ubuntu22.04 support

.github/workflows/ros_test.yml

@@ -12,6 +12,8 @@ jobs:
             DOCKER_IMAGE : ubuntu:bionic
           - ROS_DISTRO : noetic
             DOCKER_IMAGE : ubuntu:focal
+          - ROS_DISTRO : one
+            DOCKER_IMAGE : ubuntu:jammy
     steps:
       - name: Setup OS
         run: |

.travis.sh

@@ -2,33 +2,33 @@
 
 set -ex
 
-apt-get update -qq && apt-get install -y -q wget sudo lsb-release gnupg git sed build-essential # for docker
+apt-get update -qq && apt-get install -y -q wget sudo lsb-release gnupg git sed build-essential ca-certificates # for docker
 echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections
 
 echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
-sudo sh -c "echo \"deb ${REPOSITORY} `lsb_release -cs` main\" > /etc/apt/sources.list.d/ros-latest.list"
-wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-sudo apt-get update -qq
 
 # Install ROS
-if [[ "$ROS_DISTRO" ==  "noetic" ]]; then
-    sudo apt-get install -y -q python3-catkin-pkg python3-catkin-tools python3-rosdep python3-wstool python3-rosinstall-generator python3-osrf-pycommon python-is-python3
+if [[ "$ROS_DISTRO" ==  "one" ]]; then
+    ${CI_SOURCE_PATH}/configure.sh
 else
-    sudo apt-get install -y -q python-catkin-pkg python-catkin-tools python-rosdep python-wstool python-rosinstall-generator
+    sudo sh -c "echo \"deb ${REPOSITORY} `lsb_release -cs` main\" > /etc/apt/sources.list.d/ros-latest.list"
+    wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+    sudo apt-get update -qq
+
+    if [[ "$ROS_DISTRO" ==  "noetic" ]]; then
+        sudo apt-get install -y -q python3-catkin-pkg python3-catkin-tools python3-rosdep python3-wstool python3-rosinstall-generator python3-osrf-pycommon python-is-python3
+    else
+        sudo apt-get install -y -q python-catkin-pkg python-catkin-tools python-rosdep python-wstool python-rosinstall-generator
+    fi
+    sudo apt-get install -y -q ros-$ROS_DISTRO-catkin
+
+    # Setup for rosdep
+    sudo rosdep init
+    rosdep update --include-eol-distros
 fi
-sudo apt-get install -y -q ros-$ROS_DISTRO-catkin
 
-source /opt/ros/${ROS_DISTRO}/setup.bash
 
-# Setup for rosdep
-sudo rosdep init
-# use snapshot of rosdep list
-    # https://github.com/ros/rosdistro/pull/31570#issuecomment-1000497517
-if [[ "$ROS_DISTRO" = "kinetic" ]]; then
-    sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
-    sudo wget https://gist.githubusercontent.com/cottsay/b27a46e53b8f7453bf9ff637d32ea283/raw/476b3714bb90cfbc6b8b9d068162fc6408fa7f76/30-xenial.list -O /etc/ros/rosdep/sources.list.d/30-xenial.list
-fi
-rosdep update --include-eol-distros
+source /opt/ros/${ROS_DISTRO}/setup.bash
 
 # Install source code
 mkdir -p ~/catkin_ws/src
@@ -39,36 +39,6 @@ wstool merge -t src src/${REPOSITORY_NAME}/aerial_robot_${ROS_DISTRO}.rosinstall
 wstool update -t src
 rosdep install --from-paths src -y -q -r --ignore-src --rosdistro ${ROS_DISTRO} # -r is indisapensible
 
-if [ ${ROS_DISTRO} = 'kinetic' ]; then
-    path=~/.gazebo/models/sun
-    echo "manually download the sun gazebo model to ${path}"
-    mkdir -p ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/sun/model-1_2.sdf -P ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/sun/model-1_3.sdf -P ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/sun/model-1_4.sdf -P ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/sun/model.sdf -P ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/sun/model.config -P ${path}
-
-    path=~/.gazebo/models/ground_plane
-    echo "manually download the ground_plane gazebo model to ${path}"
-    mkdir -p ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/ground_plane/model-1_2.sdf -P ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/ground_plane/model-1_3.sdf -P ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/ground_plane/model-1_4.sdf -P ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/ground_plane/model.sdf -P ${path}
-    wget https://raw.githubusercontent.com/osrf/gazebo_models/master/ground_plane/model.config -P ${path}
-fi
-
-if [[ "$ROS_DISTRO" = "kinetic" ]]; then
-    # to use c++17
-    sudo apt-get install -y software-properties-common
-    sudo add-apt-repository ppa:ubuntu-toolchain-r/test
-    sudo apt update
-    sudo apt install -y g++-7
-    export CXX='g++-7'
-    export CC='gcc-7'
-fi
-
 # Build
 catkin config --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
 catkin build --no-status

