Ubuntu24.04のdebパッケージ生成向け整備

CMakeLists.txt

@@ -965,17 +965,27 @@ if(UNIX)
       )
     endif()
     file(STRINGS "/etc/os-release" data_list REGEX "^(VERSION_CODENAME)=")
+    # Look for lines like VERSION_CODENAME="..."
+    foreach(var ${data_list})
+      if("${var}" MATCHES "^(VERSION_CODENAME)=(.*)$")
+        set(ubuntu_codename "${CMAKE_MATCH_2}")
+      endif()
+    endforeach()
+
+    if(${ubuntu_codename} MATCHES "focal" OR
+       ${ubuntu_codename} MATCHES "jammy")
+      configure_file(${PROJECT_SOURCE_DIR}/src/ext/transport/FastRTPS/CORBACdrDataPubSubTypes.cpp.ubuntu2204_earlier
+	      ${PROJECT_SOURCE_DIR}/src/ext/transport/FastRTPS/CORBACdrDataPubSubTypes.cpp @ONLY
+      )
+      configure_file(${PROJECT_SOURCE_DIR}/src/ext/transport/ROS2Transport/ROS2Serializer.h.ubuntu2204_earlier
+	      ${PROJECT_SOURCE_DIR}/src/ext/transport/ROS2Transport/ROS2Serializer.h @ONLY
+      )
+    endif()
 
     if(BUILD_RTM_LINUX_PKGS)
-      # Look for lines like VERSION_CODENAME="..."
-      foreach(var ${data_list})
-        if("${var}" MATCHES "^(VERSION_CODENAME)=(.*)$")
-          set(ubuntu_codename "${CMAKE_MATCH_2}")
-          configure_file(${PROJECT_SOURCE_DIR}/packages/deb/debian/control.${ubuntu_codename}
+      configure_file(${PROJECT_SOURCE_DIR}/packages/deb/debian/control.${ubuntu_codename}
              ${PROJECT_BINARY_DIR}/control @ONLY
-          )
-        endif()
-      endforeach()
+      )
     endif()
   else()
     configure_file(${PROJECT_SOURCE_DIR}/packages/deb/debian/rules.not-ros-support.in

packages/deb/debian/control.noble

@@ -0,0 +1,63 @@
+Source: openrtm2
+Section: science
+Priority: extra
+Maintainer: Noriaki Ando <n-ando@aist.go.jp>
+Build-Depends: debhelper (>= 9), libomniorb4-dev, omniidl4 | omniidl,  omniorb4-nameserver | omniorb-nameserver, python3, uuid-dev
+Standards-Version: 3.8.4
+Homepage: http://www.openrtm.org
+
+Package: openrtm2
+Architecture: any
+Multi-Arch: same
+Pre-Depends: ${misc:Pre-Depends}
+Depends: ${misc:Depends}, omniorb-nameserver, openrtm2-naming (>= 2.0.2-0)
+Description: OpenRTM-aist, RT-Middleware distributed by AIST
+ OpenRTM-aist is a reference implementation of RTC (Robotic Technology
+ Component Version 1.1, formal/12-09-01) specification which is OMG
+ standard (http://www.omg.org/spec/RTC/). OpenRTM-aist includes
+ RT-Middleware runtime environment and RTC framework. The OMG standard
+ defines a component model and certain important infrastructure
+ services applicable to the domain of robotics software
+ development. OpenRTM-aist is being developed and distributed by
+ National Institute of Advanced Industrial Science and Technology
+ (AIST), Japan. Please see http://www.openrtm.org/ for more detail.
+
+Package: openrtm2-naming
+Architecture: any
+Multi-Arch: same
+Replaces: openrtm2 (<< 2.0.2-0)
+Breaks: openrtm2 (<< 2.0.2-0)
+Description: OpenRTM-aist name server launcher
+
+Package: openrtm2-ros2-tp
+Architecture: any
+Multi-Arch: same
+Depends: openrtm2, ros-jazzy-ros-core
+Description: OpenRTM-aist extension ROS2 package
+ Extensions of OpenRTM-aist
+
+Package: openrtm2-dev
+Architecture: any
+Multi-Arch: same
+Depends: openrtm2, openrtm2-idl
+Description: OpenRTM-aist headers for development
+ The header files and libraries needed for developing RT-Components
+ using OpenRTM-aist.
+
+Package: openrtm2-idl
+Architecture: any
+Multi-Arch: same
+Description: OpenRTM-aist idls for development
+ The idl files needed for developing RT-Components using OpenRTM-aist.
+
+Package: openrtm2-example
+Architecture: any
+Multi-Arch: same
+Depends: openrtm2
+Description: OpenRTM-aist examples
+ Example components and sources of OpenRTM-aist
+
+Package: openrtm2-doc
+Architecture: all
+Description: Documentation for openrtm2
+ Class reference manual of OpenRTM-aist.

