Source ros distro setup file if needed

[iche033]

gz-transport15 depends on ros2 repo's ros-jazzy-zenoh-cpp-vendor package. We need to source the ros setup.bash script to find this package

[iche033]

@j-rivero, looking to get some advice from you regarding the best way to setup up ROS build env in the docker container. I think the source /opt/ros/jazzy/setup.bash cmd I added in build.sh does not seem to has an effect so gz-transport is not able to find zenoh_cpp_vendor package in the docker container (the package is installed successfully though).

Example console log: https://build.osrfoundation.org/job/gz_transport-ci-pr_any-noble-amd64/113/consoleFull#console-section-6 (in sourcing ros setup script section).

Any pointers on what I could be doing wrong?

[iche033]

@j-rivero, looking to get some advice from you regarding the best way to setup up ROS build env in the docker container. I think the source /opt/ros/jazzy/setup.bash cmd I added in build.sh does not seem to has an effect so gz-transport is not able to find zenoh_cpp_vendor package in the docker container (the package is installed successfully though).

Example console log: https://build.osrfoundation.org/job/gz_transport-ci-pr_any-noble-amd64/113/consoleFull#console-section-6 (in sourcing ros setup script section).

Any pointers on what I could be doing wrong?

It could be related to ament/ament_cmake#304.

I made some changes in source repo (gazebosim/gz-transport#614) to set CMAKE_PREFIX_PATH for finding zenoh packages installed by zenoh_cpp_vendor. Not sure why I don't have to do this when testing locally.

Here's a test build of this branch with gazebosim/gz-transport#614

https://build.osrfoundation.org/job/gz_transport-ci-pr_any-noble-amd64/130/

Relevant console output shows gz-transport now finds zenoh packages:

-- defined lib target zenohcxx::zenohc for zenohc::lib
-- Looking for zenohcxx and zenohc - found

[j-rivero]

Suggested change

	export ROS_DISTRO="jazzy"
	export ROS_DISTRO_SETUP_NEEDED="jazzy"

I would not mess with defining ROS_DISTRO but seems safer to me to inject a new variable.

[j-rivero]

Also a comment on why we need this ROS package

[iche033]

renamed to ROS_DISTRO_SETUP_NEEDED and added comment. e25781b

[j-rivero]

Change variable name accordingly here with the comment above. Also please include a comment on why we are using this in the generic_linux_compilation (the fact of using the zenoh vendor for transport) since there are other scripts dealing with ROS.

[iche033]

updated var and added comment e25781b, 5cefac7.

Actually if there's a better way to setup ROS env, let me know as well. I'm open to changing the implementation. I saw that there is some logic to setup ROS env in boilerplate_prepare.sh but I don't see it sourcing the setup script there. Maybe the alternative is to move the logic there.

[j-rivero]

The idea was to use ROS_DISTRO_SETUP_NEEDED all around to host the ROS 2 variable and leave the sourcing of the setup.bash file to do the rest of the magic f0f4639.

[j-rivero]

With the current setup, @iche033 where are we defined the ros-jazzy-zenoh-vendor dependency? In packages.apt?

[iche033]

With the current setup, @iche033 where are we defined the ros-jazzy-zenoh-vendor dependency? In packages.apt?

yes we put it in pacakges-noble.apt in gz-transport

[iche033]

started another test build with latest changes from this PR:

hmm zenoh is not found

-- Looking for zenohc - not found

-- Looking for zenohcxx - not found

-- Looking for zenohcxx - not found

In this commit: f0f4639, the export ROS_DISTRO=${ROS_DISTRO} line is removed. I think that was what made it work before.

[j-rivero]

Ouch, I was expecting the source of setup.bash to set the ROS_DISTRO for us. Like this on my local system:

~ ❯ echo ${ROS_DISTRO}

~ ❯ . /opt/ros/jazzy/setup.bash 
~ ❯ echo ${ROS_DISTRO}
jazzy

Inspecting the setup a little bit it is possible that we will need the package ros-jazzy-ros-environment to make it work in this way.

Let me revert the changes to the variable name and use directly ROS_DISTRO. I prefer to avoid adding new ROS dependencies if we can set it up correctly this way.

[iche033]

new build with gazebosim/gz-transport#635 that installs ros-jazzy-ros-environment:

gz-transport successfully finds zenoh:

-- defined lib target zenohcxx::zenohc for zenohc::lib
-- Looking for zenohcxx - found

-- Looking for zenohcxx and zenohc - found

[j-rivero]

new build with gazebosim/gz-transport#635 that installs ros-jazzy-ros-environment:

Great, thanks Ian !

[scpeters]

gazebosim/gz-transport#634 is failing since this was merged