros-gzgarden-sim_0.245.0-1003jammy_amd64.deb
 /tmp/apt-dpkg-install-XbnKhE/4-ros-iron-ros-gzgarden-sim-demos_0.245.0-1003jammy_amd64.deb
 /tmp/apt-dpkg-install-XbnKhE/5-ros-iron-ros-gzgarden_0.245.0-1003jammy_amd64.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)

I think it would be best if we declare the conflict in the package so users aren't faced with the scary error message from dpkg.

[j-rivero]

I've tested both ros-iron-ros-gzharmonic and ros-iron-ros-gzgarden and they both seem to work well. As you mentioned, they do have a conflict:
dpkg error

I think it would be best if we declare the conflict in the package so users aren't faced with the scary error message from dpkg.

In #1003 I've included the patch def8aa1 that should appear when we generate the stable version. Doing it for the existing repository was a bit more complicated.

[j-rivero]

Stable release out. All the documentation and CI in place.