RobotLocomotion · EricCousineau-TRI · Nov 27, 2023 · May 16, 2023 · May 17, 2023 · May 17, 2023
diff --git a/.github/workflows/bazelized.yml b/.github/workflows/bazelized.yml
@@ -15,7 +15,7 @@ jobs:
     if: "! contains(github.event.pull_request.labels.*.name, 'status: defer ci')"
     runs-on: ubuntu-22.04
     container:
-      image: ros:rolling-ros-base-jammy
+      image: ros:humble-ros-base-jammy
       # This is required for running lldb.
       # See https://stackoverflow.com/a/73613377/7829525
       options: --cap-add=SYS_PTRACE --security-opt seccomp=unconfined

diff --git a/.github/workflows/bazelized_drake_ros.yml b/.github/workflows/bazelized_drake_ros.yml
@@ -62,11 +62,14 @@ jobs:
           sudo apt-get install -y libconsole-bridge-dev
           sudo rm -rf /var/lib/apt/lists/*
       # CI for drake_ros.
+      - name: Install drake_ros's dependencies
+        run: yes | sudo ./setup/install_prereqs.sh
+        working-directory: drake_ros
       - name: Build drake_ros
-        run: bazel build //...
+        run: export ROS_DISTRO=humble; bazel build //...
         working-directory: drake_ros
       - name: Test drake_ros
-        run: bazel test //...
+        run: export ROS_DISTRO=humble; bazel test //...
         working-directory: drake_ros
       - name: Clean up drake_ros
         run: bazel clean

diff --git a/drake_ros/BUILD.bazel b/drake_ros/BUILD.bazel
@@ -45,5 +45,6 @@ ros_py_test(
     name = "import_test",
     srcs = ["test/import_test.py"],
     main = "test/import_test.py",
+    rmw_implementation = "rmw_cyclonedds_cpp",
     deps = [":drake_ros_py"],
 )
diff --git a/drake_ros/WORKSPACE b/drake_ros/WORKSPACE
@@ -21,17 +21,18 @@ load("@bazel_ros2_rules//deps:defs.bzl", "add_bazel_ros2_rules_dependencies")
 
 add_bazel_ros2_rules_dependencies()
 
-load("@bazel_ros2_rules//ros2:defs.bzl", "ros2_archive")
+load("@bazel_ros2_rules//ros2:defs.bzl", "ros2_local_repository")
 load("//:required_packages.bzl", "DRAKE_ROS_REQUIRED_PACKAGES")
 load("//:required_packages.bzl", "DRAKE_ROS_TEST_DEPENDENCIES")
 
+DRAKE_ROS_ALL_DEPENDENCIES = \
+    DRAKE_ROS_REQUIRED_PACKAGES + DRAKE_ROS_TEST_DEPENDENCIES
+
 # Use ROS 2
-ros2_archive(
+ros2_local_repository(
     name = "ros2",
-    include_packages = DRAKE_ROS_REQUIRED_PACKAGES + DRAKE_ROS_TEST_DEPENDENCIES,  # noqa
-    sha256_url = "https://repo.ros2.org/ci_archives/nightly-cyclonedds/ros2-humble-linux-jammy-amd64-ci-CHECKSUM",  # noqa
-    strip_prefix = "ros2-linux",
-    url = "http://repo.ros2.org/ci_archives/nightly-cyclonedds/ros2-humble-linux-jammy-amd64-ci.tar.bz2",  # noqa
+    include_packages = DRAKE_ROS_ALL_DEPENDENCIES,
+    workspaces = ["/opt/ros/humble"],
 )
 
