Default to Fortress for Rolling (future Humble)

.github/workflows/ros2-ci.yml

@@ -9,9 +9,6 @@ jobs:
     strategy:
       matrix:
         include:
-          - docker-image: "ubuntu:20.04"
-            ignition-version: "edifice"
-            ros-distro: "galactic"
           - docker-image: "ubuntu:20.04"
             ignition-version: "edifice"
             ros-distro: "rolling"

README.md

@@ -6,12 +6,13 @@ Melodic | Citadel | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | on
 Melodic | Fortress | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | only from source
 Noetic | Citadel | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | https://packages.ros.org
 Noetic | Edifice | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source
-Noetic | Fortress (not released) | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source
+Noetic | Fortress | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source
 Foxy | Citadel | [foxy](https://github.com/osrf/ros_ign/tree/foxy) | https://packages.ros.org
 Foxy | Edifice | [foxy](https://github.com/osrf/ros_ign/tree/foxy) | only from source
-Galactic | Edifice | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | https://packages.ros.org
-Rolling | Edifice | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | https://packages.ros.org
-Rolling | Fortress (not released) | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | only from source
+Galactic | Edifice | [galactic](https://github.com/osrf/ros_ign/tree/galactic) | https://packages.ros.org
+Galactic | Fortress | [galactic](https://github.com/osrf/ros_ign/tree/galactic) | only from source
+Rolling | Edifice | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | only from source
+Rolling | Fortress | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | https://packages.ros.org
 
 > Please [ticket an issue](https://github.com/ignitionrobotics/ros_ign/issues/) if you'd like support to be added for some combination.
 
@@ -45,11 +46,11 @@ This repository holds packages that provide integration between
 
 ## Install
 
-This branch supports ROS Galactic and Rolling. See above for other ROS versions.
+This branch supports ROS Rolling. See above for other ROS versions.
 
 ### Binaries
 
-Galactic and Rolling binaries are available for Edifice.
+Rolling binaries are available for Fortress.
 They are hosted at https://packages.ros.org.
 
 1. Add https://packages.ros.org
@@ -60,16 +61,14 @@ They are hosted at https://packages.ros.org.
 
 1. Install `ros_ign`
 
-        sudo apt install ros-<distro>-ros-ign
-
-    Where `<distro>` can be `galactic` or `rolling`.
+        sudo apt install ros-rolling-ros-ign
 
 ### From source
 
 #### ROS
 
 Be sure you've installed
-[ROS Galactic or Rolling](https://index.ros.org/doc/ros2/Installation/)
+[ROS Rolling](https://index.ros.org/doc/ros2/Installation/)
 (at least ROS-Base). More ROS dependencies will be installed below.
 
 #### Ignition
@@ -102,11 +101,9 @@ The following steps are for Linux and OSX.
 
     ```
     cd ~/ws
-    rosdep install -r --from-paths src -i -y --rosdistro <distro>
+    rosdep install -r --from-paths src -i -y --rosdistro rolling
     ```
 
-    Where `<distro>` can be `galactic` or `rolling`.
-
     > If `rosdep` fails to install Ignition libraries and you have not installed them before, please follow [Ignition installation instructions](https://ignitionrobotics.org/docs/latest/install).
 
 1. Build the workspace:

ros_ign_bridge/CMakeLists.txt

@@ -21,33 +21,24 @@ find_package(std_msgs REQUIRED)
 find_package(tf2_msgs REQUIRED)
 find_package(trajectory_msgs REQUIRED)
 
-# Citadel
-if("$ENV{IGNITION_VERSION}" STREQUAL "citadel")
-  find_package(ignition-transport8 REQUIRED)
-  set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR})
+# Edifice
+if("$ENV{IGNITION_VERSION}" STREQUAL "edifice")
+  find_package(ignition-transport10 REQUIRED)
+  set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR})
 
-  find_package(ignition-msgs5 REQUIRED)
-  set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR})
+  find_package(ignition-msgs7 REQUIRED)
+  set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
 
