Iron release

.github/workflows/ci.yml

@@ -14,7 +14,7 @@ jobs:
         strategy:
           fail-fast: false
           matrix:
-            platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi, portenta_h7_m7_foxy, portenta_h7_m7_rolling, teensy41_custom, pico]
+            platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi, portenta_h7_m7_humble, portenta_h7_m7_rolling, teensy41_custom, pico]
 
         steps:
         - uses: actions/checkout@v3

README.md

@@ -84,9 +84,9 @@ A explanation for adding custom targets is also present
 
 ### ROS 2 distribution
 The target ROS 2 distribution can be configured with the `board_microros_distro = <distribution>`, supported values are:
-  - `humble` *(default value)*
+  - `humble`
+  - `iron` *(default value)*
   - `rolling`
-  - `foxy`
 
 ### Transport configuration
 The transport can be configured with the `board_microros_transport = <transport>`, supported values and configurations are:
@@ -206,7 +206,7 @@ It is also possible to use custom transports on a `micro-XRCE Agent` instance. M
 ## Examples
 A simple publisher project using serial transport is available on the [examples](./examples) directory, this examples is meant to be modified with the user board.
 
-- More micro-ROS usage examples are available on [micro-ROS-demos/rclc](https://github.com/micro-ROS/micro-ROS-demos/tree/humble/rclc).
+- More micro-ROS usage examples are available on [micro-ROS-demos/rclc](https://github.com/micro-ROS/micro-ROS-demos/tree/iron/rclc).
 - For a complete micro-ROS tutorial, check [Programming with rcl and rclc](https://micro.ros.org/docs/tutorials/programming_rcl_rclc/overview/) documentation.
 
 ## Purpose of the Project

ci/platformio.ini

@@ -1,10 +1,10 @@
-; Foxy test
-[env:portenta_h7_m7_foxy]
+; Humble test
+[env:portenta_h7_m7_humble]
 platform = ststm32
 board = portenta_h7_m7
 framework = arduino
 board_microros_transport = serial
-board_microros_distro = foxy
+board_microros_distro = humble
 lib_deps =
     ../
 

extra_script.py

@@ -34,8 +34,8 @@
 
 selected_board_meta = boards_metas[board] if board in boards_metas else "colcon.meta"
 
-# Retrieve the required transport. Default humble
-microros_distro = global_env.BoardConfig().get("microros_distro", "humble")
+# Retrieve the required transport. Default iron
+microros_distro = global_env.BoardConfig().get("microros_distro", "iron")
 
 # Retrieve the required transport. Default serial
 microros_transport = global_env.BoardConfig().get("microros_transport", "serial")

microros_utils/library_builder.py

@@ -212,13 +212,12 @@ def package_mcu_library(self):
         shutil.copytree(self.build_folder + "/mcu/install/include", self.includes)
 
         # Fix include paths
-        if self.distro not in ["foxy"]:
-            include_folders = os.listdir(self.includes)
+        include_folders = os.listdir(self.includes)
 
-            for folder in include_folders:
-                folder_path = self.includes + "/{}".format(folder)
-                repeated_path = folder_path + "/{}".format(folder)
+        for folder in include_folders:
+            folder_path = self.includes + "/{}".format(folder)
+            repeated_path = folder_path + "/{}".format(folder)
 
-                if os.path.exists(repeated_path):
-                    shutil.copytree(repeated_path, folder_path, copy_function=shutil.move, dirs_exist_ok=True)
-                    shutil.rmtree(repeated_path)
+            if os.path.exists(repeated_path):
+                shutil.copytree(repeated_path, folder_path, copy_function=shutil.move, dirs_exist_ok=True)
+                shutil.rmtree(repeated_path)

microros_utils/repositories.py

@@ -75,21 +75,21 @@ class Sources:
             Repository("ament_cmake_ros", "https://github.com/ros2/ament_cmake_ros", "humble"),
             Repository("ament_index", "https://github.com/ament/ament_index", "humble")
         ],
+        'iron': [
+            Repository("ament_cmake", "https://github.com/ament/ament_cmake", "iron"),
+            Repository("ament_lint", "https://github.com/ament/ament_lint", "iron"),
+            Repository("ament_package", "https://github.com/ament/ament_package", "iron"),
+            Repository("googletest", "https://github.com/ament/googletest", "iron"),
+            Repository("ament_cmake_ros", "https://github.com/ros2/ament_cmake_ros", "iron"),
+            Repository("ament_index", "https://github.com/ament/ament_index", "iron")
+        ],
         'rolling': [
             Repository("ament_cmake", "https://github.com/ament/ament_cmake", "rolling"),
             Repository("ament_lint", "https://github.com/ament/ament_lint", "rolling"),
             Repository("ament_package", "https://github.com/ament/ament_package", "rolling"),
             Repository("googletest", "https://github.com/ament/googletest", "rolling"),
             Repository("ament_cmake_ros", "https://github.com/ros2/ament_cmake_ros", "rolling"),
             Repository("ament_index", "https://github.com/ament/ament_index", "rolling")
-        ],
-        'foxy': [
-            Repository("ament_cmake", "https://github.com/ament/ament_cmake", "foxy"),
-            Repository("ament_lint", "https://github.com/ament/ament_lint", "foxy"),
-            Repository("ament_package", "https://github.com/ament/ament_package", "foxy"),
-            Repository("googletest", "https://github.com/ament/googletest", "foxy"),
-            Repository("ament_cmake_ros", "https://github.com/ros2/ament_cmake_ros", "foxy"),
-            Repository("ament_index", "https://github.com/ament/ament_index", "foxy")
         ]
     }
 