 # Depend on Drake

diff --git a/drake_ros/drake_ros/BUILD.bazel b/drake_ros/drake_ros/BUILD.bazel
@@ -71,6 +71,7 @@ ros_py_test(
     name = "core_test",
     srcs = ["test/core_test.py"],
     main = "test/core_test.py",
+    rmw_implementation = "rmw_cyclonedds_cpp",
     deps = [
         ":drake_ros_py",
         ":test_pub_and_sub_cc_py",
@@ -86,6 +87,7 @@ ros_py_test(
     name = "tf2_test",
     srcs = ["test/tf2_test.py"],
     main = "test/tf2_test.py",
+    rmw_implementation = "rmw_cyclonedds_cpp",
     deps = [
         ":drake_ros_py",
         "@drake//bindings/pydrake",
@@ -99,6 +101,7 @@ ros_py_test(
     name = "viz_test",
     srcs = ["test/viz_test.py"],
     main = "test/viz_test.py",
+    rmw_implementation = "rmw_cyclonedds_cpp",
     deps = [
         ":drake_ros_py",
         "@drake//bindings/pydrake",
@@ -112,6 +115,7 @@ ros_py_test(
     name = "geometry_conversions_test",
     srcs = ["test/geometry_conversions_test.py"],
     main = "test/geometry_conversions_test.py",
+    rmw_implementation = "rmw_cyclonedds_cpp",
     deps = [
         ":drake_ros_py",
         "@drake//bindings/pydrake",
@@ -126,6 +130,7 @@ ros_py_test(
     name = "odr_py_test",
     srcs = ["test/odr_py_test.py"],
     main = "test/odr_py_test.py",
+    rmw_implementation = "rmw_cyclonedds_cpp",
     deps = [":drake_ros_py"],
 )
 
@@ -157,6 +162,7 @@ ros_py_test(
     name = "ros_message_type_caster_test",
     srcs = ["test/ros_message_type_caster_test.py"],
     main = "test/ros_message_type_caster_test.py",
+    rmw_implementation = "rmw_cyclonedds_cpp",
     deps = [
         ":ros_message_type_caster_test_via_all_py",
         ":ros_message_type_caster_test_via_specific_types_py",

diff --git a/drake_ros/required_packages.bzl b/drake_ros/required_packages.bzl
@@ -7,6 +7,7 @@ DRAKE_ROS_REQUIRED_PACKAGES = [
     "tf2_eigen",
     "tf2_ros",
     "visualization_msgs",
+    "rmw_cyclonedds_cpp",
 ]
 
 DRAKE_ROS_TEST_DEPENDENCIES = [

diff --git a/drake_ros/setup/install_prereqs.sh b/drake_ros/setup/install_prereqs.sh
@@ -0,0 +1,30 @@
+#!/bin/bash
+set -eux -o pipefail
+
+apt update && apt install locales
+locale-gen en_US en_US.UTF-8
+update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+export LANG=en_US.UTF-8
+
+apt install software-properties-common
+add-apt-repository universe
+
+apt update && apt install curl -y
+curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" |  tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+apt update
+
+apt install ros-dev-tools
+rosdep init || true
+rosdep update
+
+SCRIPT_DIRECTORY=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+cd $SCRIPT_DIRECTORY
+rosdep install --from-paths ../ --rosdistro=humble
+
+apt install ros-humble-test-msgs ros-humble-tf2-ros-py ros-humble-rmw-cyclonedds-cpp ros-humble-tf2-py
+
+# Required for bazel_ros2_rules
+apt install python3 python3-toposort
diff --git a/drake_ros_examples/BUILD.bazel b/drake_ros_examples/BUILD.bazel
@@ -1,7 +1,10 @@
-py_test(
+load("@ros2//:ros_py.bzl", "ros_py_test")
+
+ros_py_test(
     name = "drake_ros_py_import_test",
     srcs = ["test/drake_ros_py_import_test.py"],
     main = "test/drake_ros_py_import_test.py",
+    rmw_implementation = "rmw_cyclonedds_cpp",
     deps = [
         "@drake_ros_repo//:drake_ros_py",
     ],

diff --git a/drake_ros_examples/WORKSPACE b/drake_ros_examples/WORKSPACE
@@ -19,7 +19,7 @@ load("@bazel_ros2_rules//deps:defs.bzl", "add_bazel_ros2_rules_dependencies")
 
 add_bazel_ros2_rules_dependencies()
 
