Fix Zephyr CI (#325)

pablogs9 · web-flow · commit 9c7cdb70d81e · 2021-05-27T10:09:45.000+02:00
* Fix Zephyr CI

* Fix

* Fix

* Fix

* Update

* Update

* Update
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -2,7 +2,7 @@ name: CI
 
 on:
   pull_request:
-    branches: 
+    branches:
       - '**'
 
 jobs:
@@ -20,7 +20,7 @@ jobs:
         run: |
           apt update
           apt install -y python3-colcon-metadata python3-pip
-          rosdep update
+          rosdep update --rosdistro $ROS_DISTRO
           rosdep install -y --from-paths src --ignore-src -y
 
       - name: Build
@@ -51,7 +51,7 @@ jobs:
         run: |
           apt update
           apt install -y python3-colcon-metadata python3-pip
-          rosdep update
+          rosdep update --rosdistro $ROS_DISTRO
           rosdep install -y --from-paths src --ignore-src -y
 
       - uses: actions/download-artifact@v1
@@ -125,7 +125,7 @@ jobs:
             configuration: int32_publisher
             transport_arguments: -t serial -d 1
             binary: 'firmware/freertos_apps/microros_nucleo_f746zg_extensions/build/micro-ROS.elf'
-          
+
           - rtos: freertos
             platform: nucleo_f767zi
             configuration: int32_publisher
@@ -155,7 +155,7 @@ jobs:
             configuration: int32_publisher
             transport_arguments: -t serial -d 3
             binary: 'firmware/build/zephyr/zephyr.bin'
-          
+
           - rtos: zephyr
             platform: nucleo_f746zg
             configuration: int32_publisher
@@ -171,7 +171,7 @@ jobs:
           - rtos: nuttx
             platform: olimex-stm32-e407
             configuration: drive_base
-            transport_arguments: 
+            transport_arguments:
             binary: 'firmware/NuttX/nuttx.bin'
 
           - rtos: raspbian
@@ -193,7 +193,7 @@ jobs:
         run: |
           apt update
           apt install -y python3-colcon-metadata python3-pip
-          rosdep update
+          rosdep update --rosdistro $ROS_DISTRO
           rosdep install -y --from-paths src --ignore-src -y
 
       - uses: actions/download-artifact@v1
@@ -210,8 +210,8 @@ jobs:
           . /opt/ros/foxy/setup.sh
           . install/local_setup.sh
           ros2 run micro_ros_setup create_firmware_ws.sh ${{ matrix.rtos }} ${{ matrix.platform }}
-          ros2 run micro_ros_setup configure_firmware.sh ${{ matrix.configuration }} ${{ matrix.transport_arguments }} 
-          ros2 run micro_ros_setup build_firmware.sh ${{ matrix.build_arguments }} 
+          ros2 run micro_ros_setup configure_firmware.sh ${{ matrix.configuration }} ${{ matrix.transport_arguments }}
+          ros2 run micro_ros_setup build_firmware.sh ${{ matrix.build_arguments }}
 
       - name: Check binaries
         run: |
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
@@ -32,7 +32,7 @@ jobs:
         run: |
           apt update
           apt install -y python3-colcon-metadata python3-pip
-          rosdep update
+          rosdep update --rosdistro $ROS_DISTRO
           rosdep install -y --from-paths src --ignore-src -y
 
       - name: Build
@@ -330,7 +330,7 @@ jobs:
         run: |
           apt update
           apt install -y python3-colcon-metadata python3-pip
-          rosdep update
+          rosdep update --rosdistro $ROS_DISTRO
           rosdep install -y --from-paths src --ignore-src -y
 
       - uses: actions/download-artifact@v1
@@ -378,7 +378,7 @@ jobs:
         run: |
           apt update
           apt install -y python3-colcon-metadata python3-pip
-          rosdep update
+          rosdep update --rosdistro $ROS_DISTRO
           rosdep install -y --from-paths src --ignore-src -y
 
