Release 0.2.4 (#38)

* bump up version * making debian gen easier * check if porcelain * fix launch file for robot launch * make possible to write inspections plans in the robot
nasa · Feb 14, 2022 · 3c96824 · 3c96824
1 parent 44255c1
commit 3c96824
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Showing 9 changed files with 46 additions and 27 deletions.
diff --git a/INSTALL.md b/INSTALL.md
@@ -91,17 +91,17 @@ Cross-compiling isaac
 ---------
 
 
-To cross-compile ISAAC, one must first cross compile the astobee code using the NASA_INSTALL instructions.
+To cross-compile ISAAC, one must first cross compile the astobee code using the NASA_INSTALL instructions. Note that ASTROBEE_WS must be defined.
 
 A new catkin profile should be made to retain the configurations and easily switch between normal build.
 
     catkin profile add cross
     catkin profile set cross
-    catkin config --extend $ARMHF_CHROOT_DIR/opt/astrobee \
-                  --build-space $ARMHF_CHROOT_DIR/home/astrobee/isaac/build \
-                  --install-space $ARMHF_CHROOT_DIR/opt/isaac \
-                  --devel-space $ARMHF_CHROOT_DIR/home/astrobee/isaac/devel \
-                  --log-space $ARMHF_CHROOT_DIR/home/astrobee/isaac/logs \
+    catkin config --extend $ASTROBEE_WS/armhf/opt/astrobee \
+                  --build-space armhf/build \
+                  --install-space armhf/opt/isaac \
+                  --devel-space armhf/devel \
+                  --log-space armhf/logs \
                   --whitelist isaac_astrobee_description isaac_util isaac_msgs inspection cargo isaac_hw_msgs wifi isaac gs_action_helper \
                   --install \
                   --cmake-args -DCMAKE_TOOLCHAIN_FILE=$ISAAC_WS/src/scripts/build/isaac_cross.cmake \

diff --git a/RELEASE.md b/RELEASE.md
@@ -1,5 +1,11 @@
 # Releases
 
+## Release 0.2.4
+
+  * Inspection tool improvements
+  * Better CI
+  * Small bug fixes
+
 ## Release 0.2.3
 
   * Panorama picture taking mode supported

diff --git a/debian/changelog b/debian/changelog
@@ -1,4 +1,12 @@
-isaac (0.2.3) UNRELEASED; urgency=medium
+isaac (0.2.4) testing; urgency=medium
+
+  * Inspection tool improvements
+  * Better CI
+  * Small bug fixes
+
+ -- Marina Moreira <mgouveia@ubuntu>  Fri, 11 Feb 2022 13:57:38 -0800
+
+isaac (0.2.3) testing; urgency=medium
 
   * Panorama picture taking mode supported
   * Cargo transport simulation support

diff --git a/debian/isaac0.postinst b/debian/isaac0.postinst
@@ -2,7 +2,9 @@
 
 if [ "$1" = "configure" ]; then
   chmod -R g+rwx /opt/isaac/env_wrapper.sh
+  chmod -R g+rwx /opt/isaac/share/inspection/resources
   if [ $(getent group users) ]; then
     chgrp -R users /opt/isaac/env_wrapper.sh
+    chgrp -R users /opt/isaac/share/inspection/resources
   fi
 fi
diff --git a/debian/rules b/debian/rules
@@ -41,26 +41,24 @@ override_dh_auto_configure:
 	catkin profile add debian --force && \
 	catkin profile set debian && \
     catkin config \
-    	--extend $(ARMHF_CHROOT_DIR)/opt/astrobee \
-        --build-space $(ARMHF_CHROOT_DIR)/home/astrobee/isaac/tmp/build \
-        --install-space $(ARMHF_CHROOT_DIR)/home/astrobee/isaac/tmp/opt/isaac \
-        --devel-space $(ARMHF_CHROOT_DIR)/home/astrobee/isaac/tmp/devel \
-        --log-space $(ARMHF_CHROOT_DIR)/home/astrobee/isaac/tmp/logs \
+        --extend $(ASTROBEE_WS)/armhf/opt/astrobee \
+        --build-space debian/build \
+        --install-space src/debian/tmp/opt/isaac \
+        --devel-space debian/devel \
+        --log-space debian/logs \
 		--whitelist isaac_astrobee_description isaac_util isaac_msgs inspection cargo isaac_hw_msgs wifi isaac gs_action_helper \
 		--install \
 		--cmake-args \
 			-DCMAKE_TOOLCHAIN_FILE=$(CMAKE_TOOLCHAIN_FILE) \
 			-DARMHF_CHROOT_DIR=$(ARMHF_CHROOT_DIR) \
-			-DARMHF_TOOLCHAIN=$(ARMHF_TOOLCHAIN) && \
-	catkin clean -y --force
+			-DARMHF_TOOLCHAIN=$(ARMHF_TOOLCHAIN)
 
 override_dh_auto_build: ;
 
