CI: build and test on ROS 2 Jazzy and Kilted

.github/workflows/rolling.yaml

@@ -7,22 +7,28 @@ on:
   push:
     branches:
       - rolling
+  workflow_dispatch:
 
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
+    runs-on: ubuntu-24.04
+    env:
+      # Tests cannot create ~/.ros/log in the runner
+      ROS_LOG_DIR: /tmp/ros_log
     strategy:
-      matrix:
-        os: [ubuntu-26.04]
       fail-fast: false
+      matrix:
+        ros_distro: [jazzy, kilted]
     steps:
-      - uses: ros-tooling/setup-ros@0.7.16
+      - uses: ros-tooling/setup-ros@0.7.19
         with:
-          required-ros-distributions: rolling
-      - uses: ros-tooling/action-ros-ci@0.4.7
+          required-ros-distributions: ${{ matrix.ros_distro }}
+      - name: Add the ROS libraries to the library path (needed by Kilted tests)
+        run: echo "LD_LIBRARY_PATH=/opt/ros/${{ matrix.ros_distro }}/lib:${LD_LIBRARY_PATH}" >> "$GITHUB_ENV"
+      - uses: ros-tooling/action-ros-ci@0.4.8
         with:
           package-name: rossdl_cmake rossdl_simple_test system_a system_b application_1 application_2 application_3
-          target-ros2-distro: rolling
+          target-ros2-distro: ${{ matrix.ros_distro }}
           colcon-defaults: |
             {
               "test": {

rossdl_cmake/cmake/rossdl_generate_code.cmake

@@ -54,19 +54,16 @@ macro(rossdl_generate_code description_file)
     set(_code_tuple "${CMAKE_CURRENT_SOURCE_DIR}:${description_file}")
   endif()
 
-  ament_index_get_prefix_path(PACKAGES_INSTALL_PATHS)
-  set(ROSSDL_CMAKE_PATH "")
-  foreach(PACKAGES_INSTALL_PATH ${PACKAGES_INSTALL_PATHS})
-    if(PACKAGES_INSTALL_PATH MATCHES "rossdl_cmake")
-      set(ROSSDL_CMAKE_PATH ${PACKAGES_INSTALL_PATH})
-    endif()
-  endforeach()
+  # The templates are installed in <prefix>/share/rossdl_cmake/resources and
+  # rossdl_cmake_DIR is <prefix>/share/rossdl_cmake/cmake, for any install
+  # layout (isolated, merged, Debian or conda packages).
+  get_filename_component(ROSSDL_RESOURCES_DIR "${rossdl_cmake_DIR}/../resources" ABSOLUTE)
 
   file(READ ${_abs_file} ARTIFACTS_DESCRIPTION)
   ament_index_register_resource(rossdl_artifact_descriptions CONTENT ${ARTIFACTS_DESCRIPTION})
 
-  set(RESOURCE_CPP ${ROSSDL_CMAKE_PATH}/share/rossdl_cmake/resources/nodes.cpp.em)
-  set(RESOURCE_HPP ${ROSSDL_CMAKE_PATH}/share/rossdl_cmake/resources/nodes.hpp.em)
+  set(RESOURCE_CPP ${ROSSDL_RESOURCES_DIR}/nodes.cpp.em)
+  set(RESOURCE_HPP ${ROSSDL_RESOURCES_DIR}/nodes.hpp.em)
 
   string(REGEX REPLACE ":([^:]*)$" "/\\1" _abs_file "${_code_tuple}")
   set(_header_out_file  ${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_NAME}/Nodes.hpp)

rossdl_cmake/cmake/rossdl_generate_system.cmake

@@ -58,15 +58,12 @@ macro(rossdl_generate_system) # description_file systems)
     set(_code_tuple "${CMAKE_CURRENT_SOURCE_DIR}:${description_file}")
   endif()
 
-  ament_index_get_prefix_path(PACKAGES_INSTALL_PATHS)
-  set(ROSSDL_CMAKE_PATH "")
-  foreach(PACKAGES_INSTALL_PATH ${PACKAGES_INSTALL_PATHS})
-    if(PACKAGES_INSTALL_PATH MATCHES "rossdl_cmake")
-      set(ROSSDL_CMAKE_PATH ${PACKAGES_INSTALL_PATH})
-    endif()
-  endforeach()
+  # The templates are installed in <prefix>/share/rossdl_cmake/resources and
+  # rossdl_cmake_DIR is <prefix>/share/rossdl_cmake/cmake, for any install
+  # layout (isolated, merged, Debian or conda packages).
+  get_filename_component(ROSSDL_RESOURCES_DIR "${rossdl_cmake_DIR}/../resources" ABSOLUTE)
 
