Merge branch 'master' into ubuntu-24

.github/workflows/config.yml

@@ -5,6 +5,7 @@ on:
   pull_request:
 
 env:
+  ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
   DISPLAY: ':0.0'
 
 jobs:
@@ -39,7 +40,11 @@ jobs:
             BEFORE_SCRIPT : "find $GITHUB_WORKSPACE -iname image_view2 -exec touch {}/CATKIN_IGNORE \\;"
 
 
-    container: ${{ matrix.CONTAINER }}
+    container:
+      image: ${{ matrix.CONTAINER }}
+      volumes:
+        - /tmp/node20:/__e/node20
+
     steps:
       - name: Install latest git ( use sudo for ros-ubuntu )
         run: |
@@ -62,6 +67,21 @@ jobs:
              git config --global --add safe.directory $GITHUB_WORKSPACE
           fi
 
+      - name: Try to replace `node` with an glibc 2.17
+        shell: bash
+        run: |
+          if [ "${{ matrix.CONTAINER }}" = "jskrobotics/ros-ubuntu:14.04" ]; then
+             export USER=$(whoami)
+             sudo chmod 777 -R /__e/node20
+             sudo chown -R $USER /__e/node20
+          fi
+          ls -lar /__e/node20 &&
+          sudo apt-get install -y curl &&
+          curl -Lo /tmp/node.tar.gz https://unofficial-builds.nodejs.org/download/release/v20.17.0/node-v20.17.0-linux-x64-glibc-217.tar.gz &&
+          cd /__e/node20 &&
+          tar -x --strip-components=1 -f /tmp/node.tar.gz &&
+          ls -lar /__e/node20/bin/
+
       - name: Chcekout
         uses: actions/[email protected]
 
@@ -157,7 +177,6 @@ jobs:
           set -x
           # hack!
           apt install -y -q -qq python-is-python3
-          sed -i s/noetic/Debian/ $GITHUB_WORKSPACE/jsk_rosbag_tools/CMakeLists.txt
           # setup workspace
           mkdir -p ~/ws_current/src
           cd ~/ws_current/src
@@ -171,3 +190,61 @@ jobs:
           source ~/ws_depend/devel_isolated/setup.bash
           catkin_make_isolated ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
         shell: bash
+
+  # ROS-O setup https://github.com/v4hn/ros-o-builder/blob/jammy-one/README.md#install-instructions
+  ros-o:
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - DISTRO: ubuntu:22.04
+            ROS_REPOSITORY_URL: https://raw.githubusercontent.com/v4hn/ros-o-builder/jammy-one/repository
+
+    container: ${{ matrix.DISTRO }}
+
+    env:
+      DEBIAN_FRONTEND : noninteractive
+
+    steps:
+      - name: Chcekout Source
+        uses: actions/[email protected]
+
+      - name: Setup ROS-O deb repository
+        run: |
+          set -x
+          apt update && apt install -qq -y ca-certificates
+          echo "deb [trusted=yes] ${{ matrix.ROS_REPOSITORY_URL }}/ ./" | tee /etc/apt/sources.list.d/ros-o-builder.list
+          apt update
+          apt install -qq -y python3-rosdep2
+          echo "yaml ${{ matrix.ROS_REPOSITORY_URL }}/local.yaml debian" | tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
+          rosdep update
+
+      - name: Setup catkin-tools
+        run: |
+          set -x
+          # setup catkin tools
+          apt install -qq -y python3-pip
+          pip3 install catkin-tools
+          # setup build tools
+          apt install -qq -y cmake build-essential catkin ros-one-rosbash
+
+      - name: Setup Workspace
+        run: |
+          source /opt/ros/one/setup.bash
+          set -x
+          # setup workspace
+          mkdir -p ~/ws/src
+          cd ~/ws/src
+          ln -sf $GITHUB_WORKSPACE .
+          rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
+        shell: bash
+
+      - name: Compile Packages
+        run: |
+          source /opt/ros/one/setup.bash
+          set -x
+          cd ~/ws/
+          catkin build --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
+        shell: bash

audio_video_recorder/CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package audio_video_recorder
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.15 (2024-12-13)
+-------------------
+
+2.2.14 (2024-12-12)
+-------------------
+* [audio_video_recorder] needs to find_package message_filters (`#1800 <https://github.com/jsk-ros-pkg/jsk_common/issues/1800>`_)
+* [audio_video_recorder][jsk_rosbag_tools] support ros-o (`#1807 <https://github.com/jsk-ros-pkg/jsk_common/issues/1807>`_)
+  * audio_video_recorder needs to find_package message_filters
+
+* Contributors: Lucas Walter, Yoshiki Obinata
+
 2.2.13 (2023-11-09)
 -------------------
 

audio_video_recorder/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 
 project(audio_video_recorder)
 