scripts/openrtm2_install_ubuntu.sh

@@ -14,7 +14,7 @@
 # = OPT_UNINST   : uninstallation
 #
 
-VERSION=2.0.2.01
+VERSION=2.0.2.02
 FILENAME=openrtm2_install_ubuntu.sh
 
 #
@@ -92,6 +92,7 @@ cmake_tools="cmake doxygen graphviz nkf"
 build_tools="subversion git"
 deb_pkg="uuid-dev libboost-filesystem-dev"
 pkg_tools="build-essential debhelper devscripts"
+fluentbit19="td-agent-bit"
 fluentbit="fluent-bit"
 omni_devel="libomniorb4-dev omniidl"
 omni_runtime="omniorb-nameserver"
@@ -567,7 +568,11 @@ u_src_pkgs="$omni_runtime $omni_devel"
 dev_pkgs="$runtime_pkgs $src_pkgs $openrtm2_devel"
 u_dev_pkgs="$u_runtime_pkgs $openrtm2_devel"
 
-core_pkgs="$src_pkgs $autotools $build_tools $pkg_tools $fluentbit"
+if test "x$code_name" = "xfocal" || test "x$code_name" = "xjammy" ; then
+  core_pkgs="$src_pkgs $autotools $build_tools $pkg_tools $fluentbit19"
+else
+  core_pkgs="$src_pkgs $autotools $build_tools $pkg_tools"
+fi
 u_core_pkgs="$u_src_pkgs"
 
 ros_pkg="$openrtm2_ros"
@@ -912,8 +917,10 @@ if test "x$OPT_UNINST" = "xtrue" ; then
 fi
 
 if test "x$OPT_COREDEVEL" = "xtrue" ; then
-  sudo systemctl enable fluent-bit
-  sudo systemctl start fluent-bit
+  if test "x$code_name" = "xfocal" || test "x$code_name" = "xjammy" ; then
+    sudo systemctl enable td-agent-bit
+    sudo systemctl start td-agent-bit
+  fi
 fi
 
 install_result $install_pkgs

scripts/ubuntu_2404/Dockerfile

@@ -0,0 +1,15 @@
+FROM openrtm/devel-rtm:ubuntu24.04
+
+COPY OpenRTM-aist /root/OpenRTM-aist
+RUN cmake\
+ -DSSL_ENABLE=ON\
+ -DOBSERVER_ENABLE=ON\
+ -DFLUENTBIT_ENABLE=ON\
+ -DFLUENTBIT_ROOT=/usr/local\
+ -DFLUENTBIT_ADD_INCLUDE=ON\
+ -DFASTRTPS_ENABLE=ON\
+ -DROS2_ENABLE=ON\
+ -DCMAKE_BUILD_TYPE=Release\
+ -S /root/OpenRTM-aist\
+ -B /tmp/rtm/build\
+ && cmake --build /tmp/rtm/build -j $(nproc)