@@ -114,58 +114,60 @@ class Sources:
             Repository("test_interface_files", "https://github.com/ros2/test_interface_files", "humble"),
             Repository("rmw_implementation", "https://github.com/ros2/rmw_implementation", "humble"),
             Repository("rcl_logging", "https://github.com/ros2/rcl_logging", "humble"),
-            Repository("ros2_tracing", "https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing", "humble"),
+            Repository("ros2_tracing", "https://github.com/ros2/ros2_tracing", "humble"),
+        ],
+        'iron': [
+            Repository("micro-CDR", "https://github.com/eProsima/micro-CDR", "iron", "ros2"),
+            Repository("Micro-XRCE-DDS-Client", "https://github.com/eProsima/Micro-XRCE-DDS-Client", "iron", "ros2"),
+            Repository("rcl", "https://github.com/micro-ROS/rcl", "iron"),
+            Repository("rclc", "https://github.com/ros2/rclc", "iron"),
+            Repository("micro_ros_utilities", "https://github.com/micro-ROS/micro_ros_utilities", "iron"),
+            Repository("rcutils", "https://github.com/micro-ROS/rcutils", "iron"),
+            Repository("micro_ros_msgs", "https://github.com/micro-ROS/micro_ros_msgs", "iron"),
+            Repository("rmw-microxrcedds", "https://github.com/micro-ROS/rmw-microxrcedds", "iron"),
+            Repository("rosidl_typesupport", "https://github.com/micro-ROS/rosidl_typesupport", "iron"),
+            Repository("rosidl_typesupport_microxrcedds", "https://github.com/micro-ROS/rosidl_typesupport_microxrcedds", "iron"),
+            Repository("rosidl", "https://github.com/ros2/rosidl", "iron"),
+            Repository("rosidl_dynamic_typesupport", "https://github.com/micro-ROS/rosidl_dynamic_typesupport", "iron"),
+            Repository("rosidl_core", "https://github.com/ros2/rosidl_core", "iron"),
+            Repository("rmw", "https://github.com/ros2/rmw", "iron"),
+            Repository("rcl_interfaces", "https://github.com/ros2/rcl_interfaces", "iron"),
+            Repository("rosidl_defaults", "https://github.com/ros2/rosidl_defaults", "iron"),
+            Repository("unique_identifier_msgs", "https://github.com/ros2/unique_identifier_msgs", "iron"),
+            Repository("common_interfaces", "https://github.com/ros2/common_interfaces", "iron"),
+            Repository("test_interface_files", "https://github.com/ros2/test_interface_files", "iron"),
+            Repository("rmw_implementation", "https://github.com/ros2/rmw_implementation", "iron"),
+            Repository("rcl_logging", "https://github.com/ros2/rcl_logging", "iron"),
+            Repository("ros2_tracing", "https://github.com/ros2/ros2_tracing", "iron"),
         ],
         'rolling': [
             Repository("micro-CDR", "https://github.com/eProsima/micro-CDR", "rolling", "ros2"),
             Repository("Micro-XRCE-DDS-Client", "https://github.com/eProsima/Micro-XRCE-DDS-Client", "rolling", "ros2"),
-            Repository("rcl", "https://github.com/micro-ROS/rcl", "rolling", "master"),
-            Repository("rclc", "https://github.com/ros2/rclc", "rolling", "master"),
-            Repository("micro_ros_utilities", "https://github.com/micro-ROS/micro_ros_utilities", "rolling", "main"),
-            Repository("rcutils", "https://github.com/micro-ROS/rcutils", "rolling", "master"),
-            Repository("micro_ros_msgs", "https://github.com/micro-ROS/micro_ros_msgs", "rolling", "main"),
-            Repository("rmw-microxrcedds", "https://github.com/micro-ROS/rmw-microxrcedds", "rolling", "main"),
-            Repository("rosidl_typesupport", "https://github.com/micro-ROS/rosidl_typesupport", "rolling", "master"),
-            Repository("rosidl_typesupport_microxrcedds", "https://github.com/micro-ROS/rosidl_typesupport_microxrcedds", "rolling", "main"),
+            Repository("rcl", "https://github.com/micro-ROS/rcl", "rolling"),
+            Repository("rclc", "https://github.com/ros2/rclc", "rolling"),
+            Repository("micro_ros_utilities", "https://github.com/micro-ROS/micro_ros_utilities", "rolling"),
+            Repository("rcutils", "https://github.com/micro-ROS/rcutils", "rolling"),
+            Repository("micro_ros_msgs", "https://github.com/micro-ROS/micro_ros_msgs", "rolling"),