 # the install command is already invoked in the build
 override_dh_auto_install:
 	cd .. && \
-	catkin build && \
-	rsync --remove-source-files -azh $(ARMHF_CHROOT_DIR)/home/astrobee/isaac/tmp src/debian
+	catkin build
 
 # we don't test
 override_dh_auto_test: ;

diff --git a/isaac.doxyfile b/isaac.doxyfile
@@ -38,7 +38,7 @@ PROJECT_NAME           = "ISAAC"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 0.2.3
+PROJECT_NUMBER         = 0.2.4
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

diff --git a/isaac/launch/isaac_astrobee.launch b/isaac/launch/isaac_astrobee.launch
@@ -71,10 +71,12 @@
        name="ROSCONSOLE_CONFIG_FILE" value="$(find astrobee)/resources/logging.config"/>
   <arg if="$(eval optenv('ISAAC_CONFIG_DIR','')=='')"
        name="ISAAC_CONFIG_DIR" value="$(find isaac)/config" />
+  <arg unless="$(eval optenv('ISAAC_CONFIG_DIR','')=='')"
+       name="ISAAC_CONFIG_DIR" value="$(optenv ISAAC_CONFIG_DIR)" />
   <arg if="$(eval optenv('ISAAC_RESOURCE_DIR','')=='')"
        name="ISAAC_RESOURCE_DIR" value="$(find isaac)/resources" />
-
-
+  <arg unless="$(eval optenv('ISAAC_RESOURCE_DIR','')=='')"
+       name="ISAAC_RESOURCE_DIR" value="$(optenv ISAAC_RESOURCE_DIR)" />
 
   <!-- Launch the platform on its own namespace -->
   <group ns="/$(arg ns)">

diff --git a/scripts/build/build_debian.sh b/scripts/build/build_debian.sh
@@ -20,11 +20,11 @@
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
-# if [ -n "$(git status --porcelain)" ]; then 
-#   echo "You should not build Debians for a dirty source tree!"
-#   echo "Make sure all your changes are committed AND pushed to the server..."
-#   exit -1
-# fi
+if [ -n "$(git status --porcelain)" ]; then 
+  echo "You should not build Debians for a dirty source tree!"
+  echo "Make sure all your changes are committed AND pushed to the server..."
+  exit -1
+fi
 
 EXTRA_FLAGS="-b -a armhf"
 if [[ $* == *--config* ]]; then
@@ -33,5 +33,5 @@ fi
 
 pushd $DIR/../..
 export CMAKE_TOOLCHAIN_FILE=${DIR}/isaac_cross.cmake
-DEB_BUILD_OPTIONS="parallel=8" debuild -e ARMHF_CHROOT_DIR -e ARMHF_TOOLCHAIN -e CMAKE_TOOLCHAIN_FILE -e CMAKE_PREFIX_PATH -us -uc $EXTRA_FLAGS
+DEB_BUILD_OPTIONS="parallel=8" debuild -e ASTROBEE_WS -e ARMHF_CHROOT_DIR -e ARMHF_TOOLCHAIN -e CMAKE_TOOLCHAIN_FILE -e CMAKE_PREFIX_PATH -us -uc $EXTRA_FLAGS
 popd > /dev/null
diff --git a/scripts/build/isaac_cross.cmake b/scripts/build/isaac_cross.cmake
@@ -52,8 +52,10 @@ SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
 # If this is not done, the resulting rpath will not look for them in the chroot
 # environment.
 # Also, RTI DDS is included once for the libraries and once for the headers.
+execute_process(COMMAND catkin locate -i OUTPUT_VARIABLE CATKIN_INSTALL_PATH OUTPUT_STRIP_TRAILING_WHITESPACE)
+execute_process(COMMAND catkin locate -d OUTPUT_VARIABLE CATKIN_DEVEL_PATH OUTPUT_STRIP_TRAILING_WHITESPACE)
 SET(CMAKE_FIND_ROOT_PATH
-  ${ARM_CHROOT_DIR})
+  ${ARM_CHROOT_DIR} ${CATKIN_INSTALL_PATH} ${CATKIN_DEVEL_PATH} $ENV{ASTROBEE_WS}/armhf/opt/astrobee)
 
 SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY BOTH)
 SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE BOTH)
@@ -68,7 +70,8 @@ IF( DEFINED EXTRA_ROOT_PATH )
   SET(CMAKE_FIND_ROOT_PATH ${EXTRA_ROOT_PATH} ${CMAKE_FIND_ROOT_PATH})
 ENDIF( DEFINED EXTRA_ROOT_PATH )
 
-SET(catkin2_DIR ${CMAKE_SOURCE_DIR}/cmake)
+execute_process(COMMAND catkin locate -s OUTPUT_VARIABLE CATKIN_SRC_PATH OUTPUT_STRIP_TRAILING_WHITESPACE)
+SET(catkin2_DIR ${CATKIN_SRC_PATH}/cmake)
 
 # needed for gflag to compile...
 SET( THREADS_PTHREAD_ARG