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jamoralpjamoralp
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Snap build for the micro-ROS-Agent (#43)
* Add snap packaging * First approach for snap packaging * Working state * Fixes * Simplify snapcraft.yaml * Fix snapcraft build * Fix daemon * Fix compilation due to external micro_ros_msgs * CMakeLists cleanup
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-4
lines changed

6 files changed

+273
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lines changed

‎micro_ros_agent/CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -122,7 +122,7 @@ if(UROSAGENT_GENERATE_PROFILE)
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set(_XML_DEFAULT_READ_BIN "${_OUTPUT_PATH}/bin/Xml_read_default_profiles.py")
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normalize_path(_XML_DEFAULT_READ_BIN "${_XML_DEFAULT_READ_BIN}")
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set(_PYTHON_PKG_TOOL ${PROJECT_NAME})
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set(_PYTHON_PKG_TOOL utils)
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set(_RESOURCE_DIR "${_OUTPUT_PATH}/resource")
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normalize_path(_RESOURCE_DIR "${_RESOURCE_DIR}")
@@ -198,7 +198,7 @@ from ${_PYTHON_PKG_TOOL} import *
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endforeach()
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execute_process(
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COMMAND
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COMMAND
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"${PYTHON_EXECUTABLE}" "${_XML_DEFAULT_READ_BIN}" "--default-xml-path" "${_RESOURCE_DIR}"
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OUTPUT_VARIABLE
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_XmlDoc
@@ -207,7 +207,7 @@ from ${_PYTHON_PKG_TOOL} import *
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)
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if(NOT _result EQUAL 0)
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message(FATAL_ERROR "Error in typesuppor generation")
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message(FATAL_ERROR "Error in typesupport generation")
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endif()
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foreach(package ${_packages})
@@ -241,7 +241,7 @@ from ${_PYTHON_PKG_TOOL} import *
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)
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if(NOT _result EQUAL 0)
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message(FATAL_ERROR "Error in typesuppor generation")
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message(FATAL_ERROR "Error in typesupport generation")
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endif()
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set(_XmlDoc "${_XmlDoc}${_XmlGen}")

micro_ros_agent/micro_ros_agent/__init__.py renamed to micro_ros_agent/utils/__init__.py

File renamed without changes.

‎snap/hooks/configure‎

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@@ -0,0 +1,104 @@
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#!/bin/sh -e
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# Confirm that the transport is valid
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transport="$(snapctl get transport)"
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case "$transport" in
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udp4) ;;
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udp6) ;;
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tcp4) ;;
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tcp6) ;;
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serial) ;;
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pseudoterminal) ;;
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*)
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echo "'$transport' is not a supported transport" >&2
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return 1
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;;
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esac
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# Confirm that the middleware is valid
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middleware="$(snapctl get middleware)"
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case "$middleware" in
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dds) ;;
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rtps) ;;
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ced) ;;
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*)
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echo "'$middleware' is not a supported middleware" >&2
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return 1
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;;
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esac
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if [ "$transport" = "serial" ] || [ "$transport" = "pseudoterminal" ]; then
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# A serial transport if being used, which requires a valid baud rate
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# as well as a valid device
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baudrate="$(snapctl get baudrate)"
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if ! expr "$baudrate" : '^[0-9]\+$' > /dev/null; then
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echo "'$baudrate' is not a valid baud rate" >&2
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return 1
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fi
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device="$(snapctl get device)"
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if [ -z "$device" ]; then
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echo "Device must be specified" >&2
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return 1
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fi
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else
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port="$(snapctl get port)"
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if ! expr "$port" : '^[0-9]\+$' > /dev/null; then
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echo "'$port' is not a valid port" >&2
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return 1
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fi
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fi
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# Confirm that discovery is a boolean
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discovery="$(snapctl get discovery)"
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case "$discovery" in
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true)
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# Confirm that discovery port is valid
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port="$(snapctl get discovery-port)"
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if ! expr "$port" : '^[0-9]\+$' > /dev/null; then
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echo "'$port' is not a valid discovery port" >&2
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return 1
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fi
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;;
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false) ;;
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*)
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echo "'$discovery' is not a valid boolean for discovery" >&2
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return 1
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;;
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esac
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# Confirm that the verbosity is valid
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verbosity="$(snapctl get verbosity)"
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if ! expr "$verbosity" : '^[0-6]$' > /dev/null; then
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echo "'$verbosity' is not a valid verbosity" >&2
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return 1
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fi
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# Confirm that p2p port is valid (assuming it's set)
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p2p_port="$(snapctl get p2p-port)"
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if [ -n "$p2p_port" ]; then
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port="$(snapctl get p2p-port)"
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if ! expr "$port" : '^[0-9]\+$' > /dev/null; then
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echo "'$port' is not a valid p2p port" >&2
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return 1
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fi
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fi
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# Confirm that daemon is a boolean, and enable the service if true
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daemon="$(snapctl get daemon)"
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case "$daemon" in
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true)
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snapctl start --enable "$SNAP_INSTANCE_NAME.daemon"
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# In case it was alraedy started and the configuration changed,
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# restart the service
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snapctl restart "$SNAP_INSTANCE_NAME.daemon"
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;;
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false)
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snapctl stop --disable "$SNAP_INSTANCE_NAME.daemon"
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;;
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*)
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echo "'$daemon' is not a valid boolean for daemon" >&2
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return 1
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;;
104+
esac

‎snap/hooks/install‎

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#!/bin/sh -e
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# Set default configuration values
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snapctl set transport=udp4
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snapctl set middleware=dds
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snapctl set verbosity=4
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snapctl set discovery=false
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snapctl set discovery-port=7400
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snapctl set p2p-port! # unset
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# Network-specific things
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snapctl set port=8888
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# Serial-specific things
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snapctl set baudrate=115200
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snapctl set device! # unset
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# By default the daemon is disabled
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snapctl set daemon=false