scripts/ubuntu_2404/Dockerfile.devel-rtm

@@ -0,0 +1,85 @@
+FROM ubuntu:24.04 as fluent
+
+RUN apt update\
+ && apt install -y --no-install-recommends\
+ g++\
+ make\
+ cmake\
+ ca-certificates\
+ wget\
+ flex\
+ bison\
+ libyaml-dev\
+ libssl-dev
+
+# downlaod fluent-bit.
+RUN mkdir /root/fluent-bit
+RUN wget -O - https://github.com/fluent/fluent-bit/archive/refs/tags/v3.0.7.tar.gz\
+ | tar xfz - -C /root/fluent-bit --strip-components 1
+RUN sed  -i -e 's/jemalloc-5.3.0\/configure/jemalloc-5.3.0\/configure --disable-initial-exec-tls/g' /root/fluent-bit/CMakeLists.txt
+
+# build fluent-bit.
+RUN cmake -DFLB_DEBUG=Off\
+ -DFLB_TRACE=Off\
+ -DFLB_JEMALLOC=On\
+ -DFLB_TLS=On\
+ -DFLB_SHARED_LIB=On\
+ -DFLB_EXAMPLES=Off\
+ -DFLB_HTTP_SERVER=On\
+ -DFLB_IN_SYSTEMD=On\
+ -DFLB_OUT_KAFKA=On\
+ -DCMAKE_BUILD_TYPE=Release\
+ -DCMAKE_INSTALL_PREFIX=/tmp/flb/install\
+ -S /root/fluent-bit\
+ -B/tmp/flb/build
+RUN cmake --build /tmp/flb/build --target install/strip -- -j$(nproc)
+
+# install header files.
+RUN cp -r /tmp/flb/build/include/jemalloc\
+ /root/fluent-bit/lib/cfl/include/cfl\
+ /root/fluent-bit/lib/cfl/lib/xxhash/*.h\
+ /root/fluent-bit/lib/msgpack-*/include/msgpack.h\
+ /root/fluent-bit/lib/msgpack-*/include/msgpack\
+ /root/fluent-bit/lib/ctraces/lib/mpack/src/mpack\
+ /root/fluent-bit/lib/c-ares-*/include/*.h\
+ /tmp/flb/install/include/
+RUN cp -r /tmp/flb/build/lib/c-ares-*/ares_build.h\
+ /tmp/flb/build/lib/c-ares-*/ares_config.h\
+ /root/fluent-bit/lib/cmetrics/include/cmetrics\
+ /root/fluent-bit/lib/cmetrics/include/prometheus_remote_write\
+ /root/fluent-bit/lib/ctraces/include/ctraces\
+ /tmp/flb/install/include/
+RUN cp /tmp/flb/build/lib/monkey/include/monkey/mk_core/mk_core_info.h\
+ /tmp/flb/install/include/monkey/mk_core/
+
+############################################################
+FROM ubuntu:24.04 as rtm-build
+
+ENV ROS2_DISTRO=jazzy
+ENV AMENT_PREFIX_PATH=/opt/ros/${ROS2_DISTRO}
+ENV PYTHONPATH=/opt/ros/${ROS2_DISTRO}/lib/python3.12/site-packages:${PYTHONPATH}
+ENV PATH=/opt/ros/${ROS2_DISTRO}/bin:${PATH}
+ENV CMAKE_PREFIX_PATH=/opt/ros/${ROS2_DISTRO}:${CMAKE_PREFIX_PATH}
+RUN apt update\
+ && apt install -y --no-install-recommends curl gnupg2 lsb-release ca-certificates\
+ && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg\
+ && sh -c 'echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list'\
+ && apt update\
+ && DEBIAN_FRONTEND=noninteractive apt install -y ros-${ROS2_DISTRO}-ros-core\
+ && apt clean\
+ && rm -rf /var/lib/apt/lists/*
+
+RUN apt update\
+ && apt install -y --no-install-recommends\
+ g++\
+ make\
+ cmake\
+ uuid-dev\
+ libboost-filesystem-dev\
+ omniorb-nameserver\
+ libomniorb4-dev\
+ omniidl\
+ && apt clean\
+ && rm -rf /var/lib/apt/lists/*
+
+COPY --from=fluent /tmp/flb/install /usr/local/