-  message(STATUS "Compiling against Ignition Citadel")
-# Fortress
-elseif("$ENV{IGNITION_VERSION}" STREQUAL "fortress")
+  message(STATUS "Compiling against Ignition Edifice")
+# Default to Fortress
+else()
   find_package(ignition-transport11 REQUIRED)
   set(IGN_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR})
 
   find_package(ignition-msgs8 REQUIRED)
   set(IGN_MSGS_VER ${ignition-msgs8_VERSION_MAJOR})
 
   message(STATUS "Compiling against Ignition Fortress")
-# Default to Edifice
-else()
-  find_package(ignition-transport10 REQUIRED)
-  set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR})
-
-  find_package(ignition-msgs7 REQUIRED)
-  set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
-
-  message(STATUS "Compiling against Ignition Edifice")
 endif()
 
 set(PACKAGES

ros_ign_bridge/package.xml

@@ -23,17 +23,14 @@
   <depend>tf2_msgs</depend>
   <depend>trajectory_msgs</depend>
 
-  <!-- Fortress -->
+  <!-- Fortress (default) -->
   <depend condition="$IGNITION_VERSION == fortress">ignition-msgs8</depend>
   <depend condition="$IGNITION_VERSION == fortress">ignition-transport11</depend>
-  <!-- Edifice (default) -->
+  <depend condition="$IGNITION_VERSION == ''">ignition-msgs8</depend>
+  <depend condition="$IGNITION_VERSION == ''">ignition-transport11</depend>
+  <!-- Edifice -->
   <depend condition="$IGNITION_VERSION == edifice">ignition-msgs7</depend>
   <depend condition="$IGNITION_VERSION == edifice">ignition-transport10</depend>
-  <depend condition="$IGNITION_VERSION == ''">ignition-msgs7</depend>
-  <depend condition="$IGNITION_VERSION == ''">ignition-transport10</depend>
-  <!-- Citadel -->
-  <depend condition="$IGNITION_VERSION == citadel">ignition-msgs5</depend>
-  <depend condition="$IGNITION_VERSION == citadel">ignition-transport8</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>

ros_ign_gazebo/CMakeLists.txt

@@ -14,33 +14,24 @@ find_package(ament_cmake REQUIRED)
 find_package(ignition-math6 REQUIRED)
 find_package(rclcpp REQUIRED)
 
-# Citadel
-if("$ENV{IGNITION_VERSION}" STREQUAL "citadel")
-  find_package(ignition-transport8 REQUIRED)
-  set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR})
+# Edifice
+if("$ENV{IGNITION_VERSION}" STREQUAL "edifice")
+  find_package(ignition-transport10 REQUIRED)
+  set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR})
 
-  find_package(ignition-msgs5 REQUIRED)
-  set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR})
+  find_package(ignition-msgs7 REQUIRED)
+  set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
 
-  message(STATUS "Compiling against Ignition Citadel")
-# Fortress
-elseif("$ENV{IGNITION_VERSION}" STREQUAL "fortress")
+  message(STATUS "Compiling against Ignition Edifice")
+# Default to Fortress
+else()
   find_package(ignition-transport11 REQUIRED)
   set(IGN_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR})
 
   find_package(ignition-msgs8 REQUIRED)
   set(IGN_MSGS_VER ${ignition-msgs8_VERSION_MAJOR})
 
   message(STATUS "Compiling against Ignition Fortress")
-# Default to Edifice
-else()
-  find_package(ignition-transport10 REQUIRED)
-  set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR})
-
-  find_package(ignition-msgs7 REQUIRED)
-  set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
-
-  message(STATUS "Compiling against Ignition Edifice")
 endif()
 
 ign_find_package(gflags

ros_ign_gazebo/package.xml

@@ -17,13 +17,11 @@
   <depend>rclcpp</depend>
   <depend>ignition-math6</depend>
 