‎snap/local/micro-ros-agent-daemon‎

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#!/bin/sh -e
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set -- --middleware "$(snapctl get middleware)" "$@"
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set -- --verbose "$(snapctl get verbosity)" "$@"
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6+
transport="$(snapctl get transport)"
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if [ "$transport" = "serial" ] || [ "$transport" = "pseudoterminal" ]; then
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set -- --dev "$(snapctl get device)" "$@"
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else
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set -- --port "$(snapctl get port)" "$@"
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fi
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if [ "$(snapctl get discovery)" = "true" ]; then
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set -- --discovery "$@"
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16+
discovery_port="$(snapctl get discovery-port)"
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if [ -n "$discovery_port" ]; then
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set -- --disport "$discovery_port" "$@"
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fi
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fi
21+
22+
p2p_port="$(snapctl get p2p-port)"
23+
if [ -n "$p2p_port" ]; then
24+
set -- --p2p "$p2p_port" "$@"
25+
fi
26+
27+
exec "$SNAP/lib/micro_ros_agent/micro_ros_agent" "$transport" "$@"

‎snap/snapcraft.yaml‎

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1+
name: micro-ros-agent
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base: core20
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version: git
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summary: Bridge between Micro ROS client applications and ROS 2
5+
description: |
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Micro-ROS, whose default implementation is based on eProsima's
7+
Micro XRCE-DDS middleware, is composed of client applications
8+
which interact with the ROS 2 world by means of an Agent.
9+
This agent keeps tracks of the entities created by means of
10+
requests performed on the microcontroller side, and uses them
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to communicate with the ROS 2 dataspace.
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13+
Being an extension of the Micro XRCE-DDS Agent, the micro-ROS
14+
agent supports being run by the user like this:
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16+
$ micro-ros-agent --help
17+
18+
In addition, the Agent supports running as a service that can be
19+
enabled with:
20+
21+
$ snap set micro-ros-agent daemon=true
22+
23+
If the service is enabled, by default it uses the `udp4` transport on
24+
port 8888. The following parameters can be changed (these are
25+
specific to the service, the `micro-ros-agent` command simply
26+
takes command-line arguments, but the capabilities are the same):
27+
28+
* `transport`. Supported transports are `udp4`, `udp6`, `tcp4`,
29+
`tcp6`, `serial`, and `pseudoterminal`. Default is `udp4`. Change
30+
with:
31+
32+
$ snap set micro-ros-agent transport="new transport"
33+
34+
* `middleware`. Supported kinds of middleware are `ced`, `rtps`, and
35+
`dds`. Default is `dds`. Change with:
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37+
$ snap set micro-ros-agent middleware="new middleware"
38+
39+
* `verbosity`. Supported verbosity levels are 0-6, defaulting to 4.
40+
Change with:
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42+
$ snap set micro-ros-agent verbosity="selected verbosity"
43+
44+
* `discovery`. Enable or disable the discovery server. Defaults to
45+
"false". Change with:
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47+
$ snap set micro-ros-agent discovery="true or false"
48+
49+
* `discovery-port`. Port on which the discovery server (see above)
50+
listens. Defaults to 7400. Change with:
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52+
$ snap set micro-ros-agent discovery-port="selected port"
53+
54+
* `p2p-port`. Port to use for the P2P profile. Change with:
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$ snap set micro-ros-agent p2p-port="selected port"
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* `port`. Port on which the agent listens. Only applicable to one of
59+
the UDP or TCP transports (see above). Defaults to 8888. Change with:
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$ snap set micro-ros-agent port="selected port"
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* `baudrate`. Baud rate to use when accessing serial ports. Only
64+
applicable when using the `serial` or `pseudoterminal` transport.
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Defaults to 115200. Change with:
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67+
$ snap set micro-ros-agent baudrate="baud rate"
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* `device`. The serial device to use. Only applicable when using the
70+
`serial` or `pseudoterminal` transport. Change with:
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$ snap set micro-ros-agent device="device path"
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grade: stable
76+
confinement: strict
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78+
architectures:
79+
- build-on: amd64
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- build-on: arm64
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- build-on: armhf
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- build-on: ppc64el
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84+
parts:
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86+
uros-agent:
87+
plugin: colcon
88+
source: .
89+
override-build: |
90+
git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git -b $ROS_DISTRO
91+
git clone https://github.com/eProsima/Micro-CDR.git -b $ROS_DISTRO
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git clone https://github.com/micro-ROS/micro_ros_msgs.git -b $ROS_DISTRO
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git clone https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git -b $ROS_DISTRO
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git clone https://github.com/micro-ROS/rmw-microxrcedds.git -b $ROS_DISTRO
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. /opt/ros/$ROS_DISTRO/setup.sh
96+
colcon build --merge-install --install-base $SNAPCRAFT_PRIME --cmake-args '-DUAGENT_CLI_PROFILE=OFF -DUAGENT_BUILD_EXECUTABLE=OFF' --packages-up-to micro_ros_agent
97+
build-packages: [make, gcc, g++]
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stage-packages: [ros-foxy-ros2launch]
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runner:
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plugin: dump
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source: snap/local/
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organize:
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'*': usr/bin/
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apps:
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micro-ros-agent:
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command: lib/micro_ros_agent/micro_ros_agent
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environment:
110+
LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
111+
plugs: [network, network-bind, serial-port]
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extensions: [ros2-foxy]
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daemon:
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command: usr/bin/micro-ros-agent-daemon
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environment:
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LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
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daemon: simple
119+
plugs: [network, network-bind, serial-port]

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