-load("@bazel_ros2_rules//ros2:defs.bzl", "ros2_archive")
+load("@bazel_ros2_rules//ros2:defs.bzl", "ros2_local_repository")
 
 # N.B. We do *not* name this as `drake_ros` to avoid module shadowing.
 # See https://github.com/bazelbuild/bazel/issues/17691
@@ -52,12 +52,10 @@ ROS_PACKAGES = DRAKE_ROS_REQUIRED_PACKAGES + [
 drake_ros_fail_if_missing_required_packages(ROS_PACKAGES)
 
 # Use ROS 2
-ros2_archive(
+ros2_local_repository(
     name = "ros2",
     include_packages = ROS_PACKAGES,
-    sha256_url = "https://repo.ros2.org/ci_archives/nightly-cyclonedds/ros2-humble-linux-jammy-amd64-ci-CHECKSUM",  # noqa
-    strip_prefix = "ros2-linux",
-    url = "http://repo.ros2.org/ci_archives/nightly-cyclonedds/ros2-humble-linux-jammy-amd64-ci.tar.bz2",  # noqa
+    workspaces = ["/opt/ros/humble"],
 )
 
 load("@drake_ros_repo//:drake.bzl", "DRAKE_SUGGESTED_VERSION")

diff --git a/drake_ros_examples/examples/hydroelastic/BUILD.bazel b/drake_ros_examples/examples/hydroelastic/BUILD.bazel
@@ -22,6 +22,7 @@ ros_cc_binary(
         ":hydroelastic_share",
     ],
     local_defines = ["BAZEL"],
+    rmw_implementation = "rmw_cyclonedds_cpp",
     deps = [
         "@bazel_tools//tools/cpp/runfiles",
         "@drake//common:find_resource",
@@ -52,6 +53,7 @@ ros_py_test(
         ":hydroelastic",
     ],
     main = "test/hydroelastic_test.py",
+    rmw_implementation = "rmw_cyclonedds_cpp",
     deps = [
         "@ros2//resources/bazel_ros_env:bazel_ros_env_py",
     ],

diff --git a/drake_ros_examples/examples/iiwa_manipulator/BUILD.bazel b/drake_ros_examples/examples/iiwa_manipulator/BUILD.bazel
@@ -8,6 +8,7 @@ load("@ros2//:ros_py.bzl", "ros_py_test")
 ros_cc_binary(
     name = "iiwa_manipulator",
     srcs = ["iiwa_manipulator.cpp"],
+    rmw_implementation = "rmw_cyclonedds_cpp",
     visibility = ["//visibility:public"],
     deps = [
         "@drake//examples/manipulation_station",
@@ -26,6 +27,7 @@ ros_py_binary(
     name = "iiwa_manipulator_py",
     srcs = ["iiwa_manipulator.py"],
     main = "iiwa_manipulator.py",
+    rmw_implementation = "rmw_cyclonedds_cpp",
     visibility = ["//visibility:public"],
     deps = [
         "@drake//bindings/pydrake",
@@ -42,6 +44,7 @@ ros_py_test(
         ":iiwa_manipulator_py",
     ],
     main = "test/iiwa_manipulator_test.py",
+    rmw_implementation = "rmw_cyclonedds_cpp",
     deps = [
         "@ros2//resources/bazel_ros_env:bazel_ros_env_py",
     ],

