Updated scripts to support ROS-independent builds

ros-industrial · Mar 2, 2023 · f5e1e7c · f5e1e7c
1 parent d462896
commit f5e1e7c
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Showing 5 changed files with 20 additions and 7 deletions.
diff --git a/industrial_ci/src/isolation/docker.env b/industrial_ci/src/isolation/docker.env
@@ -37,13 +37,16 @@ PYLINT_ARGS
 PYLINT_CHECK
 PYLINT_EXCLUDE
 PYTHONUNBUFFERED
+PYTHON_VERSION_NAME
 ROSDEP_SKIP_KEYS
 ROSINSTALL_FILENAME
 ROS_DISTRO
 ROS_PYTHON_VERSION
 ROS_REPO
 ROS_REPOSITORY_KEY
 ROS_REPOSITORY_PATH
+ROS_VERSION
+ROS_VERSION_EOL
 TARGET_CMAKE_ARGS
 TARGET_REPO_NAME
 TARGET_REPO_PATH

diff --git a/industrial_ci/src/isolation/docker.sh b/industrial_ci/src/isolation/docker.sh
@@ -79,8 +79,15 @@ function ici_isolate() {
   fi
 
   if [ -z "${ROS_DISTRO:-}" ]; then
-      ROS_DISTRO=$(docker image inspect --format "{{.Config.Env}}" "${DOCKER_IMAGE}" | grep -o -P "(?<=ROS_DISTRO=)[a-z]*") || ici_error "ROS_DISTRO is not set"
-  elif [ "${ROS_DISTRO}" = "false" ]; then
+      # Attempt to extract ROS_DISTRO from the docker image
+      ROS_DISTRO=$(docker image inspect --format "{{.Config.Env}}" "${DOCKER_IMAGE}" | grep -o -P "(?<=ROS_DISTRO=)[a-z]*")
+      if [ -z "${ROS_DISTRO:-}" ]; then
+          ici_log "Could not extract environment variable 'ROS_DISTRO' from the docker image '${DOCKER_IMAGE}'; proceeding without 'ROS_DISTRO'"
+          unset ROS_DISTRO
+      else
+        ici_log "Extracted 'ROS_DISTRO=${ROS_DISTRO}' from docker image '${DOCKER_IMAGE}'"
+      fi
+  elif [ "${ROS_DISTRO:-}" = "false" ]; then
       unset ROS_DISTRO
   fi
 

diff --git a/industrial_ci/src/ros.sh b/industrial_ci/src/ros.sh
@@ -88,6 +88,10 @@ function _set_ros_defaults {
         _ros2_defaults "jammy"
         ;;
     "false")
+        export BUILDER=${BUILDER:-colcon}
+        export ROS_VERSION=0
+        export ROS_VERSION_EOL=false
+        export ROS_PYTHON_VERSION=${ROS_PYTHON_VERSION:-3}
         unset ROS_DISTRO
         ;;
     *)
@@ -100,7 +104,6 @@ function _set_ros_defaults {
     elif [ "$ROS_PYTHON_VERSION" = 3 ]; then
         export PYTHON_VERSION_NAME=python3
     fi
-
 }
 
 function _use_snapshot() {

diff --git a/industrial_ci/src/tests/source_tests.sh b/industrial_ci/src/tests/source_tests.sh
@@ -172,7 +172,7 @@ function run_source_tests {
 
     ici_step "setup_rosdep" ici_setup_rosdep
 
-    extend=${UNDERLAY:?}
+    extend=${UNDERLAY:-}
 
     if [ -n "$UPSTREAM_WORKSPACE" ]; then
         ici_with_ws "$upstream_ws" ici_build_workspace "upstream" "$extend" "$upstream_ws"

diff --git a/industrial_ci/src/workspace.sh b/industrial_ci/src/workspace.sh
@@ -322,7 +322,7 @@ function ici_setup_rosdep {
 
     if [ "$ROS_DISTRO" = "indigo" ] || [ "$ROS_DISTRO" = "jade" ]; then
         ici_apt_install "ros-$ROS_DISTRO-roslib"
-    else
+    elif [ ! -z "${ROS_DISTRO:-}" ]; then
         ici_apt_install "ros-$ROS_DISTRO-ros-environment"
     fi
 
@@ -331,7 +331,7 @@ function ici_setup_rosdep {
     fi
 
     update_opts=()
-    if [ -z "${ROSDISTRO_INDEX_URL:-}" ]; then
+    if [ -z "${ROSDISTRO_INDEX_URL:-}" && ! -z "$ROS_DISTRO" ]; then
         update_opts+=(--rosdistro "$ROS_DISTRO")
     fi
     if [ "$ROS_VERSION_EOL" = true ]; then
@@ -406,7 +406,7 @@ function ici_source_setup {
     local extend=$1; shift
     if  [ ! -f "$extend/setup.bash" ]; then
         if [ "$extend" != "/opt/ros/$ROS_DISTRO" ]; then
-            ici_error "'$extend' is not a devel/install space"
+            ici_log "'$extend' is not a devel/install space; skipping source"
         fi
     else
         ici_with_unset_variables source "$extend/setup.bash"