Add a shorthand option for switching to alternate rmws (osrf#268)

* Basic rocker config to install and enable different rmw layers

README.md

@@ -154,7 +154,7 @@ Then you can run pytest.
 Notes:
 
 - Make sure to use the python3 instance of pytest from inside the environment.
-- The tests include an nvidia test which assumes you're using a machine with an nvidia gpu.
+- The tests include an nvidia test which assumes you're using a machine with an nvidia gpu. To skip them use `-m "not nvidia"`
 
 
 # Example usage

setup.py

@@ -60,6 +60,7 @@
             'port = rocker.extensions:Port',
             'privileged = rocker.extensions:Privileged',
             'pulse = rocker.extensions:PulseAudio',
+            'rmw = rocker.rmw_extension:RMW',
             'ssh = rocker.ssh_extension:Ssh',
             'user = rocker.extensions:User',
             'volume = rocker.volume_extension:Volume',

src/rocker/rmw_extension.py

@@ -0,0 +1,84 @@
+# Copyright 2024 Open Source Robotics Foundation
+
+# 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.
+
+from argparse import ArgumentTypeError
+import os
+import pkgutil
+
+from .em import empy_expand
+from rocker.extensions import RockerExtension
+from rocker.extensions import name_to_argument
+
+
+class RMW(RockerExtension):
+    rmw_map = {
+        'cyclonedds': ['ros-${ROS_DISTRO}-rmw-cyclonedds-cpp'],
+        'fastrtps'  : ['ros-${ROS_DISTRO}-rmw-fastrtps-cpp'],
+        # TODO(tfoote) Enable connext with license acceptance method
+        # 'connextdds': ['ros-${ROS_DISTRO}-rmw-connextdds'],
+    }
+
+    @staticmethod
+    def get_package_names(rmw_name):
+        return RMW.rmw_map[rmw_name]
+
+    @staticmethod
+    def get_name():
+        return 'rmw'
+
+    def __init__(self):
+        self._env_subs = None
+        self.name = RMW.get_name()
+
+    def get_docker_args(self, cli_args):
+        rmw_config = cli_args.get('rmw')
+        if not rmw_config:
+            return '' # not active
+        implementation = rmw_config[0]
+        args = f' -e RMW_IMPLEMENTATION=rmw_{implementation}_cpp'
+        return args #% self.get_environment_subs()
+
+    def get_environment_subs(self):
+        if not self._env_subs:
+            self._env_subs = {}
+        return self._env_subs
+
+    def get_preamble(self, cliargs):
+        return ''
+
+    def get_snippet(self, cliargs):
+        snippet = pkgutil.get_data('rocker', 'templates/%s_snippet.Dockerfile.em' % RMW.get_name()).decode('utf-8')
+        data = self.get_environment_subs()
+        # data['rosdistro'] = cliargs.get('rosdistro', 'rolling')
+        rmw = cliargs.get('rmw', None)
+        if rmw:
+            rmw = rmw[0]
+        else:
+            return '' # rmw not active
+        data['rmw'] = rmw
+        data['packages'] = RMW.get_package_names(rmw)
+        # data['rosdistro'] = 'rolling'
+        return empy_expand(snippet, data)
+
+    @staticmethod
+    def register_arguments(parser, defaults={}):
+        parser.add_argument(name_to_argument(RMW.get_name()),
+            default=defaults.get('rmw', None),
+            nargs=1,
+            choices=RMW.rmw_map.keys(),
+            help="Set the default RMW implementation")
+
+        # parser.add_argument('rosdistro',
+        #     default=defaults.get('rosdistro', None),
+        #     help="Set the default rosdistro, else autodetect")

