Move to ROS2 Galactic (#107)

* Fix rosdistro in ansible Fix rosdistro other than autoware in ansible (#146) * Use upstream grid_map Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove rosbag2 Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Change position of ecu_system_setup section Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add missing_packages in galactic Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add ros2/rosbag2 galactic to repos Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Purge installed rosbag2 to build it from source Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Add TODO comment to repos Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Jul 22, 2021 · 92e204c · 92e204c
1 parent 31ba1d4
commit 92e204c
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Showing 6 changed files with 44 additions and 14 deletions.
diff --git a/ansible/localhost-setup-ubuntu20.04-devpc.yml b/ansible/localhost-setup-ubuntu20.04-devpc.yml
@@ -15,7 +15,7 @@
   roles:
     - { role: cuda, when: yn_gpu == 'y', tags: ["cuda"] }
     - { role: tensorrt, when: yn_gpu == 'y', tags: ["tensorrt"] }
-    - { role: ros2, rosdistro: foxy, tags: ["ros2"] }
+    - { role: ros2, rosdistro: galactic, tags: ["ros2"] }
     - { role: vcs, tags: ["vcs"] }
-    - { role: autoware, rosdistro: foxy, tags: ["autoware"] }
-    - { role: pacmod, rosdistro: foxy, tags: ["pacmod"] }
+    - { role: autoware, rosdistro: galactic, tags: ["autoware"] }
+    - { role: pacmod, rosdistro: galactic, tags: ["pacmod"] }
diff --git a/ansible/roles/autoware/defaults/main.yml b/ansible/roles/autoware/defaults/main.yml
@@ -1,2 +1,2 @@
 ---
-rosdistro: "foxy"
+rosdistro: "galactic"
diff --git a/ansible/roles/pacmod/defaults/main.yml b/ansible/roles/pacmod/defaults/main.yml
@@ -1,3 +1,3 @@
 ---
-rosdistro: "foxy"
+rosdistro: "galactic"
 kvaser_library_only: true
diff --git a/ansible/roles/ros2/defaults/main.yml b/ansible/roles/ros2/defaults/main.yml
@@ -1,5 +1,5 @@
 ---
-rosdistro: "foxy"
+rosdistro: "galactic"
 package: "desktop"
 repository: "http://packages.ros.org/ros2/ubuntu"
 keyserver: "https://github.com/ros/rosdistro/master/ros.key"

diff --git a/ansible/roles/ros2/tasks/main.yml b/ansible/roles/ros2/tasks/main.yml
@@ -85,6 +85,14 @@
     update_cache: yes
   become: yes
 
+# Required to build rosbag2 from source until the delay option is released.
+- name: ROS2 (purge ros-{{ rosdistro }}-rosbag2*)
+  apt:
+    name: "ros-{{ rosdistro }}-rosbag2*"
+    state: absent
+    purge: yes
+  become: yes
+
 - name: ROS2 (Add settings to .bashrc)
   lineinfile:
     dest: ~/.bashrc

diff --git a/autoware.proj.repos b/autoware.proj.repos
@@ -58,15 +58,20 @@ repositories:
     type: git
     url: git@github.com:tier4/logsim.git
     version: ros2
+  # ecu_system_setup
+  ecu_system_setup:
+    type: git
+    url: git@github.com:tier4/autoware_ecu_system_setup.git
+    version: main
   # vendor
   vendor/quaternion_operation:
     type: git
     url: https://github.com/OUXT-Polaris/quaternion_operation.git
     version: f08cd28b357f9feede55f1fb485cb21964f5d594
   vendor/grid_map:
     type: git
-    url: https://github.com/tier4/grid_map.git
-    version: tier4/foxy
+    url: https://github.com/ANYbotics/grid_map.git
+    version: ros2
   vendor/perception_pcl:
     type: git
     url: https://github.com/ros-perception/perception_pcl.git
@@ -127,10 +132,11 @@ repositories:
     type: git
     url: https://gitlab.com/autowarefoundation/operational-design-domains
     version: master
+  # TODO: Remove rosbag2 from repos when the delay option is released
   vendor/rosbag2:
     type: git
-    url: https://github.com/tier4/rosbag2
-    version: tier4/main
+    url: https://github.com/ros2/rosbag2
+    version: galactic
   vendor/launch_ros:
     type: git
     url: https://github.com/tier4/launch_ros.git
@@ -147,8 +153,24 @@ repositories:
     type: git
     url: https://github.com/tier4/pointcloud_to_laserscan.git
     version: tier4/main
-  # ecu_system_setup
-  ecu_system_setup:
+  # missing_packages
+  missing_packages/lanelet2:
     type: git
-    url: git@github.com:tier4/autoware_ecu_system_setup.git
-    version: main
+    url: https://github.com/fzi-forschungszentrum-informatik/Lanelet2.git
+    version: 1.1.1
+  missing_packages/mrt_cmake_modules:
+    type: git
+    url: https://github.com/KIT-MRT/mrt_cmake_modules.git
+    version: 1.0.8
+  missing_packages/astuff_sensor_msgs:
+    type: git
+    url: https://github.com/astuff/astuff_sensor_msgs.git
+    version: 3.2.0
+  missing_packages/automotive_autonomy_msgs:
+    type: git
+    url: https://github.com/astuff/automotive_autonomy_msgs.git
+    version: 3.0.4
+  missing_packages/plotjuggler-ros-plugins:
+    type: git
+    url: https://github.com/PlotJuggler/plotjuggler-ros-plugins.git
+    version: rolling