-find_package(catkin REQUIRED COMPONENTS roscpp audio_common_msgs sensor_msgs)
+find_package(catkin REQUIRED COMPONENTS roscpp audio_common_msgs message_filters sensor_msgs)
 
 find_package(PkgConfig)
 pkg_check_modules(GST1.0 gstreamer-1.0 REQUIRED)

audio_video_recorder/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>audio_video_recorder</name>
-  <version>2.2.13</version>
+  <version>2.2.15</version>
   <description>ROS package for recording image and audio synchronously</description>
 
   <author email="[email protected]">Shingo Kitagawa</author>
@@ -24,6 +24,7 @@
   <exec_depend>gstreamer1.0-plugins-base</exec_depend>
   <exec_depend>gstreamer1.0-plugins-good</exec_depend>
   <exec_depend>gstreamer1.0-plugins-ugly</exec_depend>
+  <exec_depend>libgstreamer1.0-dev</exec_depend>
   <exec_depend>message_filters</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
 </package>

doc/jsk_topic_tools/scripts/synchronize_republish.rst

@@ -35,6 +35,10 @@ Parameters
 
   If ``true``, approximate synchronization is used for synchoronizing assigned topics.
 
+* ``~allow_headerless`` (Bool, Default: ``false``)
+
+  If ``true``, ``allow_headerless`` option of approximate synchronization is enabled.
+
 * ``~queue_size`` (Integer, Default: ``100``)
 
   Queue length for subscribing topics.

jsk_common/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package jsk_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.15 (2024-12-13)
+-------------------
+
+2.2.14 (2024-12-12)
+-------------------
+
 2.2.13 (2023-11-09)
 -------------------
 * Add jsk_rosbag_tools package (`#1738 <https://github.com/jsk-ros-pkg/jsk_common/issues/1738>`_)

jsk_common/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>jsk_common</name>
-  <version>2.2.13</version>
+  <version>2.2.15</version>
   <description>
    <p>Metapackage that contains commonly used toolset for jsk-ros-pkg</p>
   </description>

jsk_coordination_system/dynamic_tf_publisher/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package dynamic_tf_publisher
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.15 (2024-12-13)
+-------------------
+
+2.2.14 (2024-12-12)
+-------------------
+
 2.2.13 (2023-11-09)
 -------------------
 

jsk_coordination_system/dynamic_tf_publisher/package.xml

@@ -3,7 +3,7 @@
   <description>
     dynamically set the tf trensformation
   </description>
-  <version>2.2.13</version>
+  <version>2.2.15</version>
   <author email="[email protected]">Manabu Saito</author>
   <maintainer email="[email protected]">Ryohei Ueda</maintainer>
   <license>BSD</license>

jsk_data/CHANGELOG.rst

@@ -2,6 +2,22 @@
 Changelog for package jsk_data
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.15 (2024-12-13)
+-------------------
+* [jsk_data] Automatically add the host key and Check stdout.read() type (`#1810 <https://github.com/jsk-ros-pkg/jsk_common/issues/1810>`_)
+  - stdout.read() returns a bytes object in Python 3, whereas in Python 2, it returned a str
+  - The error indicates that the new version of Paramiko (2.6.0) is stricter about host key checking, requiring the server to be present in the known_hosts file by default. This is a security feature to prevent man-in-the-middle attacks.
+* Contributors: Kei Okada
+
+2.2.14 (2024-12-12)
+-------------------
+* [colcon][jsk_data] Support download_data with colcon (`#1803 <https://github.com/jsk-ros-pkg/jsk_common/issues/1803>`_)
+* [jsk_data] add xz support for download_data (`#1797 <https://github.com/jsk-ros-pkg/jsk_common/issues/1797>`_)
+
+* [jsk_data] add 'wget' to package.xml, jsk_data/src/download_data.py requries wget (`#1793 <https://github.com/jsk-ros-pkg/jsk_common/issues/1793>`_)
+
+* Contributors: Koki Shinjo, Yoshiki Obinata
+
 2.2.13 (2023-11-09)
 -------------------
 * [jsk_data/download_data.py] Add timeout argument to download() for wget (`#1771 <https://github.com/jsk-ros-pkg/jsk_common/issues/1771>`_)

jsk_data/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>jsk_data</name>
-  <version>2.2.13</version>
+  <version>2.2.15</version>
   <description>The jsk_data package</description>
 
   <maintainer email="[email protected]">Ryohei Ueda</maintainer>

jsk_data/src/jsk_data/cli.py

@@ -83,7 +83,11 @@ def _list_aries_files(query=None, ls_options=None):
         cmd = 'ls {opt} {dir}/private/{q}'
         cmd = cmd.format(opt=' '.join(ls_options), dir=DATA_DIR, q=query)
         _, stdout, _ = ssh.exec_command(cmd)
-        files = stdout.read().splitlines()
+        output = stdout.read()
+        if isinstance(output, bytes):  # Python 3
+            files = output.decode('utf-8').splitlines()
+        else:
+            files = output.splitlines()
     return files
 
