Add humble to Linux CI

.github/workflows/build_linux.yml

@@ -7,46 +7,64 @@ on:
 
 jobs:
   build-linux:
-    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        ros_distribution:
+          - foxy
+          - humble
+        include:
+          # Foxy Fitzroy (June 2020 - May 2023)
+          - os: ubuntu-20.04
+            test_target_framework: net6.0
+            ros_distribution: foxy
+            ros_version: 2
+          # Humble Hawksbill (May 2022 - May 2027)
+          - os: ubuntu-22.04
+            test_target_framework: net6.0
+            ros_distribution: humble
+            ros_version: 2
+
+    runs-on: ${{ matrix.os }}
+    env:
+      RCLDOTNET_TEST_TARGET_FRAMEWORK: ${{ matrix.test_target_framework }}
 
     steps:
     - name: Checkout source
       uses: actions/checkout@v2
 
-    # https://docs.microsoft.com/en-us/dotnet/core/install/linux-package-manager-ubuntu-1804
-    - name: Install .NET SDK v2.1
+    # https://learn.microsoft.com/en-us/dotnet/core/install/linux-ubuntu#supported-distributions
+    - name: Install .NET SDK v6.0
+      if: matrix.os == 'ubuntu-20.04'
       run: |
-        wget https://packages.microsoft.com/config/ubuntu/18.04/packages-microsoft-prod.deb -O packages-microsoft-prod.deb
+        wget https://packages.microsoft.com/config/ubuntu/20.04/packages-microsoft-prod.deb -O packages-microsoft-prod.deb
         sudo dpkg -i packages-microsoft-prod.deb
-        sudo add-apt-repository universe
-        sudo apt-get update
-        sudo apt-get install -y apt-transport-https
+        rm packages-microsoft-prod.deb
         sudo apt-get update
-        sudo apt-get install -y dotnet-sdk-2.1
+        sudo apt-get install -y dotnet-sdk-6.0
 
     - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.2
+      uses: ros-tooling/setup-ros@v0.6
       with:
-        required-ros-distributions: foxy
+        required-ros-distributions: ${{ matrix.ros_distribution }}
 
     - name: Configure ros2_dotnet workspace
       run: |
         mkdir -p ~/ros2_dotnet_ws/src
         cd ~/ros2_dotnet_ws
-        cp ${{github.workspace}}/ros2_dotnet.repos .
-        vcs import src < ros2_dotnet.repos
+        cp ${{github.workspace}}/ros2_dotnet_${{ matrix.ros_distribution }}.repos .
+        vcs import src < ros2_dotnet_${{ matrix.ros_distribution }}.repos
         rm -rf src/ros2_dotnet/ros2_dotnet
         cp -r ${{github.workspace}} src/ros2_dotnet/ros2_dotnet
         vcs branch
 
     - name: Build ros2_dotnet source
       run: |
-        source /opt/ros/foxy/setup.bash
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
         cd ~/ros2_dotnet_ws
         colcon build --event-handlers console_cohesion+ console_package_list+
 
     - name: Run tests
       run: |
-        source /opt/ros/foxy/setup.bash
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
         cd ~/ros2_dotnet_ws
         colcon test --event-handlers console_cohesion+ --return-code-on-test-failure --packages-select rcldotnet

README.md

@@ -1,14 +1,12 @@
 ROS2 for .NET
 =============
 
-Build status
-------------
-
 | Target | Status |
 |----------|--------|
-| **Universal Windows Platform (x86/x64)** | ![Build (UWP)](https://github.com/ros2-dotnet/ros2_dotnet/workflows/Build%20(UWP)/badge.svg) |
-| **Windows Desktop (x64)** | ![Build (Desktop)](https://github.com/ros2-dotnet/ros2_dotnet/workflows/Build%20(Desktop)/badge.svg) |
-| **Linux** | ![Build (Desktop)](https://github.com/ros2-dotnet/ros2_dotnet/workflows/Build%20(Linux)/badge.svg) |
+| **Linux** | [![Build (Linux)](https://github.com/ros2-dotnet/ros2_dotnet/actions/workflows/build_linux.yml/badge.svg)](https://github.com/ros2-dotnet/ros2_dotnet/actions/workflows/build_linux.yml) |
+| **Windows Desktop** | [![Build (Desktop)](https://github.com/ros2-dotnet/ros2_dotnet/actions/workflows/build_desktop.yml/badge.svg)](https://github.com/ros2-dotnet/ros2_dotnet/actions/workflows/build_desktop.yml) |
+
+_Windows UWP CI Builds are currently disabled, see [this issue](https://github.com/ros2-dotnet/ros2_dotnet/issues/92) for more information._
 
