Implement shims

Signed-off-by: methylDragon <[email protected]>

ros_gz_shims/README.md

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+# Description
+
+These are shim packages for `ros_gz` that redirect executable calls to the related `ros_gz` executable.
+These require `ros_gz` to be installed though, but are set up to depend on `ros_gz`.
+
+This allows users to do either of these and get equivalent behavior:
+
+```bash
+ros2 run ros_gz parameter_bridge [...]
+ros2 run ros_ign parameter_bridge [...]  # Will emit deprecation warning
+```
+
+Additionally, installed files like launchfiles, message interfaces etc. are **duplicated** versions of the ones in `ros_gz` (but renamed as appropriate), and point to `ros_gz` dependencies as well (e.g. launchfiles pointing to `ros_gz` nodes.)

ros_gz_shims/ros_ign/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(ros_ign)
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

ros_gz_shims/ros_ign/README.md

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+# This is a shim meta-package
+For [ros_gz](https://github.com/gazebosim/ros_gz)

ros_gz_shims/ros_ign/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <!-- TODO: Make this a metapackage, see
+       https://github.com/ros2/ros2/issues/408 -->
+  <name>ros_ign</name>
+  <version>0.0.1</version>
+  <description>Shim meta-package to redirect to <a href="https://github.com/gazebosim/ros_gz">ros_gz</a>.</description>
+  <maintainer email="[email protected]">Brandon Ong</maintainer>
+  <license>Apache 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <exec_depend>ros_gz</exec_depend>
+
+  <exec_depend>ros_ign_bridge</exec_depend>
+  <exec_depend>ros_ign_gazebo</exec_depend>
+  <exec_depend>ros_ign_gazebo_demos</exec_depend>
+  <exec_depend>ros_ign_image</exec_depend>
+  <!-- See https://github.com/gazebosim/ros_gz/issues/40 -->
+  <!--exec_depend>ros_gz_point_cloud</exec_depend-->
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

ros_gz_shims/ros_ign_bridge/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(ros_ign_bridge)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+
+add_executable(parameter_bridge src/parameter_bridge_shim.cpp)
+ament_target_dependencies(parameter_bridge ament_index_cpp)
+
+add_executable(static_bridge src/static_bridge_shim.cpp)
+ament_target_dependencies(static_bridge ament_index_cpp)
+
+ament_export_dependencies(ament_index_cpp ros_gz_bridge)
+
+install(TARGETS
+  parameter_bridge
+  static_bridge
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

ros_gz_shims/ros_ign_bridge/README.md

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+# This is a shim package
+For [ros_gz_bridge](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_bridge)

ros_gz_shims/ros_ign_bridge/package.xml

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+<?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>ros_ign_bridge</name>
+  <version>0.0.1</version>
+  <description>Shim package to redirect to ros_gz_bridge.</description>
+  <maintainer email="[email protected]">Brandon Ong</maintainer>
+
+  <license>Apache 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_index_cpp</buildtool_depend>
+
+  <depend>ros_gz_bridge</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

ros_gz_shims/ros_ign_bridge/src/parameter_bridge_shim.cpp

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+// Shim to redirect "ros_ign_bridge parameter_bridge" call to "ros_gz_bridge parameter_bridge"
+
+#include <string>
+#include <sstream>
+#include <iostream>
+#include <stdlib.h>
+
+#include <ament_index_cpp/get_package_prefix.hpp>
+
+
+int main(int argc, char * argv[])
+{
+  std::stringstream cli_call;
+
+  cli_call << ament_index_cpp::get_package_prefix("ros_gz_bridge")
+           << "/lib/ros_gz_bridge/parameter_bridge";
+
+  if (argc > 1)
+  {
+    for (int i = 1; i < argc; i++)
+      cli_call << " " << argv[i];
+  }
+
+  std::cerr << "[ros_ign_bridge] is deprecated! "
+            << "Redirecting to use [ros_gz_bridge] instead!"
+            << std::endl << std::endl;
+  system(cli_call.str().c_str());
+
+  return 0;
+}

ros_gz_shims/ros_ign_bridge/src/static_bridge_shim.cpp

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+// Shim to redirect "ros_ign_bridge static_bridge" call to "ros_gz_bridge static_bridge"
+
+#include <string>
+#include <sstream>
+#include <iostream>
+#include <stdlib.h>
+
+#include <ament_index_cpp/get_package_prefix.hpp>
+
+
+int main(int argc, char * argv[])
+{
+  std::stringstream cli_call;
+
+  cli_call << ament_index_cpp::get_package_prefix("ros_gz_bridge")
+           << "/lib/ros_gz_bridge/static_bridge";
+
+  if (argc > 1)
+  {
+    for (int i = 1; i < argc; i++)
+      cli_call << " " << argv[i];
+  }
+
+  std::cerr << "[ros_ign_bridge] is deprecated! "
+            << "Redirecting to use [ros_gz_bridge] instead!"
+            << std::endl << std::endl;
+  system(cli_call.str().c_str());
+
+  return 0;
+}