       - uses: actions/download-artifact@v1
diff --git a/config/freertos/crazyflie21/create.sh b/config/freertos/crazyflie21/create.sh
@@ -1,15 +1,14 @@
 pushd $FW_TARGETDIR >/dev/null
     # Install toolchain
     mkdir toolchain
-    
-    
+
+
     # Install toolchain
     echo "Downloading ARM compiler, this may take a while"
     curl -fsSLO https://developer.arm.com/-/media/Files/downloads/gnu-rm/8-2019q3/RC1.1/gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2
     tar --strip-components=1 -xvjf gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2 -C toolchain  > /dev/null
     rm gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2
-    
-    
+
     # Import repos
     vcs import --input $PREFIX/config/$RTOS/$PLATFORM/board.repos
 
@@ -23,6 +22,6 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
 
-    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro foxy --skip-keys="$SKIP"
+    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro $ROS_DISTRO --skip-keys="$SKIP"
 
 popd >/dev/null
diff --git a/config/freertos/esp32/create.sh b/config/freertos/esp32/create.sh
@@ -43,5 +43,5 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
 
-    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro foxy --skip-keys="$SKIP"
+    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro $ROS_DISTRO --skip-keys="$SKIP"
 popd >/dev/null
diff --git a/config/freertos/nucleo_f446re/create.sh b/config/freertos/nucleo_f446re/create.sh
@@ -1,14 +1,14 @@
 pushd $FW_TARGETDIR >/dev/null
     # Install toolchain
     mkdir toolchain
-    
-    
+
+
     # Install toolchain
     echo "Downloading ARM compiler, this may take a while"
     curl -fsSLO https://developer.arm.com/-/media/Files/downloads/gnu-rm/8-2019q3/RC1.1/gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2
     tar --strip-components=1 -xvjf gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2 -C toolchain  > /dev/null
     rm gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2
-   
+
     # Import repos
     vcs import --input $PREFIX/config/$RTOS/$PLATFORM/board.repos
 
@@ -22,5 +22,5 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
 
-    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro foxy --skip-keys="$SKIP"
+    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro $ROS_DISTRO --skip-keys="$SKIP"
 popd >/dev/null
diff --git a/config/freertos/nucleo_f446ze/create.sh b/config/freertos/nucleo_f446ze/create.sh
@@ -1,14 +1,14 @@
 pushd $FW_TARGETDIR >/dev/null
     # Install toolchain
     mkdir toolchain
-    
-    
+
+
     # Install toolchain
     echo "Downloading ARM compiler, this may take a while"
     curl -fsSLO https://developer.arm.com/-/media/Files/downloads/gnu-rm/8-2019q3/RC1.1/gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2
     tar --strip-components=1 -xvjf gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2 -C toolchain  > /dev/null
     rm gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2
-   
+
     # Import repos
     vcs import --input $PREFIX/config/$RTOS/$PLATFORM/board.repos
 
@@ -22,5 +22,5 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
 
-    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro foxy --skip-keys="$SKIP"
+    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro $ROS_DISTRO --skip-keys="$SKIP"
 popd >/dev/null
diff --git a/config/freertos/nucleo_f746zg/create.sh b/config/freertos/nucleo_f746zg/create.sh
@@ -1,14 +1,14 @@
 pushd $FW_TARGETDIR >/dev/null
     # Install toolchain
     mkdir toolchain
-    
-    
+
+
     # Install toolchain
     echo "Downloading ARM compiler, this may take a while"
     curl -fsSLO https://developer.arm.com/-/media/Files/downloads/gnu-rm/8-2019q3/RC1.1/gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2
     tar --strip-components=1 -xvjf gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2 -C toolchain  > /dev/null
     rm gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2
-   
+
     # Import repos
     vcs import --input $PREFIX/config/$RTOS/$PLATFORM/board.repos
 
@@ -22,5 +22,5 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
 
-    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro foxy --skip-keys="$SKIP"
+    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro $ROS_DISTRO --skip-keys="$SKIP"
 popd >/dev/null
diff --git a/config/freertos/nucleo_f767zi/create.sh b/config/freertos/nucleo_f767zi/create.sh
@@ -1,14 +1,14 @@
 pushd $FW_TARGETDIR >/dev/null
     # Install toolchain
     mkdir toolchain
-    
-    
+
+
     # Install toolchain
     echo "Downloading ARM compiler, this may take a while"
     curl -fsSLO https://developer.arm.com/-/media/Files/downloads/gnu-rm/8-2019q3/RC1.1/gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2
     tar --strip-components=1 -xvjf gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2 -C toolchain  > /dev/null
     rm gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2
-   
+
     # Import repos
     vcs import --input $PREFIX/config/$RTOS/$PLATFORM/board.repos
 