 

jsk_data/src/jsk_data/download_data.py

@@ -150,6 +150,21 @@ def _get_package_source_path(pkg_name):
     return pkg_path
 
 
+def _get_colcon_package_share_path(pkg_name):
+    """
+    Return package share path when colcon build.
+    NOTE: The install/share or install/$pkg_name/share/$pkg_name directories is not created
+    until colcon build finished. So this functions returns the path whether the directory
+    is exists or not.
+    """
+    current_colcon_prefix_path = os.getenv("COLCON_PREFIX_PATH").split(":")[0]
+    if os.path.exists(os.path.join(current_colcon_prefix_path, "share")):  # if merge install
+        share_path = os.path.join(current_colcon_prefix_path, "share", pkg_name)
+    else:  # if default install
+        share_path = os.path.join(current_colcon_prefix_path, pkg_name, "share", pkg_name)
+    return share_path
+
+
 def download_data(pkg_name, path, url, md5, download_client=None,
                   extract=False, compressed_bags=None, quiet=True, chmod=True,
                   n_times=2):
@@ -172,7 +187,10 @@ def download_data(pkg_name, path, url, md5, download_client=None,
     if compressed_bags is None:
         compressed_bags = []
     if not osp.isabs(path):
-        pkg_path = _get_package_source_path(pkg_name)
+        if os.getenv("COLCON_PREFIX_PATH"):
+            pkg_path = _get_colcon_package_share_path(pkg_name)
+        else:
+            pkg_path = _get_package_source_path(pkg_name)
         if not pkg_path:
             print('\033[31mPackage [%s] is not found in current workspace. Skipping download\033[0m' % pkg_name,
                   file=sys.stderr)

jsk_data/src/jsk_data/ssh.py

@@ -16,6 +16,7 @@ def _connect_ssh_context(host, username, password):
     try:
         ssh = paramiko.SSHClient()
         ssh.load_host_keys(os.path.expanduser('~/.ssh/known_hosts'))
+        ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())  # Automatically add the host key
         ssh.connect(host, username=username, password=password)
         yield ssh
     finally:

jsk_network_tools/CHANGELOG.rst

@@ -2,6 +2,16 @@
 Changelog for package jsk_network_tools
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.15 (2024-12-13)
+-------------------
+
+2.2.14 (2024-12-12)
+-------------------
+* remove use_source_permissions to fix build error (`#1805 <https://github.com/jsk-ros-pkg/jsk_common/issues/1805>`_)
+  * use catkin_install_python to install python scripts
+
+* Contributors: Yoshiki Obinata
+
 2.2.13 (2023-11-09)
 -------------------
 * add test to compile on 22.04, see `#1770 <https://github.com/jsk-ros-pkg/jsk_common/issues/1770>`_ (`#1773 <https://github.com/jsk-ros-pkg/jsk_common/issues/1773>`_)

jsk_network_tools/CMakeLists.txt

@@ -63,9 +63,15 @@ add_dependencies(silverhammer_highspeed_internal_receiver
 # recursively into ${CATKIN_PACKAGE_SHARE_DESTINATION}.
 # Be careful that 'launch' and 'launch/' are different: the former is directory
 # and the latter is each content.
-install(DIRECTORY scripts/
+
+file(GLOB PYTHON_SCRIPTS scripts/*.py)
+catkin_install_python(
+  PROGRAMS ${PYTHON_SCRIPTS}
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(
+  PROGRAMS scripts/expand_udp_receive_buffer.sh
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  USE_SOURCE_PERMISSIONS
 )
 install(DIRECTORY launch test
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

jsk_network_tools/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>jsk_network_tools</name>
-  <version>2.2.13</version>
+  <version>2.2.15</version>
   <description>jsk_network_tools</description>
 
   <maintainer email="[email protected]">Ryohei Ueda</maintainer>

jsk_ros_patch/image_view2/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package image_view2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.15 (2024-12-13)
+-------------------
+
+2.2.14 (2024-12-12)
+-------------------
+
 2.2.13 (2023-11-09)
 -------------------
 * Fix for Noetic (`#1774 <https://github.com/jsk-ros-pkg/jsk_common/issues/1774>`_)

jsk_ros_patch/image_view2/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>image_view2</name>
-  <version>2.2.13</version>
+  <version>2.2.15</version>
   <description>A simple viewer for ROS image topics with draw-on features</description>
   <maintainer email="[email protected]">Kei Okada</maintainer>
 

jsk_ros_patch/multi_map_server/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package multi_map_server
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.15 (2024-12-13)
+-------------------
+
+2.2.14 (2024-12-12)
+-------------------
+
 2.2.13 (2023-11-09)
 -------------------
 

jsk_ros_patch/multi_map_server/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>multi_map_server</name>
-  <version>2.2.13</version>
+  <version>2.2.15</version>
   <description>multi_map_server provides the</description>
   <maintainer email="[email protected]">Kei Okada</maintainer>