README.md

@@ -6,14 +6,40 @@
 
 ## Setup
 
+### Ubuntu 18.04, 20.04
+
+#### Install ROS1 from official site
+- Melodic: https://wiki.ros.org/melodic/Installation/Ubuntu
+- Noetic: https://wiki.ros.org/noetic/Installation/Ubuntu
+
+#### Build
+
 ```bash
 source /opt/ros/${ROS_DISTRO}/setup.bash # please replace ${ROS_DISTRO} with your specific env variable, e.g., melodic
+sudo apt install -y python3-wstool python3-catkin-tools # for melodic, please replace `python3` with `python`
 mkdir -p ~/ros/jsk_aerial_robot_ws/src
 cd ~/ros/jsk_aerial_robot_ws
 sudo rosdep init
 rosdep update
 wstool init src
 wstool set -u -t src jsk_aerial_robot http://github.com/jsk-ros-pkg/jsk_aerial_robot --git
+./src/jsk_aerial_robot/configure.sh # for configuration especially for ros-o in jammy
+wstool merge -t src src/jsk_aerial_robot/aerial_robot_${ROS_DISTRO}.rosinstall
+wstool update -t src
+rosdep install -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+catkin build
+```
+
+### Ubuntu 22.04 (ROS-O)
+
+```bash
+sudo apt install -y python3-wstool
+mkdir -p ~/ros/jsk_aerial_robot_ws/src
+cd ~/ros/jsk_aerial_robot_ws
+wstool init src
+wstool set -u -t src jsk_aerial_robot http://github.com/jsk-ros-pkg/jsk_aerial_robot --git
+./src/jsk_aerial_robot/configure.sh # for configuration especially for ros-o in jammy
+source /opt/ros/one/setup.bash
 wstool merge -t src src/jsk_aerial_robot/aerial_robot_${ROS_DISTRO}.rosinstall
 wstool update -t src
 rosdep install -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO

aerial_robot_kinetic.rosinstall → aerial_robot_debian.rosinstall

@@ -2,19 +2,19 @@
 - git:
     local-name: aerial_robot_3rdparty
     uri: https://github.com/JSKAerialRobot/aerial_robot_3rdparty.git
-    version: b10f5bf
+    version: 4085d3a
 
 # kalman filter
 - git:
     local-name: kalman_filter
     uri: https://github.com/JSKAerialRobot/kalman_filter.git
-    version: 012b925
+    version: 5c7a410
 
 # the sensor interface
 - git:
     local-name: sensor_interface
     uri: https://github.com/JSKAerialRobot/sensor_interface.git
-    version: c4570c0 
+    version: e8286e7
 
 # RTK-GPS
 # support RTK based GPS module.
@@ -29,10 +29,30 @@
 - git:
     local-name: rosserial
     uri: https://github.com/tongtybj/rosserial.git
-    version: kinetic-devel
+    version: rosservice_server
+
+# livox ros driver
+# modification for quick build of ROS1 version
+- git:
+    local-name: livox_ros_driver2
+    uri: https://github.com/tongtybj/livox_ros_driver2.git
+    version: PR/ros1
+
+# fast lio
+# modification for fast odometry based on EKF
+- git:
+    local-name: fast_lio
+    uri: https://github.com/tongtybj/FAST_LIO
+    version: PR/odometry
 
 # realsense
+#- git:
+#    local-name: realsense-ros
+#    uri: https://github.com/tongtybj/realsense-ros.git
+#    version: multi_realsense_t265
+
+# mocap optitrack
 - git:
-    local-name: realsense-ros
-    uri: https://github.com/tongtybj/realsense-ros.git
-    version: multi_realsense_t265
+    local-name: mocap_optitrack
+    uri: https://github.com/sugikazu75/mocap_optitrack.git
+    version: 50fb60d

aerial_robot_nerve/motor_test/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(motor_test)
 
-add_compile_options(-std=c++14)
+add_compile_options(-std=c++17)
 
 find_package(catkin REQUIRED COMPONENTS
   roscpp

aerial_robot_nerve/spinal/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(spinal)
 
-add_compile_options(-std=c++14)
+add_compile_options(-std=c++17)
 
 find_package(catkin REQUIRED COMPONENTS
   roscpp

configure.sh

@@ -0,0 +1,21 @@
+#!/bin/bash
+
+set -e
+
+# Get VERSION_CODENAME from /etc/os-release
+DISTRO=$(grep '^VERSION_CODENAME=' /etc/os-release | cut -d'=' -f2)
+
+# Conditional branching based on distro_codename
+if [ "$DISTRO" = "jammy" ]; then
+    echo "This is Ubuntu 22.04 (jammy). Install ROS-O"
+
+    sudo apt install -y python3-pip
+    pip3 install catkin-tools
+    echo "deb [trusted=yes] https://raw.githubusercontent.com/sugikazu75/ros-o-builder/$DISTRO-one-unstable/repository ./" | sudo tee /etc/apt/sources.list.d/sugikazu75_ros-o-builder.list
+    sudo apt update
+    sudo apt install -y python3-rosdep2
+    echo "yaml https://raw.githubusercontent.com/sugikazu75/ros-o-builder/$DISTRO-one-unstable/repository/local.yaml debian" | sudo tee /etc/ros/rosdep/sources.list.d/1-sugikazu75_ros-o-builder.list
+    rosdep update
+    sudo apt install -y ros-one-desktop-full
+    sudo apt install -y python3-wstool
+fi