diff --git a/drake_ros_examples/examples/multirobot/BUILD.bazel b/drake_ros_examples/examples/multirobot/BUILD.bazel
@@ -11,6 +11,7 @@ ros_cc_binary(
     data = [
         "@drake//manipulation/models/iiwa_description:models",
     ],
+    rmw_implementation = "rmw_cyclonedds_cpp",
     visibility = ["//visibility:public"],
     deps = [
         "@drake//common:find_resource",
@@ -34,6 +35,7 @@ ros_py_binary(
         "@drake//manipulation/models/iiwa_description:models",
     ],
     main = "multirobot.py",
+    rmw_implementation = "rmw_cyclonedds_cpp",
     visibility = ["//visibility:public"],
     deps = [
         "@drake//bindings/pydrake",
@@ -50,6 +52,7 @@ ros_py_test(
         ":multirobot_py",
     ],
     main = "test/multirobot_test.py",
+    rmw_implementation = "rmw_cyclonedds_cpp",
     deps = [
         "@ros2//resources/bazel_ros_env:bazel_ros_env_py",
     ],

diff --git a/drake_ros_examples/examples/rs_flip_flop/BUILD.bazel b/drake_ros_examples/examples/rs_flip_flop/BUILD.bazel
@@ -8,6 +8,7 @@ load("@ros2//:ros_py.bzl", "ros_py_test")
 ros_cc_binary(
     name = "rs_flip_flop",
     srcs = ["rs_flip_flop.cpp"],
+    rmw_implementation = "rmw_cyclonedds_cpp",
     visibility = ["//visibility:public"],
     deps = [
         "@drake//systems/analysis:simulator",
@@ -23,6 +24,7 @@ ros_py_binary(
     name = "rs_flip_flop_py",
     srcs = ["rs_flip_flop.py"],
     main = "rs_flip_flop.py",
+    rmw_implementation = "rmw_cyclonedds_cpp",
     visibility = ["//visibility:public"],
     deps = [
         "@drake//bindings/pydrake",
@@ -40,6 +42,7 @@ ros_py_test(
         ":rs_flip_flop_py",
     ],
     main = "test/rs_flip_flop_test.py",
+    rmw_implementation = "rmw_cyclonedds_cpp",
     deps = [
         "@ros2//resources/bazel_ros_env:bazel_ros_env_py",
     ],

diff --git a/drake_ros_examples/setup/install_prereqs.sh b/drake_ros_examples/setup/install_prereqs.sh
@@ -1,13 +1,32 @@
 #!/bin/bash
-set -euo pipefail
+set -eux -o pipefail
 
-cat_without_comments() {
-    sed -e 's|#.*||g;' "$(dirname $0)/$1"
-}
+apt update && apt install locales
+locale-gen en_US en_US.UTF-8
+update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+export LANG=en_US.UTF-8
 
-apt_install () {
-  apt-get -q install --no-install-recommends "$@"
-}
+apt install software-properties-common
+add-apt-repository universe
 
-apt-get update
-apt_install $(cat_without_comments packages-ros2.txt)
+apt update && apt install curl -y
+curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" |  tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+apt update
+
+apt install ros-dev-tools ros-humble-rmw-cyclonedds-cpp ros-humble-rviz2 ros-humble-ros2cli-common-extensions
+
+rosdep init || true
+rosdep update
+
+SCRIPT_DIRECTORY=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+cd $SCRIPT_DIRECTORY/../..
+rosdep install --from-paths drake_ros --rosdistro=humble
+# TODO(eric.cousineau): This currently fails with
+# `Cannot locate rosdep definition for [drake_ros]`. Should fix.
+# rosdep install --from-paths drake_ros_examples --rosdistro=humble
+
+# Required for bazel_ros2_rules
+apt install python3 python3-toposort
diff --git a/ros2_example_bazel_installed/WORKSPACE b/ros2_example_bazel_installed/WORKSPACE
@@ -81,20 +81,12 @@ ROS2_PACKAGES = [
     # "rmw_fastrtps_cpp",
 ]
 
