osrf · jacobperron · Jan 5, 2021 · Dec 4, 2020 · Dec 8, 2020 · Dec 23, 2020
diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml
@@ -11,11 +11,77 @@ jobs:
         sudo apt update -qq
         sudo apt install -y default-jdk
     - uses: actions/checkout@v2
-    - uses: ros-tooling/setup-ros@master  # using master, until a released version supports rolling
+    - uses: ros-tooling/setup-ros@0.1.0
       with:
         required-ros-distributions: rolling
     - uses: ros-tooling/action-ros-ci@master
       with:
         package-name: rosidl_generator_java rcljava_common rcljava
         target-ros2-distro: rolling
         vcs-repo-file-url: ${{ github.workspace }}/ros2_java_desktop.repos
+
+#   build_android:
+#     runs-on: ubuntu-18.04
+#     steps:
+#     - name: Install Java
+#       run: |
+#         sudo apt-get update -qq
+#         sudo apt-get install -y default-jdk gradle
+#     - uses: actions/checkout@v2
+#     - name: Setup locale for ROS 2
+#       run: |
+#         sudo locale-gen en_US en_US.UTF-8
+#         sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+#         export LANG=en_US.UTF-8
+#     - name: Setup sources for ROS 2
+#       run: |
+#         sudo apt-get update && sudo apt-get install -y curl gnupg2 lsb-release
+#         curl -sL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+#         sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
+#     - name: Install ROS 2 dependencies
+#       run: |
+#         sudo apt-get update && sudo apt-get install -y python3-colcon-common-extensions python3-vcstool python3-lark-parser python3-dev
+#     - name: Install colcon extensions for Gradle
+#       run: |
+#         sudo pip3 install git+git://github.com/colcon/colcon-gradle.git
+#         sudo pip3 install git+git://github.com/colcon/colcon-ros-gradle.git
+#     - name: Install Android NDK
+#       run: |
+#         curl -LO https://dl.google.com/android/repository/android-ndk-r21d-linux-x86_64.zip
+#         unzip android-ndk-r21d-linux-x86_64.zip
+#     - name: Setup workspace with VCS repo file
+#       run: |
+#         mkdir -p ros2_java_ws/src
+#         cd ros2_java_ws
+#         curl -sL file://${{ github.workspace }}/ros2_java_android.repos | vcs import src
+#         # Use checked out version of ros2_java
+#         rm -rf src/ros2_java/ros2_java
+#         ln --symbolic ${{ github.workspace }} src/ros2_java
+#     - name: Build ros2_java for Android
+#       run: |
+#         export PYTHON3_EXEC="$( which python3 )"
+#         export PYTHON3_LIBRARY="$( ${PYTHON3_EXEC} -c 'import os.path; from distutils import sysconfig; print(os.path.realpath(os.path.join(sysconfig.get_config_var("LIBPL"), sysconfig.get_config_var("LDLIBRARY"))))' )"
+#         export PYTHON3_INCLUDE_DIR="$( ${PYTHON3_EXEC} -c 'from distutils import sysconfig; print(sysconfig.get_config_var("INCLUDEPY"))' )"
+#         export ANDROID_ABI=armeabi-v7a
+#         export ANDROID_NATIVE_API_LEVEL=android-21
+#         export ANDROID_TOOLCHAIN_NAME=arm-linux-androideabi-clang
+#         export ANDROID_NDK=${PWD}/android-ndk-r21d
+#
+#         cd ros2_java_ws
+#         colcon build \
+#           --packages-ignore cyclonedds rcl_logging_log4cxx rosidl_generator_py \
+#           --packages-up-to rcljava \
+#           --cmake-args \
+#           -DPYTHON_EXECUTABLE=${PYTHON3_EXEC} \
+#           -DPYTHON_LIBRARY=${PYTHON3_LIBRARY} \
+#           -DPYTHON_INCLUDE_DIR=${PYTHON3_INCLUDE_DIR} \
+#           -DCMAKE_TOOLCHAIN_FILE=${ANDROID_NDK}/build/cmake/android.toolchain.cmake \
+#           -DANDROID_FUNCTION_LEVEL_LINKING=OFF \
+#           -DANDROID_NATIVE_API_LEVEL=${ANDROID_NATIVE_API_LEVEL} \
+#           -DANDROID_TOOLCHAIN_NAME=${ANDROID_TOOLCHAIN_NAME} \
+#           -DANDROID_STL=c++_shared \
+#           -DANDROID_ABI=${ANDROID_ABI} \
+#           -DANDROID_NDK=${ANDROID_NDK} \
+#           -DTHIRDPARTY=ON \
+#           -DCOMPILE_EXAMPLES=OFF \
+#           -DCMAKE_FIND_ROOT_PATH="${PWD}/install"
diff --git a/README.md b/README.md
@@ -1,38 +1,31 @@
-ROS2 for Java
-=============
+# ROS 2 Java client library
 