-  <!-- Fortress -->
+  <!-- Fortress (default) -->
   <depend condition="$IGNITION_VERSION == fortress">ignition-gazebo6</depend>
-  <!-- Edifice (default) -->
+  <depend condition="$IGNITION_VERSION == ''">ignition-gazebo6</depend>
+  <!-- Edifice -->
   <depend condition="$IGNITION_VERSION == edifice">ignition-gazebo5</depend>
-  <depend condition="$IGNITION_VERSION == ''">ignition-gazebo5</depend>
-  <!-- Citadel -->
-  <depend condition="$IGNITION_VERSION == citadel">ignition-gazebo3</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

ros_ign_gazebo_demos/package.xml

@@ -7,13 +7,11 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <!-- Fortress -->
+  <!-- Fortress (default) -->
   <exec_depend condition="$IGNITION_VERSION == fortress">ignition-gazebo6</exec_depend>
-  <!-- Edifice (default) -->
+  <exec_depend condition="$IGNITION_VERSION == ''">ignition-gazebo6</exec_depend>
+  <!-- Edifice -->
   <exec_depend condition="$IGNITION_VERSION == edifice">ignition-gazebo5</exec_depend>
-  <exec_depend condition="$IGNITION_VERSION == ''">ignition-gazebo5</exec_depend>
-  <!-- Citadel -->
-  <exec_depend condition="$IGNITION_VERSION == citadel">ignition-gazebo3</exec_depend>
 
   <exec_depend>image_transport_plugins</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>

ros_ign_image/CMakeLists.txt

@@ -16,33 +16,24 @@ find_package(ros_ign_bridge REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 
-# Citadel
-if("$ENV{IGNITION_VERSION}" STREQUAL "citadel")
-  find_package(ignition-transport8 REQUIRED)
-  set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR})
+# Edifice
+if("$ENV{IGNITION_VERSION}" STREQUAL "edifice")
+  find_package(ignition-transport10 REQUIRED)
+  set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR})
 
-  find_package(ignition-msgs5 REQUIRED)
-  set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR})
+  find_package(ignition-msgs7 REQUIRED)
+  set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
 
-  message(STATUS "Compiling against Ignition Citadel")
-# Fortress
-elseif("$ENV{IGNITION_VERSION}" STREQUAL "fortress")
+  message(STATUS "Compiling against Ignition Edifice")
+# Default to Fortress
+else()
   find_package(ignition-transport11 REQUIRED)
   set(IGN_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR})
 
   find_package(ignition-msgs8 REQUIRED)
   set(IGN_MSGS_VER ${ignition-msgs8_VERSION_MAJOR})
 
   message(STATUS "Compiling against Ignition Fortress")
-# Default to Edifice
-else()
-  find_package(ignition-transport10 REQUIRED)
-  set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR})
-
-  find_package(ignition-msgs7 REQUIRED)
-  set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
-
-  message(STATUS "Compiling against Ignition Edifice")
 endif()
 
 include_directories(include)

ros_ign_image/package.xml

@@ -13,17 +13,14 @@
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
 
-  <!-- Fortress -->
+  <!-- Fortress (default) -->
   <depend condition="$IGNITION_VERSION == fortress">ignition-msgs8</depend>
   <depend condition="$IGNITION_VERSION == fortress">ignition-transport11</depend>
-  <!-- Edifice (default) -->
+  <depend condition="$IGNITION_VERSION == ''">ignition-msgs8</depend>
+  <depend condition="$IGNITION_VERSION == ''">ignition-transport11</depend>
+  <!-- Edifice -->
   <depend condition="$IGNITION_VERSION == edifice">ignition-msgs7</depend>
   <depend condition="$IGNITION_VERSION == edifice">ignition-transport10</depend>
-  <depend condition="$IGNITION_VERSION == ''">ignition-msgs7</depend>
-  <depend condition="$IGNITION_VERSION == ''">ignition-transport10</depend>
-  <!-- Citadel -->
-  <depend condition="$IGNITION_VERSION == citadel">ignition-msgs5</depend>
-  <depend condition="$IGNITION_VERSION == citadel">ignition-transport8</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>