Test PR for ros_gz

.github/workflows/test.yml

@@ -256,3 +256,21 @@ jobs:
         run: |
           conda activate
           gz sim --versions
+
+  test_install_ros_gz:
+    name: 'Install ros_gz side-by-side Gazebo'
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-node@v4.0.3
+        with:
+          node-version: '20.x'
+      - name: 'Install ROS 2 Jazzy'
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: jazzy
+      - name: 'Install Gazebo with ros_gz'
+        uses: ./
+        with:
+          required-gazebo-distributions: 'harmonic'
+          install-ros-gz: 'true'

action.yml

@@ -29,6 +29,11 @@ inputs:
       Use nightly binaries from OSRF repository
     required: false
     default: 'false'
+  install-ros-gz:
+    description: |
+      Install ros_gz side-by-side with ROS 2 and Gazebo
+    required: false
+    default: 'false'
 runs:
   using: node20
   main: dist/index.js

dist/index.js

@@ -26477,6 +26477,22 @@ function addAptRepo(ubuntuCodename) {
         yield utils.exec("sudo", ["apt-get", "update"]);
     });
 }
+function installRosGz() {
+    return __awaiter(this, void 0, void 0, function* () {
+        let rosDistroStr = "";
+        const options = {};
+        options.listeners = {
+            stdout: (data) => {
+                rosDistroStr += data.toString();
+            },
+        };
+        yield utils.exec("bash", ["-c", `distros=($(ls /opt/ros -1)) ; echo -n "$distros"`], options);
+        const rosDistros = rosDistroStr.split(" ");
+        for (const rosDistro of rosDistros) {
+            apt.runAptGetInstall([`ros-${rosDistro}-ros-gz`]);
+        }
+    });
+}
 /**
  * Install Gazebo on a Linux worker.
  */
@@ -26489,9 +26505,12 @@ function runLinux() {
         yield addAptRepo(ubuntuCodename);
         const gazeboDistros = utils.getRequiredGazeboDistributions();
         utils.checkUbuntuCompatibility(gazeboDistros, ubuntuCodename);
-        for (const gazeboDistro of utils.getRequiredGazeboDistributions()) {
+        for (const gazeboDistro of gazeboDistros) {
             yield apt.runAptGetInstall([`gz-${gazeboDistro}`]);
         }
+        if (utils.checkForRosGz()) {
+            yield installRosGz();
+        }
     });
 }
 
@@ -26790,6 +26809,7 @@ exports.validateDistro = validateDistro;
 exports.getRequiredGazeboDistributions = getRequiredGazeboDistributions;
 exports.checkUbuntuCompatibility = checkUbuntuCompatibility;
 exports.checkForUnstableAptRepos = checkForUnstableAptRepos;
+exports.checkForRosGz = checkForRosGz;
 const actions_exec = __importStar(__nccwpck_require__(1514));
 const core = __importStar(__nccwpck_require__(2186));
 // List of Valid Gazebo distributions with compatible
@@ -26798,22 +26818,27 @@ const validGazeboDistroList = [
     {
         name: "citadel",
         compatibleUbuntuDistros: ["focal"],
+        compatibleRosDistros: ["foxy"],
     },
     {
         name: "fortress",
         compatibleUbuntuDistros: ["focal", "jammy"],
+        compatibleRosDistros: ["humble", "iron"],
     },
     {
         name: "garden",
         compatibleUbuntuDistros: ["focal", "jammy"],
+        compatibleRosDistros: [],
     },
     {
         name: "harmonic",
         compatibleUbuntuDistros: ["jammy", "noble"],
+        compatibleRosDistros: ["jazzy", "rolling"],
     },
     {
         name: "ionic",
         compatibleUbuntuDistros: ["noble"],
+        compatibleRosDistros: [],
     },
 ];
 /**
@@ -26925,6 +26950,10 @@ function checkForUnstableAptRepos() {
     }
     return unstableRepos;
 }
+function checkForRosGz() {
+    const installRosGz = core.getInput("install-ros-gz") === "true";
+    return installRosGz;
+}
 
 
 /***/ }),

src/setup-gazebo-linux.ts

@@ -1,5 +1,7 @@
 import * as core from "@actions/core";
 import * as io from "@actions/io";
+import * as actions_exec from "@actions/exec";
+import * as im from "@actions/exec/lib/interfaces";
 
 import * as apt from "./package_manager/apt";
 import * as utils from "./utils";
@@ -92,6 +94,26 @@ async function addAptRepo(ubuntuCodename: string): Promise<void> {
 	await utils.exec("sudo", ["apt-get", "update"]);
 }
 
+async function installRosGz(): Promise<void> {
+	let rosDistroStr: string = "";
+	const options: im.ExecOptions = {};
+	options.listeners = {
+		stdout: (data: Buffer) => {
+			rosDistroStr += data.toString();
+		},
+	};
+	await utils.exec(
+		"bash",
+		["-c", `distros=($(ls /opt/ros -1)) ; echo -n "$distros"`],
+		options,
+	);
+
+	const rosDistros: string[] = rosDistroStr.split(" ");
+	for (const rosDistro of rosDistros) {
+		apt.runAptGetInstall([`ros-${rosDistro}-ros-gz`]);
+	}
+}
+
 /**
  * Install Gazebo on a Linux worker.
  */
@@ -107,7 +129,11 @@ export async function runLinux(): Promise<void> {
 
 	utils.checkUbuntuCompatibility(gazeboDistros, ubuntuCodename);
 
-	for (const gazeboDistro of utils.getRequiredGazeboDistributions()) {
+	for (const gazeboDistro of gazeboDistros) {
 		await apt.runAptGetInstall([`gz-${gazeboDistro}`]);
 	}
+
+	if (utils.checkForRosGz()) {
+		await installRosGz();
+	}
 }

src/utils.ts

@@ -7,26 +7,32 @@ import * as im from "@actions/exec/lib/interfaces";
 const validGazeboDistroList: {
 	name: string;
 	compatibleUbuntuDistros: string[];
+	compatibleRosDistros: string[];
 }[] = [
 	{
 		name: "citadel",
 		compatibleUbuntuDistros: ["focal"],
+		compatibleRosDistros: ["foxy"],
 	},
 	{
 		name: "fortress",
 		compatibleUbuntuDistros: ["focal", "jammy"],
+		compatibleRosDistros: ["humble", "iron"],
 	},
 	{
 		name: "garden",
 		compatibleUbuntuDistros: ["focal", "jammy"],
+		compatibleRosDistros: [],
 	},
 	{
 		name: "harmonic",
 		compatibleUbuntuDistros: ["jammy", "noble"],
+		compatibleRosDistros: ["jazzy", "rolling"],
 	},
 	{
 		name: "ionic",
 		compatibleUbuntuDistros: ["noble"],
+		compatibleRosDistros: [],
 	},
 ];
 
@@ -161,3 +167,8 @@ export function checkForUnstableAptRepos(): string[] {
 	}
 	return unstableRepos;
 }
+
+export function checkForRosGz(): boolean {
+	const installRosGz = core.getInput("install-ros-gz") === "true";
+	return installRosGz;
+}