ros_gz_shims/ros_ign_gazebo/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(ros_ign_gazebo)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+
+add_executable(create
+  src/create_shim.cpp
+)
+ament_target_dependencies(create ament_index_cpp)
+
+ament_export_dependencies(
+  ament_index_cpp
+  ros_gz_bridge
+)
+
+configure_file(
+  launch/ign_gazebo.launch.py.in
+  launch/ign_gazebo.launch.py.configured
+  @ONLY
+)
+file(GENERATE
+  OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/launch/ign_gazebo.launch.py"
+  INPUT "${CMAKE_CURRENT_BINARY_DIR}/launch/ign_gazebo.launch.py.configured"
+)
+
+install(FILES
+  "${CMAKE_CURRENT_BINARY_DIR}/launch/ign_gazebo.launch.py"
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
+install(TARGETS
+  create
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

ros_gz_shims/ros_ign_gazebo/launch/ign_gazebo.launch.py.in

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+# Copyright 2020 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Launch Gazebo Sim with command line arguments."""
+
+from os import environ
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import ExecuteProcess
+from launch.substitutions import LaunchConfiguration
+from launch.conditions import LaunchConfigurationEquals, LaunchConfigurationNotEquals
+
+
+def generate_launch_description():
+    env = {'GZ_SIM_SYSTEM_PLUGIN_PATH':
+           ':'.join([environ.get('GZ_SIM_SYSTEM_PLUGIN_PATH', default=''),
+                     environ.get('LD_LIBRARY_PATH', default='')]),
+           'IGN_GAZEBO_SYSTEM_PLUGIN_PATH':  # TODO(CH3): To support pre-garden. Deprecated.
+                      ':'.join([environ.get('IGN_GAZEBO_SYSTEM_PLUGIN_PATH', default=''),
+                                environ.get('LD_LIBRARY_PATH', default='')])}
+
+    return LaunchDescription([
+        DeclareLaunchArgument('gz_args', default_value='',
+                              description='Arguments to be passed to Gazebo Sim'),
+        # Gazebo Sim's major version
+        DeclareLaunchArgument('gz_version', default_value='@GZ_SIM_VER@',
+                              description='Gazebo Sim\'s major version'),
+
+        # TODO(CH3): Deprecated. Remove on tock.
+        DeclareLaunchArgument(
+            'ign_args', default_value='',
+            description='Deprecated: Arguments to be passed to Gazebo Sim'
+        ),
+        # Gazebo Sim's major version
+        DeclareLaunchArgument(
+            'ign_version', default_value='NO_VERSION',
+            description='Deprecated: Gazebo Sim\'s major version'
+        ),
+
+        # NOTE(CH3): We need ign gazebo to support pre-garden...
+        # It's deprecated. Remove on tock.
+        # Also, we're using "NO_VERSION" because launch can't compare empty
+        # strings...
+        ExecuteProcess(
+            condition=LaunchConfigurationNotEquals('ign_version', 'NO_VERSION'),
+            cmd=['ign gazebo',
+                 LaunchConfiguration('ign_args'),
+                 '--force-version',
+                 LaunchConfiguration('ign_version'),
+                 ],
+            output='screen',
+            additional_env=env,
+            shell=True
+        ),
+
+        ExecuteProcess(
+            condition=LaunchConfigurationEquals('ign_version', 'NO_VERSION'),
+            cmd=['ign gazebo',
+                 LaunchConfiguration('gz_args'),
+                 '--force-version',
+                 LaunchConfiguration('gz_version'),
+                 ],
+            output='screen',
+            additional_env=env,
+            shell=True
+        ),
+    ])

ros_gz_shims/ros_ign_gazebo/package.xml

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+<?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>ros_ign_gazebo</name>
+  <version>0.0.1</version>
+  <description>Shim package to redirect to ros_gz_sim.</description>
+  <maintainer email="[email protected]">Brandon Ong</maintainer>
+
+  <license>Apache 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_index_cpp</buildtool_depend>
+
+  <depend>ros_gz_sim</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

ros_gz_shims/ros_ign_gazebo/src/create_shim.cpp

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+// Shim to redirect "ros_ign_bridge parameter_bridge" call to "ros_gz_sim parameter_bridge"
+
+#include <string>
+#include <sstream>
+#include <iostream>
+#include <stdlib.h>
+
+#include <ament_index_cpp/get_package_prefix.hpp>
+
+
+int main(int argc, char * argv[])
+{
+  std::stringstream cli_call;
+
+  cli_call << ament_index_cpp::get_package_prefix("ros_gz_sim")
+           << "/lib/ros_gz_sim/create";
+
+  if (argc > 1)
+  {
+    for (int i = 1; i < argc; i++)
+      cli_call << " " << argv[i];
+  }
+
+  std::cerr << "[ros_ign_gazebo] is deprecated! "
+            << "Redirecting to use [ros_gz_sim] instead!"
+            << std::endl << std::endl;
+  system(cli_call.str().c_str());
+
+  return 0;
+}

ros_gz_shims/ros_ign_gazebo_demos/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(ros_ign_gazebo_demos)
+
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(
+  DIRECTORY
+    launch/
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
+install(
+  DIRECTORY
+    rviz/
+  DESTINATION share/${PROJECT_NAME}/rviz
+)
+
+install(
+  DIRECTORY
+    models/
+  DESTINATION share/${PROJECT_NAME}/models
+)
+
+ament_package()

ros_gz_shims/ros_ign_gazebo_demos/README.md

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+# This is a shim package
+For [ros_gz_sim_demos](https://github.com/gazebosim/ros_gz/tree/ros2/ros_ign_gazebo_demos)