scripts/ubuntu_2404/Dockerfile.package

@@ -0,0 +1,34 @@
+FROM openrtm/devel-rtm:ubuntu24.04
+
+RUN apt-get update\
+ && apt-get install -y --no-install-recommends\
+ doxygen\
+ graphviz\
+ build-essential\
+ debhelper\
+ devscripts\
+ fakeroot
+
+COPY OpenRTM-aist /root/OpenRTM-aist
+RUN cmake\
+ -DSSL_ENABLE=ON\
+ -DOBSERVER_ENABLE=ON\
+ -DFASTRTPS_ENABLE=ON\
+ -DROS2_ENABLE=ON\
+ -DDOCUMENTS_ENABLE=ON\
+ -DBUILD_RTM_LINUX_PKGS=ON\
+ -DCMAKE_BUILD_TYPE=Release\
+ -DCMAKE_INSTALL_PREFIX=/tmp/rtm/install\
+ -S /root/OpenRTM-aist\
+ -B/tmp/rtm/build\
+ && cmake --build /tmp/rtm/build --target install/strip -- -j$(nproc)
+
+WORKDIR /root/OpenRTM-aist/packages/deb/
+RUN mkdir -p /root/cxx-deb-pkgs\
+ && cp /tmp/rtm/build/rules debian/\
+ && cp /tmp/rtm/build/control debian/\
+ && chmod 775 dpkg_build.sh\
+ && export LD_LIBRARY_PATH=/opt/ros/jazzy/lib\
+ && ./dpkg_build.sh
+
+RUN cp /root/OpenRTM-aist/packages/openrtm* /root/cxx-deb-pkgs/

src/ext/transport/FastRTPS/CORBACdrDataPubSubTypes.cpp

@@ -70,8 +70,8 @@ namespace RTC
                 endian = eprosima::fastcdr::Cdr::BIG_ENDIANNESS;
             }
             eprosima::fastcdr::Cdr ser(fastbuffer, endian,
-                eprosima::fastcdr::Cdr::DDS_CDR); // Object that serializes the data.
-            payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
+                eprosima::fastcdr::DDS_CDR); // Object that serializes the data.
+	    payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
             // Serialize encapsulation
             try
             {
@@ -87,7 +87,7 @@ namespace RTC
                 std::cout << "BadParamException:" << e.what() << std::endl;
                 return false;
             }
-            uint32_t data_size = p_type->getDataLength() + (uint32_t)ser.getSerializedDataLength();
+            uint32_t data_size = p_type->getDataLength() + (uint32_t)ser.get_serialized_data_length();
             try
             {
                 payload->reserve(data_size);
@@ -100,7 +100,7 @@ namespace RTC
             payload->length = data_size;
             if (payload->max_size >= data_size)
             {
-                memcpy(payload->data + ser.getSerializedDataLength(), p_type->getBuffer(), p_type->getDataLength());
+                memcpy(payload->data + ser.get_serialized_data_length(), p_type->getBuffer(), p_type->getDataLength());
             }
         }
         else
@@ -138,7 +138,7 @@ namespace RTC
             endian = eprosima::fastcdr::Cdr::BIG_ENDIANNESS;
         }
         eprosima::fastcdr::Cdr deser(fastbuffer, endian,
-                                      eprosima::fastcdr::Cdr::DDS_CDR); // Object that deserializes the data.
+                                      eprosima::fastcdr::DDS_CDR); // Object that deserializes the data.
                                               // Deserialize encapsulation.
         try
         {
@@ -158,9 +158,9 @@ namespace RTC
 
         if (!m_header_enable)
         {
-            if (payload->length >= (uint32_t)deser.getSerializedDataLength())
+            if (payload->length >= (uint32_t)deser.get_serialized_data_length())
             {
-                p_type->writeData(payload->data + deser.getSerializedDataLength(), payload->length - (uint32_t)deser.getSerializedDataLength());
+                p_type->writeData(payload->data + deser.get_serialized_data_length(), payload->length - (uint32_t)deser.get_serialized_data_length());
             }
         }
         else
@@ -201,7 +201,7 @@ namespace RTC
 
         if(CORBACdrData::getKeyMaxCdrSerializedSize()>16){
             m_md5.init();
-            m_md5.update(m_keyBuffer,(unsigned int)ser.getSerializedDataLength());
+            m_md5.update(m_keyBuffer,(unsigned int)ser.get_serialized_data_length());
             m_md5.finalize();
             for(uint8_t i = 0;i<16;++i)    {
                 handle->value[i] = m_md5.digest[i];