 Introduction
 ------------
@@ -47,12 +45,12 @@ see the relevant section below): https://github.com/ros2/ros2/wiki/Installation#
 
 Next make sure you've either installed .Net Core (preferred)
 https://www.microsoft.com/net/learn/get-started or Mono
-https://www.mono-project.com/. (**NOTE**: For building unit tests, .NET 2.1 is
+https://www.mono-project.com/. (**NOTE**: For building unit tests, .NET 6 is
 required).
 
 For running on Linux or Windows Desktop, one can build `ros2_dotnet` (along with
 all desired packages containing interface definitions) as an overlay on top
-of an existing ROS2 installation. The `ros2_dotnet.repos` contains all
+of an existing ROS2 installation. The `ros2_dotnet_foxy.repos` contains all
 necessary repositories to build the core `ros2_dotnet` project along with all
 standard ROS2 interface packages. If you are using other packages which provide
 interface definitions, those must also be included in the `ros2_dotnet` workspace
@@ -65,7 +63,7 @@ core of ROS2 must be compiled for UWP compatibility.
 Windows (Desktop)
 -----------------
 Assuming you've installed ROS2 (pre-built binary packages) to the directory
-c:\dev\ros2_eloquent per the official [installation instructions](https://index.ros.org/doc/ros2/Installation/Eloquent/Windows-Install-Binary/),
+c:\dev\ros2_foxy per the official [installation instructions](https://index.ros.org/doc/ros2/Installation/Foxy/Windows-Install-Binary/),
 run the following from an Administrator Visual Studio 2019 Developer Command
 Prompt:
 
@@ -76,25 +74,25 @@ This is done for you below in the line preceding `colcon build`. This step
 can/should be omitted if building on top of a built-from-source ROS2 workspace)
 
 ```
-call \dev\ros2_eloquent\local_setup.bat
+call \dev\ros2_foxy\local_setup.bat
 md \dev\ros2_dotnet_ws\src
 cd \dev\ros2_dotnet_ws
-curl -sk https://raw.githubusercontent.com/ros2-dotnet/ros2_dotnet/master/ros2_dotnet.repos -o ros2_dotnet.repos
-vcs import \dev\ros2_dotnet_ws\src < ros2_dotnet.repos
-git clone --branch eloquent https://github.com/ros2/rosidl src\ros2\rosidl
+curl -sk https://raw.githubusercontent.com/ros2-dotnet/ros2_dotnet/master/ros2_dotnet_foxy.repos -o ros2_dotnet_foxy.repos
+vcs import \dev\ros2_dotnet_ws\src < ros2_dotnet_foxy.repos
+git clone --branch foxy https://github.com/ros2/rosidl src\ros2\rosidl
 colcon build --merge-install
 ```
 
 
 Linux
 -----
-Assuming ROS2 eloquent installed to the standard location, run the following commands:
+Assuming ROS2 foxy installed to the standard location, run the following commands:
 ```
-source /opt/ros/eloquent/setup.bash
+source /opt/ros/foxy/setup.bash
 mkdir -p ~/ros2_dotnet_ws/src
 cd ~/ros2_dotnet_ws
-wget https://raw.githubusercontent.com/ros2-dotnet/ros2_dotnet/master/ros2_dotnet.repos
-vcs import ~/ros2_dotnet_ws/src < ros2_dotnet.repos
+wget https://raw.githubusercontent.com/ros2-dotnet/ros2_dotnet/master/ros2_dotnet_foxy.repos
+vcs import ~/ros2_dotnet_ws/src < ros2_dotnet_foxy.repos
 colcon build
 ```
 

rcldotnet/CMakeLists.txt

@@ -97,7 +97,17 @@ if(BUILD_TESTING)
       ${builtin_interfaces_ASSEMBLIES_DLL}
   )
 