+            Repository("rmw-microxrcedds", "https://github.com/micro-ROS/rmw-microxrcedds", "rolling"),
+            Repository("rosidl_typesupport", "https://github.com/micro-ROS/rosidl_typesupport", "rolling"),
+            Repository("rosidl_typesupport_microxrcedds", "https://github.com/micro-ROS/rosidl_typesupport_microxrcedds", "rolling"),
             Repository("rosidl", "https://github.com/ros2/rosidl", "rolling"),
+            Repository("rosidl_dynamic_typesupport", "https://github.com/micro-ROS/rosidl_dynamic_typesupport", "rolling"),
             Repository("rosidl_core", "https://github.com/ros2/rosidl_core", "rolling"),
             Repository("rmw", "https://github.com/ros2/rmw", "rolling"),
             Repository("rcl_interfaces", "https://github.com/ros2/rcl_interfaces", "rolling"),
             Repository("rosidl_defaults", "https://github.com/ros2/rosidl_defaults", "rolling"),
-            Repository("rosidl_dynamic_typesupport", "https://github.com/micro-ROS/rosidl_dynamic_typesupport", "rolling"),
             Repository("unique_identifier_msgs", "https://github.com/ros2/unique_identifier_msgs", "rolling"),
             Repository("common_interfaces", "https://github.com/ros2/common_interfaces", "rolling"),
             Repository("test_interface_files", "https://github.com/ros2/test_interface_files", "rolling"),
             Repository("rmw_implementation", "https://github.com/ros2/rmw_implementation", "rolling"),
             Repository("rcl_logging", "https://github.com/ros2/rcl_logging", "rolling"),
             Repository("ros2_tracing", "https://github.com/ros2/ros2_tracing", "rolling"),
-        ],
-        'foxy': [
-            Repository("micro-CDR", "https://github.com/eProsima/micro-CDR", "foxy", "ros2"),
-            Repository("Micro-XRCE-DDS-Client", "https://github.com/eProsima/Micro-XRCE-DDS-Client", "foxy", "ros2"),
-            Repository("rcl", "https://github.com/micro-ROS/rcl", "foxy"),
-            Repository("rclc", "https://github.com/ros2/rclc", "foxy"),
-            Repository("rcutils", "https://github.com/micro-ROS/rcutils", "foxy"),
-            Repository("micro_ros_msgs", "https://github.com/micro-ROS/micro_ros_msgs", "foxy"),
-            Repository("rmw-microxrcedds", "https://github.com/micro-ROS/rmw-microxrcedds", "foxy"),
-            Repository("rosidl_typesupport", "https://github.com/micro-ROS/rosidl_typesupport", "foxy"),
-            Repository("rosidl_typesupport_microxrcedds", "https://github.com/micro-ROS/rosidl_typesupport_microxrcedds", "foxy"),
-            Repository("tinydir_vendor", "https://github.com/ros2/tinydir_vendor", "foxy", "master"),
-            Repository("rosidl", "https://github.com/ros2/rosidl", "foxy"),
-            Repository("rmw", "https://github.com/ros2/rmw", "foxy"),
-            Repository("rcl_interfaces", "https://github.com/ros2/rcl_interfaces", "foxy"),
-            Repository("rosidl_defaults", "https://github.com/ros2/rosidl_defaults", "foxy"),
-            Repository("unique_identifier_msgs", "https://github.com/ros2/unique_identifier_msgs", "foxy"),
-            Repository("common_interfaces", "https://github.com/ros2/common_interfaces", "foxy"),
-            Repository("test_interface_files", "https://github.com/ros2/test_interface_files", "foxy"),
-            Repository("rmw_implementation", "https://github.com/ros2/rmw_implementation", "foxy"),
-            Repository("rcl_logging", "https://github.com/ros2/rcl_logging", "foxy"),
-            Repository("ros2_tracing", "https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing", "foxy", "foxy_microros"),
         ]
     }
 
     ignore_packages = {
         'humble': ['rcl_logging_log4cxx', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples'],
-        'rolling': ['test_tracetools', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples'],
-        'foxy': [ 'rosidl_typesupport_introspection_c', 'rosidl_typesupport_introspection_cpp', 'rcl_logging_log4cxx', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples']
+        'iron': ['test_tracetools', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples'],
+        'rolling': ['test_tracetools', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples']
     }