Merge pull request #197 from conan-io/danimtb/update-ros2-examples

Update ROS examples to ROS Kilted version

Author: memsharded

.github/workflows/ros-tests.yml

@@ -12,38 +12,46 @@ jobs:
   test_conan_release:
     runs-on: ubuntu-latest
     container:
-      image: osrf/ros:humble-desktop
+      image: osrf/ros:kilted-desktop
 
     steps:
     - name: Checkout repository
       uses: actions/checkout@v3
 
     - name: Configure environment and install Conan release
       run: |
-        apt-get update && apt-get install -y python3 python3-pip
-        python3 -m pip install conan
+        apt-get update && apt-get install -y python3 python3-pip python3-venv pipx ros-kilted-nav2-msgs
+        pipx install conan
         chmod +x ./examples/tools/ros/rosenv/workspace/test_ros.sh
+        chmod +x ./examples/tools/ros/rosenv/navigation_ws/test_ros.sh
 
-    - name: Run example with latest Conan release
+    - name: Run printer example
       shell: bash
       run: |
         cd examples/tools/ros/rosenv/workspace
         ./test_ros.sh
 
+    - name: Run navigator example
+      shell: bash
+      run: |
+        cd examples/tools/ros/rosenv/navigation_ws
+        ./test_ros.sh
+
   test_conan_develop2:
     runs-on: ubuntu-latest
     container:
-      image: osrf/ros:humble-desktop
+      image: osrf/ros:kilted-desktop
 
     steps:
     - name: Checkout repository
       uses: actions/checkout@v3
 
     - name: Configure environment and install Conan from develop2 branch
       run: |
-        apt-get update && apt-get install -y python3 python3-pip
-        python3 -m pip install git+https://github.com/conan-io/conan.git
+        apt-get update && apt-get install -y python3 python3-pip python3-venv pipx ros-kilted-nav2-msgs
+        pipx install git+https://github.com/conan-io/conan.git
         chmod +x ./examples/tools/ros/rosenv/workspace/test_ros.sh
+        chmod +x ./examples/tools/ros/rosenv/navigation_ws/test_ros.sh
 
     - name: Run printer example
       shell: bash

examples/tools/ros/rosenv/Dockerfile

@@ -1,9 +1,9 @@
-FROM osrf/ros:humble-desktop
+FROM osrf/ros:kilted-desktop
 RUN apt-get update && apt-get install -y \
 curl \
 python3-pip \
 git \
-ros-humble-nav2-msgs \
+ros-kilted-nav2-msgs \
 && rm -rf /var/lib/apt/lists/*
 RUN pip3 install --upgrade pip && pip3 install conan
 RUN conan profile detect

examples/tools/ros/rosenv/navigation_ws/navigation_package/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.15)
 project(navigation_package)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -17,7 +17,12 @@ find_package(yaml-cpp REQUIRED)
 add_executable(navigator src/navigator.cpp)
 
 target_compile_features(navigator PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
-ament_target_dependencies(navigator rclcpp rclcpp_action nav2_msgs yaml-cpp)
+target_link_libraries(navigator PUBLIC
+      ${nav2_msgs_TARGETS}
+      rclcpp::rclcpp
+      rclcpp_action::rclcpp_action
+      yaml-cpp::yaml-cpp
+    )
 
 install(TARGETS navigator
   DESTINATION lib/${PROJECT_NAME})

examples/tools/ros/rosenv/navigation_ws/test_ros.sh

@@ -1,4 +1,7 @@
-source /opt/ros/humble/setup.bash
+pipx ensurepath
+source ~/.bashrc
+
+source /opt/ros/kilted/setup.bash
 rosdep init
 rosdep update
 rosdep install --from-paths navigation_package/

examples/tools/ros/rosenv/workspace/consumer/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.15)
 project(consumer)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -16,7 +16,7 @@ target_include_directories(main PUBLIC
   $<INSTALL_INTERFACE:include>)
 
 target_compile_features(main PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
-ament_target_dependencies(main str_printer)
+target_link_libraries(main PUBLIC str_printer::str_printer)
 
 install(TARGETS main
   DESTINATION lib/${PROJECT_NAME})

examples/tools/ros/rosenv/workspace/str_printer/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.15)
 project(str_printer)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -16,7 +16,7 @@ target_include_directories(str_printer PUBLIC
   $<INSTALL_INTERFACE:include>)
 
 target_compile_features(str_printer PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
-ament_target_dependencies(str_printer fmt)
+target_link_libraries(str_printer PUBLIC fmt::fmt)
 
 ament_export_targets(str_printerTargets HAS_LIBRARY_TARGET)
 ament_export_dependencies(fmt)

examples/tools/ros/rosenv/workspace/test_ros.sh

@@ -1,4 +1,7 @@
-source /opt/ros/humble/setup.bash
+pipx ensurepath
+source ~/.bashrc
+
+source /opt/ros/kilted/setup.bash
 conan profile detect --force
 conan install str_printer/conanfile.txt --build=missing --output-folder install/conan
 source install/conan/conanrosenv.sh