-Build status
-------------
+### Build status
 
-| Target | Status |
-|----------|--------|
-| **Ubuntu Xenial (OpenJDK)** | [![Build Status](http://vsts-matrix-badges.herokuapp.com/repos/ros2-java/ros2-java/1/branches/master/1)](https://dev.azure.com/ros2-java/ros2-java/_build?definitionId=1) |
-| **Ubuntu Xenial (Android)** | [![Build Status](http://vsts-matrix-badges.herokuapp.com/repos/ros2-java/ros2-java/1/branches/master/2)](https://dev.azure.com/ros2-java/ros2-java/_build?definitionId=1) |
+| Target                                    | Status        |
+|-------------------------------------------|---------------|
+| **ROS Dashing - Ubuntu Bionic (OpenJDK)** | ![Build Status](https://github.com/ros2-java/ros2_java/workflows/CI/badge.svg?branch=dashing) |
 
-Introduction
-------------
+## Introduction
 
-This is a set of projects (bindings, code generator, examples and more) that enables developers to write ROS2
+This is a set of projects (bindings, code generator, examples and more) that enables developers to write ROS 2
 applications for the JVM and Android.
 
 Besides this repository itself, there's also:
-- https://github.com/esteve/ament_java, which adds support for Gradle to Ament
-- https://github.com/esteve/ament_gradle_plugin, a Gradle plugin that makes it easier to use ROS2 in Java and Android project. The Gradle plugin can be installed from Gradle Central https://plugins.gradle.org/plugin/org.ros2.tools.gradle
-- https://github.com/esteve/ros2_java_examples, examples for the Java Runtime Environment
-- https://github.com/esteve/ros2_android_examples, examples for Android
+- https://github.com/ros2-java/ament_java, which adds support for Gradle to Ament
+- https://github.com/ros2-java/ament_gradle_plugin, a Gradle plugin that makes it easier to use ROS 2 in Java and Android project. The Gradle plugin can be installed from Gradle Central https://plugins.gradle.org/plugin/org.ros2.tools.gradle
+- https://github.com/ros2-java/ros2_java_examples, examples for the Java Runtime Environment
+- https://github.com/ros2-java/ros2_android_examples, examples for Android
 
-Is this Java only?
-------------------
+### Is this Java only?
 
-No, any language that targets the JVM can be used to write ROS2 applications.
+No, any language that targets the JVM can be used to write ROS 2 applications.
 
-Including Android?
-------------------
+### Including Android?
 
 Yep! Make sure to use Fast-RTPS as your DDS vendor and at least [this revision](https://github.com/eProsima/Fast-RTPS/commit/5301ef203d45528a083821c3ba582164d782360b).
 
-Features
---------
+### Features
 
 The current set of features include:
 - Generation of all builtin and complex ROS types, including arrays, strings, nested types, constants, etc.
@@ -41,76 +34,80 @@ The current set of features include:
 - Clients and services
 - Timers
 - Composition (i.e. more than one node per process)
-- Time handling (system and steady, ROS time not yet supported https://github.com/ros2/ros2/issues/350)
+- Time handling (system and steady, ROS time not yet supported https://github.com/ros2-java/ros2_java/issues/122)
 - Support for Android
 - Parameters services and clients (both asynchronous and synchronous)
 
-Sounds great, how can I try this out?
--------------------------------------
+## Sounds great, how can I try this out?
+
+### Install dependencies
 
 > Note: While the following instructions use a Linux shell the same can be done on other platforms like Windows with slightly adjusted commands.
-> 
-> For Windows and Mac, first follow the steps for installing prerequisites on the binary installation page: https://github.com/ros2/ros2/wiki/Installation
->
-> Stop and return here when you reach the "Downloading ROS 2" section.
 