src/rocker/templates/rmw_snippet.Dockerfile.em

@@ -0,0 +1,16 @@
+# workspace development helpers
+
+
+@[ if rmw ]@
+RUN \
+  if [ -z "${ROS_DISTRO}" ]; then echo "ROS_DISTRO is unset cannot override RMW" ; exit 1 ; fi ;\
+  if dpkg -l @(' '.join(packages)) > /dev/null 2>&1; then \
+   apt-get update \
+   && DEBIAN_FRONTENT=non-interactive apt-get install -qy --no-install-recommends\
+     @(' '.join(packages)) \
+   && apt-get clean ;\
+  else \
+   echo "Found rmw packages @(' '.join(packages)) no need to install" ; \
+  fi
+@[ end if ]@
+

test/test_rmw_extension.py

@@ -0,0 +1,94 @@
+# Licensed to the Apache Software Foundation (ASF) under one
+# or more contributor license agreements.  See the NOTICE file
+# distributed with this work for additional information
+# regarding copyright ownership.  The ASF licenses this file
+# to you 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.
+
+import em
+import os
+import unittest
+import pytest
+
+
+from rocker.core import DockerImageGenerator
+from rocker.core import list_plugins
+
+from test_extension import plugin_load_parser_correctly
+
+
+
+class rmwExtensionTest(unittest.TestCase):
+
+    def setUp(self):
+        # Work around interference between empy Interpreter
+        # stdout proxy and test runner. empy installs a proxy on stdout
+        # to be able to capture the information.
+        # And the test runner creates a new stdout object for each test.
+        # This breaks empy as it assumes that the proxy has persistent
+        # between instances of the Interpreter class
+        # empy will error with the exception
+        # "em.Error: interpreter stdout proxy lost"
+        em.Interpreter._wasProxyInstalled = False
+
+    def test_rmw_extension(self):
+        plugins = list_plugins()
+        rmw_plugin = plugins['rmw']
+        self.assertEqual(rmw_plugin.get_name(), 'rmw')
+
+        p = rmw_plugin()
+        self.assertTrue(plugin_load_parser_correctly(rmw_plugin))
+
+
+        mock_cliargs = {'rmw': ['cyclonedds']}
+        self.assertEqual(p.get_preamble(mock_cliargs), '')
+        args = p.get_docker_args(mock_cliargs)
+        self.assertIn('-e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp', args)
+        snippet = p.get_snippet(mock_cliargs)
+        self.assertIn('rmw-cyclonedds-cpp', snippet)
+
+
+        #without it set
+        mock_cliargs = {'rmw': None}
+        args = p.get_docker_args(mock_cliargs)
+        snippet = p.get_snippet(mock_cliargs)
+        self.assertNotIn('RMW_IMPLEMENTATION', args)
+        self.assertNotIn('rmw-cyclonedds-cpp', snippet)
+
+
+@pytest.mark.docker
+class rmwRuntimeExtensionTest(unittest.TestCase):
+
+    def setUp(self):
+        # Work around interference between empy Interpreter
+        # stdout proxy and test runner. empy installs a proxy on stdout
+        # to be able to capture the information.
+        # And the test runner creates a new stdout object for each test.
+        # This breaks empy as it assumes that the proxy has persistent
+        # between instances of the Interpreter class
+        # empy will error with the exception
+        # "em.Error: interpreter stdout proxy lost"
+        em.Interpreter._wasProxyInstalled = False
+
+    def test_rmw_extension(self):
+        plugins = list_plugins()
+        rmw_plugin = plugins['rmw']
+
+        p = rmw_plugin()
+        self.assertTrue(plugin_load_parser_correctly(rmw_plugin))
+
+        mock_cliargs = {'rmw': ['cyclonedds']}
+        dig = DockerImageGenerator([rmw_plugin()], mock_cliargs, 'ros:rolling')
+        self.assertEqual(dig.build(), 0)
+        self.assertEqual(dig.run(command='dpkg -l ros-rolling-rmw-cyclonedds-cpp'), 0)
+        self.assertIn('-e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp', dig.generate_docker_cmd('', mode='dry-run'))