-  set(RESOURCE_LAUNCH ${ROSSDL_CMAKE_PATH}/share/rossdl_cmake/resources/launcher.py.em)
+  set(RESOURCE_LAUNCH ${ROSSDL_RESOURCES_DIR}/launcher.py.em)
 
   string(REGEX REPLACE ":([^:]*)$" "/\\1" _abs_file "${_code_tuple}")
 
@@ -76,6 +73,16 @@ macro(rossdl_generate_system) # description_file systems)
   ament_index_get_resources(ROSSDL_ARTIFACTS rossdl_artifact_descriptions)
   ament_index_get_resources(ROSSDL_SYSTEMS rossdl_system_descriptions)
 
+  # The descriptions of this package are registered in its build space, so
+  # CMake sees them, but they are not installed yet, so the generator cannot
+  # read them from the ament index. Always use them as local files.
+  if(ROSSDL_ARTIFACTS)
+    list(REMOVE_ITEM ROSSDL_ARTIFACTS ${PROJECT_NAME})
+  endif()
+  if(ROSSDL_SYSTEMS)
+    list(REMOVE_ITEM ROSSDL_SYSTEMS ${PROJECT_NAME})
+  endif()
+
   if(ROSSDL_ARTIFACTS)
     set(ROSSDL_ARTIFACTS_NO_VOID ${ROSSDL_ARTIFACTS})
   endif()

rossdl_cmake/package.xml

@@ -16,6 +16,9 @@
 
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
   <buildtool_export_depend>python3-empy</buildtool_export_depend>
+  <buildtool_export_depend>python3-yaml</buildtool_export_depend>
+  <buildtool_export_depend>ament_index_python</buildtool_export_depend>
+  <buildtool_export_depend>ros2run</buildtool_export_depend>
 
   <depend>rclpy</depend>
 

rossdl_cmake/rossdl_cmake/__init__.py

@@ -22,6 +22,33 @@
 import yaml
 from yaml.loader import SafeLoader
 
+def _create_interpreter(output):
+    """Create an EmPy interpreter, compatible with EmPy 3 and EmPy 4."""
+    if hasattr(em, 'BUFFERED_OPT'):
+        # EmPy 3 (Ubuntu packages)
+        return em.Interpreter(
+            output=output,
+            options={
+                em.BUFFERED_OPT: True,
+                em.RAW_OPT: True,
+                em.OVERRIDE_OPT: False,
+            })
+    # EmPy 4 (conda-forge, pip)
+    return em.Interpreter(
+        output=output,
+        config=em.Configuration(useProxy=False),
+        dispatcher=False)
+
+
+def _expand(interpreter, content, name, handle, data):
+    if hasattr(em, 'BUFFERED_OPT'):
+        interpreter.invoke('beforeFile', name=name, file=handle, locals=data)
+        interpreter.string(content, name, locals=data)
+        interpreter.invoke('afterFile')
+    else:
+        interpreter.string(content, locals=data)
+
+
 
 def read_description(file_in):
     with open(file_in) as f:
@@ -199,19 +226,11 @@ def generate_file(package, artifacts_file, file_in, file_out):
     file_output = StringIO()
     content = ''
     try:
-        _interpreter = em.Interpreter(
-            output=file_output,
-            options={
-                em.BUFFERED_OPT: True,
-                em.RAW_OPT: True,
-            })
+        _interpreter = _create_interpreter(file_output)
 
         with open(file_in, 'r') as h:
             content = h.read()
-        _interpreter.invoke(
-            'beforeFile', name=file_in, file=h, locals=data)
-        _interpreter.string(content, file_in, locals=data)
-        _interpreter.invoke('afterFile')
+        _expand(_interpreter, content, file_in, h, data)
         content = file_output.getvalue()
     except Exception as e:  # noqa: F841
         print(
@@ -335,20 +354,11 @@ def generate_launch(package, file_in, launch_in, file_out, system, systems_data,
     content = ''
     try:
         em.Interpreter._wasProxyInstalled = False
-        _interpreter = em.Interpreter(
-            output=file_output,
-            options={
-                em.BUFFERED_OPT: True,
-                em.RAW_OPT: True,
-                em.OVERRIDE_OPT: False,
-            })
+        _interpreter = _create_interpreter(file_output)
 
         with open(launch_in, 'r') as h:
             content = h.read()
-        _interpreter.invoke(
-            'beforeFile', name=file_in, file=h, locals=data_and_system)
-        _interpreter.string(content, launch_in, locals=data_and_system)
-        _interpreter.invoke('afterFile')
+        _expand(_interpreter, content, launch_in, h, data_and_system)
         content = file_output.getvalue()
     except Exception as e:  # noqa: F841
         print(