-ros2_archive(
-    name = "ros2" if not ROS2_DISTRO_PREFIX else "ros2_ignored",
-    include_packages = ROS2_PACKAGES,
-    sha256_url = "https://repo.ros2.org/ci_archives/nightly-cyclonedds/ros2-humble-linux-jammy-amd64-ci-CHECKSUM",  # noqa
-    strip_prefix = "ros2-linux",
-    # Note: If you want an exact / unchanging version, you will need to mirror
-    # the archive according to versions you want.
-    # TODO(hidmic,cottsay): Make release-pinned snapshots of this repository
-    # once `drake-ros` itself has versions.
-    url = "http://repo.ros2.org/ci_archives/nightly-cyclonedds/ros2-humble-linux-jammy-amd64-ci.tar.bz2",  # noqa
+RESOLVED_PREFIX = (
+    ROS2_DISTRO_PREFIX if ROS2_DISTRO_PREFIX else "/opt/ros/humble"
 )
 
 ros2_local_repository(
-    name = "ros2" if ROS2_DISTRO_PREFIX else "ros2_ignored",
+    name = "ros2",
     include_packages = ROS2_PACKAGES,
-    workspaces = [ROS2_DISTRO_PREFIX],
+    workspaces = [RESOLVED_PREFIX],
 )
diff --git a/ros2_example_bazel_installed/ros2_example_apps/BUILD.bazel b/ros2_example_bazel_installed/ros2_example_apps/BUILD.bazel
@@ -194,6 +194,7 @@ cmd_test(
 ros_py_binary(
     name = "simple_talker",
     srcs = ["simple_talker.py"],
+    rmw_implementation = "rmw_cyclonedds_cpp",
     deps = [
         ":ros2_example_apps_msgs_py",
         "@ros2//:rclpy_py",

diff --git a/ros2_example_bazel_installed/setup/install_prereqs.sh b/ros2_example_bazel_installed/setup/install_prereqs.sh
@@ -64,24 +64,27 @@ dpkg_install_from_curl \
   https://github.com/bazelbuild/bazel/releases/download/6.4.0/bazel_6.4.0-linux-x86_64.deb \
   9276a1e11f03e9f7492f009803c95bddc307993c9ab3c463721c9f6cdaa2ccc1
 
-# TODO(hidmic): install distributions from debians when Drake supports 22.04
+# If the user did not explicitly specify their installation prefix, install
+# ROS 2 Humble.
 if [[ -z "${ROS2_DISTRO_PREFIX:-}" ]]; then
-  # Install dependencies for ROS 2 Rolling on Jammy tarball
-  ROS2_APT_SOURCE="deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main"
-  if ! grep "${ROS2_APT_SOURCE}" /etc/apt/sources.list.d/ros2.list; then
-    echo ${ROS2_APT_SOURCE} | tee /etc/apt/sources.list.d/ros2.list
-  fi
+  apt update && apt install locales
+  locale-gen en_US en_US.UTF-8
+  update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+  export LANG=en_US.UTF-8
+
+  apt install software-properties-common
+  add-apt-repository universe
+
+  apt update && apt install curl -y
+  curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" |  tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
-  apt update && apt install python3-rosdep
-  [[ -d /etc/ros/rosdep ]] || rosdep init
-  as-user rosdep update --rosdistro=rolling
+  apt update
 
-  # TODO(hidmic): be very explicit about what installation mechanisms we allow
-  # NOTE: since no ROS distributions has been sourced or specified yet,
-  # force Python version to 3.x (which is standard in ROS 2 distributions)
-  SETUP_DIR=$(cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd)
-  apt install $(env ROS_PYTHON_VERSION=3 rosdep resolve \
-    $(cat ${SETUP_DIR}/prereq-rosdep-keys.txt) 2>/dev/null | grep -v '^#') libssl-dev
+  apt install ros-humble-desktop
+  apt install ros-humble-rmw-cyclonedds-cpp
+  apt install ros-dev-tools
 fi
 
 # Install Python dependencies