support humble and iron (#13)

drop foxy and galactic Signed-off-by: Teo Koon Peng <[email protected]>
osrf · Aug 3, 2023 · 5436a76 · 5436a76
1 parent 0fca6ee
commit 5436a76
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diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        docker_image: ['ros:humble-ros-base']
+        docker_image: ['ros:humble-ros-base', 'ros:iron-ros-base']
     container:
       image: ${{ matrix.docker_image }}
     steps:

diff --git a/README.md b/README.md
@@ -4,7 +4,7 @@
 
 ### Supported Distros
 
-`redf` currently supports galactic and humble.
+`redf` currently supports humble and iron.
 
 ### Why use redf?
 

diff --git a/src/cpp/header.hpp.j2 b/src/cpp/header.hpp.j2
@@ -12,9 +12,6 @@
 {%- endif %}
 
 #include <string>
-{% if distro == "foxy" -%}
-#include <stdexcept>
-{%- endif %}
 
 namespace {{namespace}} {
 
@@ -41,21 +38,13 @@ public:
     return rclcpp::QoS{history_depth};
     {%- elif ep.qos is qos_preset -%}
     {%- if ep.qos == "clock" -%}
-    {%- if distro == "foxy" -%}
-    throw std::runtime_error{"Clock QoS is not supported on foxy"};
-    {%- else -%}
     return rclcpp::ClockQoS{rclcpp::KeepLast{history_depth}};
-    {%- endif -%}
     {%- elif ep.qos == "parameter_events" -%}
     return rclcpp::ParameterEventsQoS{rclcpp::KeepLast{history_depth}};
     {%- elif ep.qos == "parameters" -%}
     return rclcpp::ParametersQoS{rclcpp::KeepLast{history_depth}};
     {%- elif ep.qos == "rosout" -%}
-    {%- if distro == "foxy" -%}
-    throw std::runtime_error("Rosout QoS is not supported on foxy");
-    {%- else -%}
     return rclcpp::RosoutQoS{rclcpp::KeepLast{history_depth}};
-    {%- endif -%}
     {%- elif ep.qos == "sensor_data" -%}
     return rclcpp::SensorDataQoS{rclcpp::KeepLast{history_depth}};
     {%- elif ep.qos == "services" -%}
@@ -66,23 +55,6 @@ public:
     {%- else -%}
     rclcpp::QoS qos{history_depth};
 
-    {%- if distro == "foxy" %}
-    {%- if ep.qos.reliability %}
-    qos.reliability(RMW_QOS_POLICY_RELIABILITY_{{ ep.qos.reliability | screaming_snake }});
-    {%- else %}
-    qos.reliability(RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT);
-    {%- endif %}
-    {%- if ep.qos.durability %}
-    qos.durability(RMW_QOS_POLICY_DURABILITY_{{ ep.qos.durability | screaming_snake }});
-    {%- else %}
-    qos.durability(RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT);
-    {%- endif %}
-    {%- if ep.qos.liveliness %}
-    qos.liveliness(RMW_QOS_POLICY_LIVELINESS_{{ ep.qos.liveliness | screaming_snake }});
-    {%- else %}
-    qos.liveliness(RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT);
-    {%- endif %}
-    {%- else %}
     {%- if ep.qos.reliability %}
     qos.reliability(rclcpp::ReliabilityPolicy::{{ ep.qos.reliability | pascal }});
     {%- else %}
@@ -98,7 +70,6 @@ public:
     {%- else %}
     qos.liveliness(rclcpp::LivelinessPolicy::SystemDefault);
     {%- endif %}
-    {%- endif -%}
 
     {%- if ep.qos.deadline %}
     qos.deadline(rclcpp::Duration{%- raw -%}{{%- endraw -%}{{ep.qos.deadline.secs}}, {{ep.qos.deadline.nanosecs}}{%- raw -%}}{%- endraw -%});

diff --git a/src/cpp/mod.rs b/src/cpp/mod.rs
@@ -9,6 +9,8 @@ use std::error::Error;
 use std::path::Path;
 use tera::Tera;
 
+const SUPPORTED_DISTRO: &[&str] = &["humble", "iron"];
+
 #[derive(Serialize)]
 struct Context<'a> {
     redf: &'a Redf,
@@ -55,6 +57,9 @@ pub fn generate(redf: &Redf, outdir: &Path) -> Result<(), Box<dyn Error>> {
         Ok(val) => val,
         Err(_) => panic!("Fail to detect ROS version, make sure ROS is sourced"),
     };
+    if !SUPPORTED_DISTRO.contains(&distro.as_str()) {
+        println!("WARN: [${distro}] is not a supported ROS distro");
+    }
 
     let ctx = tera::Context::from_serialize(Context {
         redf,