feat: Add targets for ROS 2

Co-authored-by: Matthijs van der Burgh <[email protected]>

colcon/install.yaml

@@ -0,0 +1,5 @@
+- type: target
+  name: ros2-setup
+
+- type: system
+  name: python3-colcon-common-extensions

ros2-setup/install.bash

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+#! /usr/bin/env bash
+
+keyurl="https://raw.githubusercontent.com/ros/rosdistro/master/ros.key"
+keyfile=/usr/share/keyrings/ros-archive-keyring.gpg
+rosrepo="ros2"
+
+rosrepourl="http://packages.ros.org/${rosrepo}/ubuntu $(lsb_release -sc) main"
+sourcefile=/etc/apt/sources.list.d/ros2.list
+sourceurl="deb [signed-by=${keyfile}] ${rosrepourl}"
+
+ADD_ROS_SOURCES=false
+ADD_ROS_GPG_KEY=false
+FORCE_UPDATE=false
+
+if [[ ! -f "${sourcefile}" ]]
+then
+    tue-install-debug "Adding ROS2 sources to apt-get"
+    ADD_ROS_SOURCES=true
+    ADD_ROS_GPG_KEY=true
+elif [[ $(cat "${sourcefile}") != "${sourceurl}" ]]
+then
+    tue-install-debug "Updating ROS2 sources to apt-get"
+    ADD_ROS_SOURCES=true
+    ADD_ROS_GPG_KEY=true
+else
+    tue-install-debug "ROS2 sources already added to apt-get"
+fi
+
+if [[ "${ADD_ROS_GPG_KEY}" == "false" ]]
+then
+    if [[ ! -f "${keyfile}" ]]
+    then
+        tue-install-debug "No existing GPG key of ROS2 repository found, adding a new one"
+        ADD_ROS_GPG_KEY=true
+    elif gpg --import --import-options show-only "${keyfile}" 2> /dev/null | grep -q expired
+    then
+        tue-install-debug "Updating expired GPG key of ROS2 repository"
+        ADD_ROS_GPG_KEY=true
+    else
+        tue-install-debug "Not updating the existing GPG of the ROS2 repository"
+    fi
+fi
+
+if [[ "${ADD_ROS_GPG_KEY}" == "true" ]]
+then
+    tue-install-pipe sudo curl -sSL "${keyurl}" -o "${keyfile}"
+    tue-install-debug "Successfully added/updated ROS2 repository GPG key"
+
+    FORCE_UPDATE=true
+fi
+
+if [[ "${ADD_ROS_SOURCES}" == "true" ]]
+then
+    echo "${sourceurl}" | sudo tee "${sourcefile}" > /dev/null
+    tue-install-debug "Successfully added/updated ROS2 source file in apt"
+
+    FORCE_UPDATE=true
+fi
+
+if [[ "${FORCE_UPDATE}" == "true" ]]
+then
+    tue-install-apt-get-update
+    tue-install-debug "Successfully updated ROS2 sources"
+fi

ros2/install.bash

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+#! /usr/bin/env bash
+# shellcheck disable=SC1090
+
+if [ -z "$TUE_ROS_DISTRO" ]
+then
+    tue-install-error "TUE_ROS_DISTRO was not set"
+    return 1
+fi
+
+# Install basic ROS packages and eProsima DDS implementation.
+tue-install-system-now ros-"$TUE_ROS_DISTRO"-ros-core ros-"$TUE_ROS_DISTRO"-rmw-fastrtps-cpp
+
+# Setup the build environment
+mkdir -p "$TUE_SYSTEM_DIR"
+
+if [ ! -f "$TUE_SYSTEM_DIR"/install/setup.bash ]
+then
+    [[ -z "${TUE_ROS_VERSION}" ]] && { tue-install-warning "tue-env variable TUE_ROS_VERSION is not set. This will not be allowed in the future.\nSetting TUE_ROS_VERSION=2 temporarily."; }
+    TUE_ROS_VERSION=2 tue-make || tue-install-error "Error in building the ROS2 system workspace"
+fi

ros2/install.yaml

@@ -0,0 +1,8 @@
+- type: target
+  name: ros2-setup
+
+- type: target-now
+  name: colcon
+
+- type: target-now
+  name: build-essential

ros2/setup

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+#! /usr/bin/env bash
+
+if [ -z "$TUE_ROS_DISTRO" ]
+then
+    echo "[ros2] TUE_ROS_DISTRO was not set"
+    return 1
+fi
+
+# shellcheck disable=SC1090
+# Add ROS sourcing to the shell startup script
+if [ -f "/opt/ros/${TUE_ROS_DISTRO}/setup.bash" ]
+then
+    source "/opt/ros/${TUE_ROS_DISTRO}/setup.bash"
+else
+    echo -e "\033[33;1m[ros2] ROS 2 ${TUE_ROS_DISTRO} setup.bash not found. \033[0m"
+fi
+
+# shellcheck disable=SC1090
+if [ -f "${TUE_SYSTEM_DIR}/install/local_setup.bash" ]
+then
+    source "${TUE_SYSTEM_DIR}/install/local_setup.bash"
+else
+    echo -e "\033[33;1m[ros2] ${TUE_SYSTEM_DIR}/install/local_setup.bash not found. \033[0m"
+fi
+
+# Add Colcon sourcing to the shell startup script
+if [ -f "/usr/share/colcon_cd/function/colcon_cd.sh" ]
+then
+    # shellcheck disable=SC1091
+    source /usr/share/colcon_cd/function/colcon_cd.sh
+    # shellcheck disable=SC2016
+    export _colcon_cd_root="${TUE_SYSTEM_DIR}"
+else
+    echo -e "\033[33;5;1m[ros2] colcon_cd setup not found. colcon_cd command disabled. \033[0m"
+fi
+
+# shellcheck disable=SC2016
+ROSCONSOLE_FORMAT='[${severity}][${node}][${time}]: ${message}'
+export ROSCONSOLE_FORMAT
+
+# shellcheck disable=SC2016
+# Make eProsima DDS implementation default
+export RMW_IMPLEMENTATION=rmw_fastrtps_cpp