+  # Used by CI to test the different target frameworks in a matrix.
+  if(DEFINED ENV{RCLDOTNET_TEST_TARGET_FRAMEWORK})
+    set(RCLDOTNET_TEST_TARGET_FRAMEWORK $ENV{RCLDOTNET_TEST_TARGET_FRAMEWORK})
+  else()
+    set(RCLDOTNET_TEST_TARGET_FRAMEWORK "net6.0")
+  endif()
+
   add_dotnet_test(test_messages
+    TARGET_FRAMEWORK
+    ${RCLDOTNET_TEST_TARGET_FRAMEWORK}
+    SOURCES
     ${CS_SOURCES}
     test/test_messages.cs
     INCLUDE_DLLS

rcldotnet_common/DllLoadUtils.cs

@@ -54,10 +54,10 @@ public class DllLoadUtilsFactory {
       [DllImport ("kernel32.dll", EntryPoint = "FreeLibrary", SetLastError = true, ExactSpelling = true)]
       private static extern int FreeLibraryDesktop (IntPtr handle);
 
-      [DllImport ("libdl.so", EntryPoint = "dlopen")]
+      [DllImport ("libdl.so.2", EntryPoint = "dlopen")]
       private static extern IntPtr dlopen_unix (String fileName, int flags);
 
-      [DllImport ("libdl.so", EntryPoint = "dlclose")]
+      [DllImport ("libdl.so.2", EntryPoint = "dlclose")]
       private static extern int dlclose_unix (IntPtr handle);
 
       [DllImport ("libdl.dylib", EntryPoint = "dlopen")]
@@ -106,7 +106,7 @@ private static bool IsWindowsDesktop () {
 
       private static bool IsUnix () {
         try {
-          IntPtr ptr = dlopen_unix ("libdl.so", RTLD_NOW);
+          IntPtr ptr = dlopen_unix ("libdl.so.2", RTLD_NOW);
           dlclose_unix (ptr);
           return true;
         } catch (TypeLoadException) {
@@ -205,16 +205,16 @@ IntPtr DllLoadUtils.LoadLibrary (string fileName) {
 
     internal class DllLoadUtilsUnix : DllLoadUtils {
 
-      [DllImport ("libdl.so", ExactSpelling = true)]
+      [DllImport ("libdl.so.2", ExactSpelling = true)]
       private static extern IntPtr dlopen (String fileName, int flags);
 
-      [DllImport ("libdl.so", ExactSpelling = true)]
+      [DllImport ("libdl.so.2", ExactSpelling = true)]
       private static extern IntPtr dlsym (IntPtr handle, String symbol);
 
-      [DllImport ("libdl.so", ExactSpelling = true)]
+      [DllImport ("libdl.so.2", ExactSpelling = true)]
       private static extern int dlclose (IntPtr handle);
 
-      [DllImport ("libdl.so", ExactSpelling = true)]
+      [DllImport ("libdl.so.2", ExactSpelling = true)]
       private static extern IntPtr dlerror ();
 
       const int RTLD_NOW = 2;

ros2_dotnet_humble.repos

@@ -0,0 +1,33 @@
+repositories:
+  ament_dotnet/ament_cmake_export_assemblies:
+    type: git
+    url: https://github.com/esteve/ament_cmake_export_assemblies.git
+    version: master
+  ros2/common_interfaces:
+    type: git
+    url: https://github.com/ros2/common_interfaces.git
+    version: humble
+  ros2/rcl_interfaces:
+    type: git
+    url: https://github.com/ros2/rcl_interfaces.git
+    version: humble
+  ros2/rosidl_defaults:
+    type: git
+    url: https://github.com/ros2/rosidl_defaults.git
+    version: humble
+  ros2/test_interface_files:
+    type: git
+    url: https://github.com/ros2/test_interface_files.git
+    version: humble
+  ros2/unique_identifier_msgs:
+    type: git
+    url: https://github.com/ros2/unique_identifier_msgs.git
+    version: humble
+  ros2_dotnet/dotnet_cmake_module:
+    type: git
+    url: https://github.com/ros2-dotnet/dotnet_cmake_module.git
+    version: master
+  ros2_dotnet/ros2_dotnet:
+    type: git
+    url: https://github.com/ros2-dotnet/ros2_dotnet.git
+    version: master