-Download the ament repositories in a separate workspace:
+1. [Install ROS 2](https://index.ros.org/doc/ros2/Installation).
+
+1. Install Java and a JDK.
+
+    On Ubuntu, you can install OpenJDK with:
+
+        sudo apt install default-jdk
+
+1. Install Gradle.
+Make sure you have Gradle 3.2 (or later) installed.
+
+    *Ubuntu Bionic or later*
+
+        sudo apt install gradle
+
+    *macOS*
+
+        brew install gradle
+
+    Note: if run into compatibily issues between gradle 3.x and Java 9, try using Java 8,
+
+        brew tap caskroom/versions
+        brew cask install java8
+        export JAVA_HOME=/Library/Java/JavaVirtualMachines/1.8.0.jdk/Contents/Home
+
+    *Windows*
+
+        choco install gradle
+
+1. Install build tools:
+
+        sudo apt install curl python3-colcon-common-extensions python3-pip python3-vcstool
 
-```
-mkdir -p ament_ws/src
-cd ament_ws
-curl -skL https://raw.githubusercontent.com/esteve/ament_java/master/ament_java.repos -o ament_java.repos
-vcs import src < ament_java.repos
-src/ament/ament_tools/scripts/ament.py build --symlink-install --isolated
-```
+1. Install Gradle extensions for colcon:
 
-> Note: On Windows, use `python src/ament/ament_tools/scripts/ament.py build`, as `*.py` scripts must be prefixed with `python`, `--symlink-install` is not supported due to a bug in Python symlinks, and `--isolated` creates paths that are too long.
-> Additionally, you may need to call `call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Auxiliary\Build\vcvars64.bat"` if you have not run from a VS 2017 terminal.
+        python3 -m pip install -U git+https://github.com/colcon/colcon-gradle
+        python3 -m pip install --no-deps -U git+https://github.com/colcon/colcon-ros-gradle
 
-We need to split the build process between Ament and the rest of `ros2_java` workspace so that the additional build type for Gradle projects is picked up by Ament.
+### Download and Build ROS 2 Java for Desktop
 
-Make sure you have Gradle 3.2 (or later) installed. Ubuntu 16.04 ships with Gradle 2.10, you can install a more recent version of Gradle from the following PPA:
+1. Source your ROS 2 installation, for example:
 
-```
-$ sudo add-apt-repository ppa:cwchien/gradle
-$ sudo apt install -y gradle
-```
-For OSX, use homebrew command to install gradle:
+        source /opt/ros/dashing/setup.bash
 
-```
-$ brew install gradle
-```
+1. Download the ROS 2 Java repositories into a workspace:
 
-For OSX users, there some compatibily issues have been reported between gradle 3.x and Java 9. Currently only the combination of Gradle 3.x + Java 8 has been tested successfully. Make sure to use install and use Java 8 for the building process:
+        mkdir -p ros2_java_ws/src
+        cd ros2_java_ws
+        curl -skL https://raw.githubusercontent.com/ros2-java/ros2_java/dashing/ros2_java_desktop.repos | vcs import src
 
-```
-$ brew tap caskroom/versions
-$ brew cask install java8
-$ export JAVA_HOME=/Library/Java/JavaVirtualMachines/1.8.0.jdk/Contents/Home
-``` 
+1. **Linux only** Install ROS dependencies:
 
-> Note: On Windows, you may use `choco install -y gradle`
+        rosdep install --from-paths src -y -i --skip-keys "ament_tools"
 
-The following sections deal with building the `ros2_java` codebase for the desktop Java runtime and for Android.
+1. Build desktop packages:
 