@@ -22,5 +22,5 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
 
-    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro foxy --skip-keys="$SKIP"
+    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro $ROS_DISTRO --skip-keys="$SKIP"
 popd >/dev/null
diff --git a/config/freertos/olimex-stm32-e407/create.sh b/config/freertos/olimex-stm32-e407/create.sh
@@ -1,14 +1,14 @@
 pushd $FW_TARGETDIR >/dev/null
     # Install toolchain
     mkdir toolchain
-    
-    
+
+
     # Install toolchain
     echo "Downloading ARM compiler, this may take a while"
     curl -fsSLO https://developer.arm.com/-/media/Files/downloads/gnu-rm/8-2019q3/RC1.1/gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2
     tar --strip-components=1 -xvjf gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2 -C toolchain  > /dev/null
     rm gcc-arm-none-eabi-8-2019-q3-update-linux.tar.bz2
-   
+
     # Import repos
     vcs import --input $PREFIX/config/$RTOS/$PLATFORM/board.repos
 
@@ -22,5 +22,5 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
 
-    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro foxy --skip-keys="$SKIP"
+    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro $ROS_DISTRO --skip-keys="$SKIP"
 popd >/dev/null
diff --git a/config/generate_lib/generic/create.sh b/config/generate_lib/generic/create.sh
@@ -10,5 +10,5 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
 
-    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro foxy --skip-keys="$SKIP"
+    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro $ROS_DISTRO --skip-keys="$SKIP"
 popd >/dev/null
diff --git a/config/nuttx/generic/create.sh b/config/nuttx/generic/create.sh
@@ -30,9 +30,9 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
 
-    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro foxy --skip-keys="$SKIP"
+    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro $ROS_DISTRO --skip-keys="$SKIP"
 
 popd >/dev/null
 
 cp $PREFIX/config/$RTOS/generic/package.xml $FW_TARGETDIR/apps/package.xml
-rosdep install -y --from-paths $FW_TARGETDIR/apps -i $FW_TARGETDIR/apps --rosdistro foxy
+rosdep install -y --from-paths $FW_TARGETDIR/apps -i $FW_TARGETDIR/apps --rosdistro $ROS_DISTRO
diff --git a/config/zephyr/generic/create.sh b/config/zephyr/generic/create.sh
@@ -17,9 +17,12 @@ fi
 export PATH=~/.local/bin:"$PATH"
 
 pushd $FW_TARGETDIR >/dev/null
-   
+
     west init zephyrproject
     pushd zephyrproject >/dev/null
+        cd zephyr
+          git checkout zephyr-v2.5.0
+        cd ..
         west update
     popd >/dev/null
 
@@ -30,7 +33,7 @@ pushd $FW_TARGETDIR >/dev/null
     else
         export TOOLCHAIN_VERSION=zephyr-toolchain-arm-0.11.2-setup.run
     fi
-    
+
     wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v0.11.2/$TOOLCHAIN_VERSION
     chmod +x $TOOLCHAIN_VERSION
     ./$TOOLCHAIN_VERSION -- -d $(pwd)/zephyr-sdk -y
@@ -53,5 +56,5 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
 
-    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro foxy --skip-keys="$SKIP"
+    rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro $ROS_DISTRO --skip-keys="$SKIP"
 popd >/dev/null
diff --git a/scripts/create_firmware_ws.sh b/scripts/create_firmware_ws.sh
@@ -11,7 +11,7 @@ PREFIX=$(ros2 pkg prefix micro_ros_setup)
 print_available_platforms () {
   echo "Available platforms:"
   pushd $PREFIX/config >/dev/null
-  for rtos in $(ls -d */ | cut -f1 -d'/'); do 
+  for rtos in $(ls -d */ | cut -f1 -d'/'); do
     echo ". $rtos"
     if [ -f $PREFIX/config/$rtos/generic/supported_platforms ];then
 
