Add ROSEnv example (#164)

* rosenv example

* missing files

* changes

* add to readme

* add docker ci for the example

* fix

* fix

* Update examples/tools/ros/rosenv/workspace/consumer/CMakeLists.txt

Co-authored-by: Carlos Zoido <[email protected]>

* update example

* Update examples/tools/ros/rosenv/workspace/consumer/CMakeLists.txt

* test in github actions

* use bash

* fix cd

* wip

* Update examples/tools/README.md

Co-authored-by: Carlos Zoido <[email protected]>

* Update .github/workflows/ros-tests.yml

* add develop2 testing

* wip

* wip

* minor changes

* wip

---------

Co-authored-by: Carlos Zoido <[email protected]>

.github/workflows/ros-tests.yml

@@ -0,0 +1,52 @@
+name: ROS and Conan Integration Test
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  test_conan_release:
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:humble-desktop
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v3
+
+    - name: Configure environment and install Conan release
+      run: |
+        apt-get update && apt-get install -y python3 python3-pip
+        python3 -m pip install conan
+        chmod +x ./examples/tools/ros/rosenv/workspace/test_ros.sh
+
+    - name: Run example with latest Conan release
+      shell: bash
+      run: |
+        cd examples/tools/ros/rosenv/workspace
+        ./test_ros.sh
+
+  test_conan_develop2:
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:humble-desktop
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v3
+
+    - name: Configure environment and install Conan from develop2 branch
+      run: |
+        apt-get update && apt-get install -y python3 python3-pip
+        python3 -m pip install git+https://github.com/conan-io/conan.git
+        chmod +x ./examples/tools/ros/rosenv/workspace/test_ros.sh
+
+    - name: Run example with Conan from repo
+      shell: bash
+      run: |
+        cd examples/tools/ros/rosenv/workspace
+        ./test_ros.sh

.gitignore

@@ -79,3 +79,6 @@ examples/tools/google/bazeltoolchain/7_x/string_formatter/MODULE.bazel.lock
 examples/libraries/libcurl/ascii_art_color/conan/*
 examples/libraries/libcurl/ascii_art_color/asciiartgen/x64/*
 examples/libraries/libcurl/ascii_art_color/x64/Release/*
+
+examples/tools/ros/rosenv/workspace/install/
+examples/tools/ros/rosenv/workspace/log/

examples/tools/README.md

@@ -24,3 +24,7 @@
 
 - Build a [Bazel 6.x compatible project](bazel/bazeltoolchain/6_x/string_formatter/) using Conan and [fmt](https://fmt.dev/). [Docs](https://docs.conan.io/2/examples/tools/google/bazeltoolchain/build_simple_bazel_project.rst)
 - Build a [Bazel >= 7.1 compatible project](bazel/bazeltoolchain/7_x/string_formatter/) using Conan and [fmt](https://fmt.dev/). [Docs](https://docs.conan.io/2/examples/tools/google/bazeltoolchain/build_simple_bazel_7x_project.rst)
+
+### [tools.ros](ros)
+
+- Build [ROS packages inside their workspace](ros/rosenv/workspace/) using dependencies from Conan Center and consuming them also as transitive dependencies.

examples/tools/ros/rosenv/workspace/consumer/CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.8)
+project(consumer)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(str_printer REQUIRED)
+
+add_executable(main src/main.cpp)
+
+target_include_directories(main PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/consumer>
+  $<INSTALL_INTERFACE:include>)
+
+target_compile_features(main PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+ament_target_dependencies(main str_printer)
+
+install(TARGETS main
+  DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

examples/tools/ros/rosenv/workspace/consumer/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>consumer</name>
+  <version>0.0.0</version>
+  <description>Consumer application that prints a fancy string</description>
+  <maintainer email="[email protected]">danimtb</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <depend>str_printer</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

examples/tools/ros/rosenv/workspace/consumer/src/main.cpp

@@ -0,0 +1,10 @@
+#include "str_printer/str_printer.h"
+
+int main(int argc, char ** argv)
+{
+  (void) argc;
+  (void) argv;
+
+  str_printer("Hi there! I am using fmt library fetched with Conan C/C++ Package Manager");
+  return 0;
+}

examples/tools/ros/rosenv/workspace/str_printer/CMakeLists.txt

@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 3.8)
+project(str_printer)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(fmt REQUIRED)  # Retrieved with Conan C/C++ Package Manager
+
+add_library(str_printer src/str_printer.cpp)
+
+target_include_directories(str_printer PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/str_printer>
+  $<INSTALL_INTERFACE:include>)
+
+target_compile_features(str_printer PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+ament_target_dependencies(str_printer fmt)
+
+ament_export_targets(str_printerTargets HAS_LIBRARY_TARGET)
+ament_export_dependencies(fmt)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(
+  TARGETS str_printer
+  EXPORT str_printerTargets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+ament_package()

examples/tools/ros/rosenv/workspace/str_printer/conanfile.txt

@@ -0,0 +1,7 @@
+[requires]
+fmt/11.0.2
+
+[generators]
+CMakeDeps
+CMakeToolchain
+ROSEnv

examples/tools/ros/rosenv/workspace/str_printer/include/str_printer/str_printer.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#include <string>
+
+#ifdef WIN32
+  #define FN_EXPORT __declspec(dllexport) 
+#else
+  #define FN_EXPORT  
+#endif
+
+FN_EXPORT void str_printer(std::string);

examples/tools/ros/rosenv/workspace/str_printer/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>str_printer</name>
+  <version>0.0.0</version>
+  <description>Library that provides a function to print a fancy string using the fmt library fetched by Conan C/C++ Package Manager</description>
+  <maintainer email="[email protected]">danimtb</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

examples/tools/ros/rosenv/workspace/str_printer/src/str_printer.cpp

@@ -0,0 +1,11 @@
+#include <iostream>
+#include <string>
+
+#include "fmt/core.h"
+#include "fmt/color.h"
+
+#include "str_printer.h"
+
+void str_printer(std::string str) {
+    fmt::print(fmt::fg(fmt::color::gold) | fmt::emphasis::bold, "{}\n", str);
+}

examples/tools/ros/rosenv/workspace/test_ros.sh

@@ -0,0 +1,8 @@
+source /opt/ros/humble/setup.bash
+conan profile detect --force
+conan install str_printer/conanfile.txt --build=missing --output-folder install/conan
+source install/conan/conanrosenv.sh
+colcon build --packages-select str_printer
+colcon build --packages-select consumer
+source install/setup.bash
+ros2 run consumer main

test/examples_tools.py

@@ -44,7 +44,7 @@ def run(cmd, error=False):
     print("Running: {}".format(cmd))
     start_time = time.time()
 
-    process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, shell=True, text=True)
+    process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, shell=True, text=True, encoding='utf-8')
 
     output = ''