-Desktop
--------
+        colcon build --symlink-install
 
-```
-mkdir -p ros2_java_ws/src
-cd ros2_java_ws
-curl -skL https://raw.githubusercontent.com/esteve/ros2_java/master/ros2_java_desktop.repos -o ros2_java_desktop.repos
-vcs import src < ros2_java_desktop.repos
-. ../ament_ws/install_isolated/local_setup.sh
-ament build --symlink-install --isolated
-```
+    *Note, on Windows we have to use `--merge-install`*
 
-> On Windows, if you would like to use OpenSplice, call `call "C:\opensplice67\HDE\x86_64.win64\release.bat"` before building.
+        colcon build --merge-install
 
-Now you can just run a bunch of examples, head over to https://github.com/esteve/ros2_java_examples for more information.
 
-Android
--------
+### Download and Build ROS 2 Java for Android
 
 The Android setup is slightly more complex, you'll need the SDK and NDK installed, and an Android device where you can run the examples.
 
@@ -122,48 +119,43 @@ We'll also need to have the [Android SDK](https://developer.android.com/studio/#
 
 Although the `ros2_java_android.repos` file contains all the repositories for the Android bindings to compile, we'll have to disable certain packages (`python_cmake_module`, `rosidl_generator_py`, `test_msgs`) that are included the repositories and that we either don't need or can't cross-compile properly (e.g. the Python generator)
 
-```
-# define paths
-ROOT_DIR = ${HOME}
-AMENT_WORKSPACE=${ROOT_DIR}/ament_ws
-ROS2_ANDROID_WORKSPACE=${ROOT_DIR}/ros2_android_ws
-
-# pull and build ament
-mkdir -p ${AMENT_WORKSPACE}/src
-cd ${AMENT_WORKSPACE}
-wget https://raw.githubusercontent.com/esteve/ament_java/master/ament_java.repos
-vcs import ${AMENT_WORKSPACE}/src < ament_java.repos
-src/ament/ament_tools/scripts/ament.py build --symlink-install --isolated
-
-# android build configuration
-export PYTHON3_EXEC="$( which python3 )"
-export ANDROID_ABI=armeabi-v7a
-export ANDROID_NATIVE_API_LEVEL=android-21
-export ANDROID_TOOLCHAIN_NAME=arm-linux-androideabi-clang
-
-# pull and build ros2 for android
-mkdir -p ${ROS2_ANDROID_WORKSPACE}/src
-cd ${ROS2_ANDROID_WORKSPACE}
-wget https://raw.githubusercontent.com/esteve/ros2_java/master/ros2_java_android.repos
-vcs import ${ROS2_ANDROID_WORKSPACE}/src < ros2_java_android.repos
-source ${AMENT_WORKSPACE}/install_isolated/local_setup.sh
-ament build --isolated --skip-packages test_msgs \
-  --cmake-args \
-  -DPYTHON_EXECUTABLE=${PYTHON3_EXEC} \
-  -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake \
-  -DANDROID_FUNCTION_LEVEL_LINKING=OFF \
-  -DANDROID_NATIVE_API_LEVEL=${ANDROID_NATIVE_API_LEVEL} \
-  -DANDROID_TOOLCHAIN_NAME=${ANDROID_TOOLCHAIN_NAME} \
-  -DANDROID_STL=gnustl_shared \
-  -DANDROID_ABI=${ANDROID_ABI} \
-  -DANDROID_NDK=${ANDROID_NDK} \
-  -DTHIRDPARTY=ON \
-  -DCOMPILE_EXAMPLES=OFF \
-  -DCMAKE_FIND_ROOT_PATH="$AMENT_WORKSPACE/install_isolated;$ROS2_ANDROID_WORKSPACE/install_isolated" \
-  -- \
-  --parallel \
-  --ament-gradle-args \
-  -Pament.android_stl=gnustl_shared -Pament.android_abi=$ANDROID_ABI -Pament.android_ndk=$ANDROID_NDK --
-```
-
-You can find more information about the Android examples at https://github.com/esteve/ros2_android_examples
+1. Download the [Android NDK](https://developer.android.com/ndk/downloads/index.html) and set the environment variable `ANDROID_NDK` to the path where it is extracted.
+
+1. Download the [Android SDK](https://developer.android.com/studio/#downloads) and set the environment variable `ANDROID_HOME` to the path where it is extracted.
+
+1. Clone ROS 2 and ROS 2 Java source code:
+
+        mkdir -p $HOME/ros2_android_ws/src
+        cd $HOME/ros2_android_ws
+        curl https://raw.githubusercontent.com/ros2-java/ros2_java/dashing/ros2_java_android.repos | vcs import src
+
+1. Set Android build configuration:
+
+        export PYTHON3_EXEC="$( which python3 )"
+        export PYTHON3_LIBRARY="$( ${PYTHON3_EXEC} -c 'import os.path; from distutils import sysconfig; print(os.path.realpath(os.path.join(sysconfig.get_config_var("LIBPL"), sysconfig.get_config_var("LDLIBRARY"))))' )"
+        export PYTHON3_INCLUDE_DIR="$( ${PYTHON3_EXEC} -c 'from distutils import sysconfig; print(sysconfig.get_config_var("INCLUDEPY"))' )"
+        export ANDROID_ABI=armeabi-v7a
+        export ANDROID_NATIVE_API_LEVEL=android-21
+        export ANDROID_TOOLCHAIN_NAME=arm-linux-androideabi-clang
+
+1. Build (skipping packages that we don't need or can't cross-compile):
+
+        colcon build \
+          --packages-ignore cyclonedds rcl_logging_log4cxx rosidl_generator_py \
+          --packages-up-to rcljava \
+          --cmake-args \
+          -DPYTHON_EXECUTABLE=${PYTHON3_EXEC} \
+          -DPYTHON_LIBRARY=${PYTHON3_LIBRARY} \
+          -DPYTHON_INCLUDE_DIR=${PYTHON3_INCLUDE_DIR} \
+          -DCMAKE_TOOLCHAIN_FILE=${ANDROID_NDK}/build/cmake/android.toolchain.cmake \
+          -DANDROID_FUNCTION_LEVEL_LINKING=OFF \
+          -DANDROID_NATIVE_API_LEVEL=${ANDROID_NATIVE_API_LEVEL} \
+          -DANDROID_TOOLCHAIN_NAME=${ANDROID_TOOLCHAIN_NAME} \
+          -DANDROID_STL=c++_shared \
+          -DANDROID_ABI=${ANDROID_ABI} \
+          -DANDROID_NDK=${ANDROID_NDK} \
+          -DTHIRDPARTY=ON \
+          -DCOMPILE_EXAMPLES=OFF \
+          -DCMAKE_FIND_ROOT_PATH="${PWD}/install"
+
+You can find more information about the Android examples at https://github.com/ros2-java/ros2_android_examples
diff --git a/rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java b/rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java
@@ -60,8 +60,6 @@
 