@@ -20,7 +20,7 @@ print_available_platforms () {
         done < $PREFIX/config/$rtos/generic/supported_platforms
     else
         pushd $rtos >/dev/null
-        for platform in $(ls -d */ | cut -f1 -d'/'); do 
+        for platform in $(ls -d */ | cut -f1 -d'/'); do
             echo "+-- $platform"
         done
         popd >/dev/null
@@ -58,7 +58,7 @@ if [ -d $PREFIX/config/$RTOS/$PLATFORM ] || [ -d "$PREFIX/config/$RTOS/generic"
 else
     echo "Non valid RTOS/Platform: $RTOS/$PLATFORM"
     print_available_platforms
-    exit 1 
+    exit 1
 fi
 
 mkdir $FW_TARGETDIR
@@ -68,11 +68,11 @@ echo $RTOS > $FW_TARGETDIR/PLATFORM
 echo $PLATFORM >> $FW_TARGETDIR/PLATFORM
 
 # Setting common enviroment
-SKIP="microxrcedds_agent microxrcedds_client microcdr rosidl_typesupport_connext_cpp rosidl_typesupport_connext_c rosidl_typesupport_opensplice_cpp rosidl_typesupport_opensplice_c rmw_connext_cpp rmw_opensplice_cpp ros-foxy-cyclonedds ros-foxy-rmw-cyclonedds-cpp google_benchmark_vendor performance_test_fixture"
+SKIP="microxrcedds_agent microxrcedds_client microcdr rosidl_typesupport_connext_cpp rosidl_typesupport_connext_c rosidl_typesupport_opensplice_cpp rosidl_typesupport_opensplice_c rmw_opensplice_cpp ros-${ROS_DISTRO}-cyclonedds ros-${ROS_DISTRO}-rmw-cyclonedds-cpp google_benchmark_vendor performance_test_fixture ros-${ROS_DISTRO}-mimick-vendor rmw_cyclonedds_cpp rmw_connext_cpp"
 
-# Installing common packages 
-rosdep update
-rosdep install -y --from-paths src -i src --rosdistro foxy --skip-keys="$SKIP"
+# Installing common packages
+rosdep update --rosdistro $ROS_DISTRO
+rosdep install -y --from-paths src -i src --rosdistro $ROS_DISTRO --skip-keys="$SKIP"
 
 # Check generic build
 if [ $PLATFORM != "generic" ] && [ -d "$PREFIX/config/$RTOS/generic" ]; then
@@ -88,7 +88,7 @@ pushd $FW_TARGETDIR >/dev/null
     if [ $RTOS != "host" ]; then
         ros2 run micro_ros_setup create_ws.sh $DEV_WS_DIR $PREFIX/config/$RTOS/dev_ros2_packages.txt \
             $PREFIX/config/$RTOS/dev_uros_packages.repos
-        rosdep install -y --from-paths $DEV_WS_DIR -i $DEV_WS_DIR --rosdistro foxy --skip-keys="$SKIP"
+        rosdep install -y --from-paths $DEV_WS_DIR -i $DEV_WS_DIR --rosdistro $ROS_DISTRO --skip-keys="$SKIP"
 
          # Creating mcu directory
         mkdir mcu_ws
@@ -109,7 +109,7 @@ if [ $RTOS != "host" ]; then
 fi
 
 # Install dependecies for specific platform
-rosdep install -y --from-paths $PREFIX/config/$RTOS/$TARGET_FOLDER -i $PREFIX/config/$RTOS/$TARGET_FOLDER --rosdistro foxy --skip-keys="$SKIP"
+rosdep install -y --from-paths $PREFIX/config/$RTOS/$TARGET_FOLDER -i $PREFIX/config/$RTOS/$TARGET_FOLDER --rosdistro $ROS_DISTRO --skip-keys="$SKIP"
 
 # Creating specific firmware folder
 . $PREFIX/config/$RTOS/$TARGET_FOLDER/create.sh