 import java.lang.ref.WeakReference;
 
-import java.lang.reflect.Method;
-
 import java.util.ArrayList;
 import java.util.Collection;
 import java.util.HashMap;

diff --git a/rcljava/src/test/java/org/ros2/rcljava/client/ClientTest.java b/rcljava/src/test/java/org/ros2/rcljava/client/ClientTest.java
@@ -26,6 +26,7 @@
 import org.junit.Test;
 
 import java.lang.ref.WeakReference;
+import java.lang.reflect.Method;
 import java.time.Duration;
 
 import java.util.Arrays;
@@ -46,7 +47,18 @@ public class ClientTest {
   @BeforeClass
   public static void setupOnce() throws Exception {
     RCLJava.rclJavaInit();
-    org.apache.log4j.BasicConfigurator.configure();
+    try
+    {
+      // Configure log4j. Doing this dynamically so that Android does not complain about missing
+      // the log4j JARs, SLF4J uses Android's native logging mechanism instead.
+      Class c = Class.forName("org.apache.log4j.BasicConfigurator");
+      Method m = c.getDeclaredMethod("configure", (Class<?>[]) null);
+      Object o = m.invoke(null, (Object[]) null);
+    }
+    catch (Exception e)
+    {
+      e.printStackTrace();
+    }
   }
 
   public class TestClientConsumer implements TriConsumer<RMWRequestId,